--- a/configure.ac Thu Apr 23 14:45:07 2009 +0000
+++ b/configure.ac Thu Apr 23 14:50:23 2009 +0000
@@ -506,6 +506,9 @@
devices/e1000/Makefile
examples/Kbuild
examples/Makefile
+ examples/dc_rtai/Kbuild
+ examples/dc_rtai/Makefile
+ examples/dc_user/Makefile
examples/mini/Kbuild
examples/mini/Makefile
examples/rtai/Kbuild
--- a/examples/Makefile.am Thu Apr 23 14:45:07 2009 +0000
+++ b/examples/Makefile.am Thu Apr 23 14:50:23 2009 +0000
@@ -28,10 +28,14 @@
#------------------------------------------------------------------------------
if ENABLE_USERLIB
-SUBDIRS = user
+SUBDIRS = \
+ dc_user \
+ user
endif
DIST_SUBDIRS = \
+ dc_rtai \
+ dc_user \
mini \
rtai \
user
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/dc_rtai/Kbuild.in Thu Apr 23 14:50:23 2009 +0000
@@ -0,0 +1,40 @@
+#------------------------------------------------------------------------------
+#
+# $Id: Kbuild.in 1667 2009-02-24 12:51:39Z fp $
+#
+# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License version 2, as
+# published by the Free Software Foundation.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+# Public License for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# ---
+#
+# The license mentioned above concerns the source code only. Using the
+# EtherCAT technology and brand is only permitted in compliance with the
+# industrial property and similar rights of Beckhoff Automation GmbH.
+#
+# ---
+#
+# vi: syntax=make
+#
+#------------------------------------------------------------------------------
+
+obj-m := ec_dc_rtai_sample.o
+
+ec_dc_rtai_sample-objs := dc_rtai_sample.o
+
+EXTRA_CFLAGS := -I@RTAI_DIR@/include
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/dc_rtai/Makefile.am Thu Apr 23 14:50:23 2009 +0000
@@ -0,0 +1,49 @@
+#------------------------------------------------------------------------------
+#
+# IgH EtherCAT master module
+#
+# $Id$
+#
+# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License version 2, as
+# published by the Free Software Foundation.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+# Public License for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# ---
+#
+# The license mentioned above concerns the source code only. Using the
+# EtherCAT technology and brand is only permitted in compliance with the
+# industrial property and similar rights of Beckhoff Automation GmbH.
+#
+#------------------------------------------------------------------------------
+
+EXTRA_DIST = \
+ Kbuild.in \
+ dc_rtai_sample.c
+
+BUILT_SOURCES = \
+ Kbuild
+
+modules:
+ $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" modules
+
+modules_install:
+ mkdir -p $(DESTDIR)$(LINUX_MOD_PATH)
+ cp $(srcdir)/ec_dc_rtai_sample.ko $(DESTDIR)$(LINUX_MOD_PATH)
+
+clean-local:
+ $(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/dc_rtai/dc_rtai_sample.c Thu Apr 23 14:50:23 2009 +0000
@@ -0,0 +1,401 @@
+/******************************************************************************
+ *
+ * Distributed clocks sample for the IgH EtherCAT master.
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+// Linux
+#include <linux/module.h>
+#include <linux/err.h>
+
+// RTAI
+#include <rtai_sched.h>
+#include <rtai_sem.h>
+
+// EtherCAT
+#include "../../include/ecrt.h"
+
+/*****************************************************************************/
+
+// Module parameters
+
+#define FREQUENCY 1000 // task frequency in Hz
+#define INHIBIT_TIME 20
+
+#define TIMERTICKS (1000000000 / FREQUENCY)
+
+#define NUM_DIG_OUT 1
+
+#define PFX "ec_dc_sample: "
+
+/*****************************************************************************/
+
+// EtherCAT
+static ec_master_t *master = NULL;
+static ec_master_state_t master_state = {};
+spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
+
+static ec_domain_t *domain1 = NULL;
+static ec_domain_state_t domain1_state = {};
+
+// RTAI
+static RT_TASK task;
+static SEM master_sem;
+static cycles_t t_last_cycle = 0, t_critical;
+
+/*****************************************************************************/
+
+// process data
+static uint8_t *domain1_pd; // process data memory
+
+#define DigOutSlavePos(X) 0, (1 + (X))
+#define CounterSlavePos 0, 2
+
+#define Beckhoff_EK1100 0x00000002, 0x044c2c52
+#define Beckhoff_EL2008 0x00000002, 0x07d83052
+#define IDS_Counter 0x000012ad, 0x05de3052
+
+static int off_dig_out[NUM_DIG_OUT];
+static int off_counter_in;
+static int off_counter_out;
+
+static unsigned int counter = 0;
+static unsigned int blink_counter = 0;
+static unsigned int blink = 0;
+static u32 counter_value = 0U;
+
+/*****************************************************************************/
+
+static ec_pdo_entry_info_t el2008_channels[] = {
+ {0x7000, 1, 1},
+ {0x7010, 1, 1},
+ {0x7020, 1, 1},
+ {0x7030, 1, 1},
+ {0x7040, 1, 1},
+ {0x7050, 1, 1},
+ {0x7060, 1, 1},
+ {0x7070, 1, 1}
+};
+
+static ec_pdo_info_t el2008_pdos[] = {
+ {0x1600, 1, &el2008_channels[0]},
+ {0x1601, 1, &el2008_channels[1]},
+ {0x1602, 1, &el2008_channels[2]},
+ {0x1603, 1, &el2008_channels[3]},
+ {0x1604, 1, &el2008_channels[4]},
+ {0x1605, 1, &el2008_channels[5]},
+ {0x1606, 1, &el2008_channels[6]},
+ {0x1607, 1, &el2008_channels[7]}
+};
+
+static ec_sync_info_t el2008_syncs[] = {
+ {0, EC_DIR_OUTPUT, 8, el2008_pdos},
+ {1, EC_DIR_INPUT},
+ {0xff}
+};
+
+/*****************************************************************************/
+
+void check_domain1_state(void)
+{
+ ec_domain_state_t ds;
+
+ spin_lock(&master_lock);
+ ecrt_domain_state(domain1, &ds);
+ spin_unlock(&master_lock);
+
+ if (ds.working_counter != domain1_state.working_counter)
+ printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
+ if (ds.wc_state != domain1_state.wc_state)
+ printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
+
+ domain1_state = ds;
+}
+
+/*****************************************************************************/
+
+void check_master_state(void)
+{
+ ec_master_state_t ms;
+
+ spin_lock(&master_lock);
+ ecrt_master_state(master, &ms);
+ spin_unlock(&master_lock);
+
+ if (ms.slaves_responding != master_state.slaves_responding)
+ printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
+ if (ms.al_states != master_state.al_states)
+ printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
+ if (ms.link_up != master_state.link_up)
+ printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
+
+ master_state = ms;
+}
+
+/*****************************************************************************/
+
+void run(long data)
+{
+ int i;
+ struct timeval tv;
+ unsigned int sync_ref_counter = 0;
+
+ count2timeval(nano2count(rt_get_real_time_ns()), &tv);
+
+ while (1) {
+ t_last_cycle = get_cycles();
+
+ // receive process data
+ rt_sem_wait(&master_sem);
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+ rt_sem_signal(&master_sem);
+
+ // check process data state (optional)
+ check_domain1_state();
+
+ if (counter) {
+ counter--;
+ } else {
+ u32 c;
+
+ counter = FREQUENCY;
+
+ // check for master state (optional)
+ check_master_state();
+
+ c = EC_READ_U32(domain1_pd + off_counter_in);
+ if (counter_value != c) {
+ counter_value = c;
+ printk(KERN_INFO PFX "counter=%u\n", counter_value);
+ }
+
+ }
+
+ if (blink_counter) {
+ blink_counter--;
+ } else {
+ blink_counter = 9;
+
+ // calculate new process data
+ blink = !blink;
+ }
+
+ // write process data
+ for (i = 0; i < NUM_DIG_OUT; i++) {
+ EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99);
+ }
+
+ EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
+
+ rt_sem_wait(&master_sem);
+
+ tv.tv_usec += 1000;
+ if (tv.tv_usec >= 1000000) {
+ tv.tv_usec -= 1000000;
+ tv.tv_sec++;
+ }
+ //printk(KERN_INFO PFX "tv=%u.%06u\n", (u32) tv.tv_sec, (u32) tv.tv_usec);
+
+ if (sync_ref_counter) {
+ sync_ref_counter--;
+ } else {
+ sync_ref_counter = 9;
+ ecrt_master_sync_reference_clock(master, &tv);
+ }
+ ecrt_master_sync_slave_clocks(master);
+ ecrt_domain_queue(domain1);
+ ecrt_master_send(master);
+ rt_sem_signal(&master_sem);
+
+ rt_task_wait_period();
+ }
+}
+
+/*****************************************************************************/
+
+int request_lock(void *data)
+{
+ // too close to the next real time cycle: deny access...
+ if (get_cycles() - t_last_cycle > t_critical) return -1;
+
+ // allow access
+ rt_sem_wait(&master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
+void release_lock(void *data)
+{
+ rt_sem_signal(&master_sem);
+}
+
+/*****************************************************************************/
+
+int __init init_mod(void)
+{
+ int ret = -1, i;
+ RTIME tick_period, requested_ticks, now;
+ ec_slave_config_t *sc;
+
+ printk(KERN_INFO PFX "Starting...\n");
+
+ rt_sem_init(&master_sem, 1);
+
+ t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
+
+ master = ecrt_request_master(0);
+ if (!master) {
+ ret = -EBUSY;
+ printk(KERN_ERR PFX "Requesting master 0 failed!\n");
+ goto out_return;
+ }
+
+ ecrt_master_callbacks(master, request_lock, release_lock, NULL);
+
+ printk(KERN_INFO PFX "Registering domain...\n");
+ if (!(domain1 = ecrt_master_create_domain(master))) {
+ printk(KERN_ERR PFX "Domain creation failed!\n");
+ goto out_release_master;
+ }
+
+ printk(KERN_INFO PFX "Configuring PDOs...\n");
+
+ // create configuration for reference clock FIXME
+ if (!(sc = ecrt_master_slave_config(master, 0, 0, Beckhoff_EK1100))) {
+ printk(KERN_ERR PFX "Failed to get slave configuration.\n");
+ goto out_release_master;
+ }
+
+ for (i = 0; i < NUM_DIG_OUT; i++) {
+ if (!(sc = ecrt_master_slave_config(master,
+ DigOutSlavePos(i), Beckhoff_EL2008))) {
+ printk(KERN_ERR PFX "Failed to get slave configuration.\n");
+ goto out_release_master;
+ }
+
+ if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
+ printk(KERN_ERR PFX "Failed to configure PDOs.\n");
+ goto out_release_master;
+ }
+
+ off_dig_out[i] = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x7000, 1, domain1, NULL);
+
+ if (off_dig_out[i] < 0)
+ goto out_release_master;
+ }
+
+ if (!(sc = ecrt_master_slave_config(master,
+ CounterSlavePos, IDS_Counter))) {
+ printk(KERN_ERR PFX "Failed to get slave configuration.\n");
+ goto out_release_master;
+ }
+ off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x6020, 0x11, domain1, NULL);
+ if (off_counter_in < 0)
+ goto out_release_master;
+ off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x7020, 1, domain1, NULL);
+ if (off_counter_out < 0)
+ goto out_release_master;
+
+#if 1
+ // configure SYNC signals for this slave
+ ecrt_slave_config_dc_assign_activate(sc, 0x0700);
+ ecrt_slave_config_dc_sync_cycle_times(sc, 1000000, 0);
+ ecrt_slave_config_dc_sync_shift_times(sc, 440000, 0);
+#endif
+
+ printk(KERN_INFO PFX "Activating master...\n");
+ if (ecrt_master_activate(master)) {
+ printk(KERN_ERR PFX "Failed to activate master!\n");
+ goto out_release_master;
+ }
+
+ // Get internal process data for domain
+ domain1_pd = ecrt_domain_data(domain1);
+
+ printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
+ requested_ticks = nano2count(TIMERTICKS);
+ tick_period = start_rt_timer(requested_ticks);
+ printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
+ (int) tick_period, (int) requested_ticks);
+
+ if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
+ printk(KERN_ERR PFX "Failed to init RTAI task!\n");
+ goto out_stop_timer;
+ }
+
+ now = rt_get_time();
+ if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
+ printk(KERN_ERR PFX "Failed to run RTAI task!\n");
+ goto out_stop_task;
+ }
+
+ printk(KERN_INFO PFX "Initialized.\n");
+ return 0;
+
+ out_stop_task:
+ rt_task_delete(&task);
+ out_stop_timer:
+ stop_rt_timer();
+ out_release_master:
+ printk(KERN_ERR PFX "Releasing master...\n");
+ ecrt_release_master(master);
+ out_return:
+ rt_sem_delete(&master_sem);
+ printk(KERN_ERR PFX "Failed to load. Aborting.\n");
+ return ret;
+}
+
+/*****************************************************************************/
+
+void __exit cleanup_mod(void)
+{
+ printk(KERN_INFO PFX "Stopping...\n");
+
+ rt_task_delete(&task);
+ stop_rt_timer();
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
+
+ printk(KERN_INFO PFX "Unloading.\n");
+}
+
+/*****************************************************************************/
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
+MODULE_DESCRIPTION("EtherCAT distributed clocks sample module");
+
+module_init(init_mod);
+module_exit(cleanup_mod);
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/dc_user/Makefile.am Thu Apr 23 14:50:23 2009 +0000
@@ -0,0 +1,38 @@
+#------------------------------------------------------------------------------
+#
+# $Id$
+#
+# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License version 2, as
+# published by the Free Software Foundation.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+# Public License for more details.
+#
+# You should have received a copy of the GNU General Public License along with
+# the IgH EtherCAT Master; if not, write to the Free Software Foundation,
+# Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+# ---
+#
+# The license mentioned above concerns the source code only. Using the
+# EtherCAT technology and brand is only permitted in compliance with the
+# industrial property and similar rights of Beckhoff Automation GmbH.
+#
+#------------------------------------------------------------------------------
+
+AM_CFLAGS = -Wall
+
+noinst_PROGRAMS = ec_dc_user_example
+
+ec_dc_user_example_SOURCES = main.c
+ec_dc_user_example_CFLAGS = -I$(top_srcdir)/include
+ec_dc_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat
+
+#------------------------------------------------------------------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/dc_user/main.c Thu Apr 23 14:50:23 2009 +0000
@@ -0,0 +1,300 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <errno.h>
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/resource.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+/****************************************************************************/
+
+#include "ecrt.h"
+
+/****************************************************************************/
+
+// Application parameters
+#define FREQUENCY 100
+#define PRIORITY 1
+
+// Optional features
+#define CONFIGURE_PDOS 1
+
+/****************************************************************************/
+
+// EtherCAT
+static ec_master_t *master = NULL;
+static ec_master_state_t master_state = {};
+
+static ec_domain_t *domain1 = NULL;
+static ec_domain_state_t domain1_state = {};
+
+// Timer
+static unsigned int sig_alarms = 0;
+static unsigned int user_alarms = 0;
+
+/****************************************************************************/
+
+// process data
+static uint8_t *domain1_pd = NULL;
+
+#define BusCouplerPos 0, 0
+#define DigOutSlavePos 0, 1
+#define CounterSlavePos 0, 2
+
+#define Beckhoff_EK1100 0x00000002, 0x044c2c52
+#define Beckhoff_EL2008 0x00000002, 0x07d83052
+#define IDS_Counter 0x000012ad, 0x05de3052
+
+// offsets for PDO entries
+static int off_dig_out;
+static int off_counter_in;
+static int off_counter_out;
+
+static unsigned int counter = 0;
+static unsigned int blink_counter = 0;
+static unsigned int blink = 0;
+static unsigned int sync_ref_counter = 0;
+struct timeval app_time;
+
+/*****************************************************************************/
+
+void check_domain1_state(void)
+{
+ ec_domain_state_t ds;
+
+ ecrt_domain_state(domain1, &ds);
+
+ if (ds.working_counter != domain1_state.working_counter)
+ printf("Domain1: WC %u.\n", ds.working_counter);
+ if (ds.wc_state != domain1_state.wc_state)
+ printf("Domain1: State %u.\n", ds.wc_state);
+
+ domain1_state = ds;
+}
+
+/*****************************************************************************/
+
+void check_master_state(void)
+{
+ ec_master_state_t ms;
+
+ ecrt_master_state(master, &ms);
+
+ if (ms.slaves_responding != master_state.slaves_responding)
+ printf("%u slave(s).\n", ms.slaves_responding);
+ if (ms.al_states != master_state.al_states)
+ printf("AL states: 0x%02X.\n", ms.al_states);
+ if (ms.link_up != master_state.link_up)
+ printf("Link is %s.\n", ms.link_up ? "up" : "down");
+
+ master_state = ms;
+}
+
+/****************************************************************************/
+
+void cyclic_task()
+{
+ int i;
+
+ // receive process data
+ ecrt_master_receive(master);
+ ecrt_domain_process(domain1);
+
+ // check process data state (optional)
+ check_domain1_state();
+
+ if (counter) {
+ counter--;
+ } else { // do this at 1 Hz
+ counter = FREQUENCY;
+
+ // calculate new process data
+ blink = !blink;
+
+ // check for master state (optional)
+ check_master_state();
+
+ }
+
+ if (blink_counter) {
+ blink_counter--;
+ } else {
+ blink_counter = 9;
+
+ // calculate new process data
+ blink = !blink;
+ }
+
+ // write process data
+ EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
+ EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
+
+ app_time.tv_usec += 1000000 / FREQUENCY;
+ if (app_time.tv_usec >= 1000000) {
+ app_time.tv_usec -= 1000000;
+ app_time.tv_sec++;
+ }
+
+ if (sync_ref_counter) {
+ sync_ref_counter--;
+ } else {
+ sync_ref_counter = 9;
+ ecrt_master_sync_reference_clock(master, &app_time);
+ }
+ ecrt_master_sync_slave_clocks(master);
+
+ // send process data
+ ecrt_domain_queue(domain1);
+ ecrt_master_send(master);
+}
+
+/****************************************************************************/
+
+void signal_handler(int signum) {
+ switch (signum) {
+ case SIGALRM:
+ sig_alarms++;
+ break;
+ }
+}
+
+/****************************************************************************/
+
+int main(int argc, char **argv)
+{
+ ec_slave_config_t *sc;
+ struct sigaction sa;
+ struct itimerval tv;
+
+ master = ecrt_request_master(0);
+ if (!master)
+ return -1;
+
+ domain1 = ecrt_master_create_domain(master);
+ if (!domain1)
+ return -1;
+
+ // Create configuration for bus coupler
+ sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
+ if (!sc)
+ return -1;
+
+ if (!(sc = ecrt_master_slave_config(master,
+ DigOutSlavePos, Beckhoff_EL2008))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x7000, 1, domain1, NULL);
+ if (off_dig_out < 0)
+ return -1;
+
+ if (!(sc = ecrt_master_slave_config(master,
+ CounterSlavePos, IDS_Counter))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x6020, 0x11, domain1, NULL);
+ if (off_counter_in < 0)
+ return -1;
+
+ off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,
+ 0x7020, 1, domain1, NULL);
+ if (off_counter_out < 0)
+ return -1;
+
+#if 1
+ // configure SYNC signals for this slave
+ ecrt_slave_config_dc_assign_activate(sc, 0x0700);
+ ecrt_slave_config_dc_sync_cycle_times(sc, 10000000, 0);
+ ecrt_slave_config_dc_sync_shift_times(sc, 4400000, 0);
+#endif
+
+ printf("Activating master...\n");
+ if (ecrt_master_activate(master))
+ return -1;
+
+ if (!(domain1_pd = ecrt_domain_data(domain1))) {
+ return -1;
+ }
+
+#if PRIORITY
+ pid_t pid = getpid();
+ if (setpriority(PRIO_PROCESS, pid, -19))
+ fprintf(stderr, "Warning: Failed to set priority: %s\n",
+ strerror(errno));
+#endif
+
+ sa.sa_handler = signal_handler;
+ sigemptyset(&sa.sa_mask);
+ sa.sa_flags = 0;
+ if (sigaction(SIGALRM, &sa, 0)) {
+ fprintf(stderr, "Failed to install signal handler!\n");
+ return -1;
+ }
+
+ printf("Starting timer...\n");
+ tv.it_interval.tv_sec = 0;
+ tv.it_interval.tv_usec = 1000000 / FREQUENCY;
+ tv.it_value.tv_sec = 0;
+ tv.it_value.tv_usec = 1000;
+ if (setitimer(ITIMER_REAL, &tv, NULL)) {
+ fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
+ return 1;
+ }
+
+ gettimeofday(&app_time, NULL);
+
+ printf("Started.\n");
+ while (1) {
+ pause();
+
+#if 0
+ struct timeval t;
+ gettimeofday(&t, NULL);
+ printf("%u.%06u\n", t.tv_sec, t.tv_usec);
+#endif
+
+ while (sig_alarms != user_alarms) {
+ cyclic_task();
+ user_alarms++;
+ }
+ }
+
+ return 0;
+}
+
+/****************************************************************************/