[etherlab-users] Beginner: Modifying the example code "user"

Justin Hunt jphunt3 at asu.edu
Wed Apr 5 03:31:30 CEST 2017


Hi Gavin,

Thank you for the reply, I really appreciate your time. I worked today to
implement your instructions. Here is what I did:

1) I changed the original definition "#define Beckhoff_EL3102 0x00000002,
0x0c1e3052" to include the vendor ID and product code of my sensor, which I
got from using Konsole command "ethercat slaves -v." So now it reads
"#define Beckhoff_EL3102 0x00000732, 0x26483052"

2) I updated the domain1_regs to include only analog input from the index
and sub index of the sensor force value I wish to read, like so:

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {AnaInSlavePos,  Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value},
    {}

I am not sure if these two changes address your instructions correctly. I
can however compile and run the code now. I tried to add the following line
under cyclic_task() to see if I could stream the data to the Konsole, but
it does not see to work:

printf("AnaIn: value %u\n", EC_READ_U32(domain1_pd + off_ana_in_value));


included below is the complete code in case it is needed.

 ***********************************************************
*****************/

#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
#define SDO_ACCESS      0

/***********************************************************
*****************/

// 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 = {};

static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_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 assigns 0, 0 to the name BusCouplerPos
#define DigOutSlavePos 0, 2
#define AnaInSlavePos  0, 3
#define AnaOutSlavePos 0, 4

#define Beckhoff_EK1100 0x00000002, 0x044c2c52
//#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL2032 0x00000002, 0x07f03052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
//#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL3102 0x00000732, 0x26483052
#define Beckhoff_EL4102 0x00000002, 0x10063052
//test
// offsets for PDO entries
static unsigned int off_ana_in_status;
static unsigned int off_ana_in_value;
//static unsigned int off_ana_out;
//static unsigned int off_dig_out;

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {AnaInSlavePos,  Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value},
    {}
};

static unsigned int counter = 0;
static unsigned int blink = 0;

/***********************************************************
******************/

#if CONFIGURE_PDOS


static ec_pdo_entry_info_t el3102_pdo_entries[] = {
    {0x7010, 1, 32}, /* Control 1 */
    {0x7010, 2, 32}, /* Control 2 */
    {0x6000, 1, 32}, /* Fx/Gage0 */
    {0x6000, 2, 32}, /* Fy/Gage1 */
    {0x6000, 3, 32}, /* Fz/Gage2 */
    {0x6000, 4, 32}, /* Tx/Gage3 */
    {0x6000, 5, 32}, /* Ty/Gage3 */
    {0x6000, 6, 32}, /* Tz/Gage3 */
    {0x6010, 0, 32}, /* SubIndex 000 */
    {0x6020, 0, 32}, /* SubIndex 000 */
};

static ec_pdo_info_t el3102_pdos[] = {
    {0x1601, 2, el3102_pdo_entries + 0}, /* DO RxPDO-Map */
    {0x1a00, 8, el3102_pdo_entries + 2}, /* DI TxPDO-Map */
};
ec_sync_info_t el3102_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, el3102_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, el3102_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

#endif

/***********************************************************
******************/

#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif

/***********************************************************
******************/

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;
    //printf("test");
    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("test");
        printf("Link is %s.\n", ms.link_up ? "up" : "down");
    master_state = ms;

}

/***********************************************************
******************/
//printf("enter");
void check_slave_config_states(void)

{

    ec_slave_config_state_t s;

    ecrt_slave_config_state(sc_ana_in, &s);
//printf("test");
    if (s.al_state != sc_ana_in_state.al_state)
        printf("AnaIn: State 0x%02X.\n", s.al_state);
    if (s.online != sc_ana_in_state.online)
        printf("AnaIn: %s.\n", s.online ? "online" : "offline");
    if (s.operational != sc_ana_in_state.operational)
        printf("AnaIn: %soperational.\n",
                s.operational ? "" : "Not ");

    sc_ana_in_state = s;
}

/***********************************************************
******************/

#if SDO_ACCESS
void read_sdo(void)
{
    switch (ecrt_sdo_request_state(sdo)) {
        case EC_REQUEST_UNUSED: // request was not used yet
            ecrt_sdo_request_read(sdo); // trigger first read
            break;
        case EC_REQUEST_BUSY:
            fprintf(stderr, "Still busy...\n");
            break;
        case EC_REQUEST_SUCCESS:
            fprintf(stderr, "SDO value: 0x%04X\n",
                    EC_READ_U32(ecrt_sdo_request_data(sdo)));
            ecrt_sdo_request_read(sdo); // trigger next read
            break;
        case EC_REQUEST_ERROR:
            fprintf(stderr, "Failed to read SDO!\n");
            ecrt_sdo_request_read(sdo); // retry reading
            break;
    }
}
#endif

/***********************************************************
*****************/

void cyclic_task()
{

    // receive process data
    ecrt_master_receive(master);
    ecrt_domain_process(domain1);

    // check process data state (optional)
    check_domain1_state();
    printf("AnaIn: value %u\n", EC_READ_U32(domain1_pd + off_ana_in_value));
    if (counter) {
        counter--;
    } else { // do this at 1 Hz
        counter = FREQUENCY;

        // calculate new process data
        blink = !blink;
      //printf("test");
        // check for master state (optional)
        //check_master_state();
//printf("test1");
        // check for islave configuration state(s) (optional)
        check_slave_config_states();

#if SDO_ACCESS
        // read process data SDO
        read_sdo();
#endif

    }

#if 0
    // read process data
    // printf("test2");
    printf("AnaIn: state %u value %u\n",
            EC_READ_U8(domain1_pd + off_ana_in_status),
            EC_READ_U32(domain1_pd + off_ana_in_value));
#endif

// #if 1
//     // write process data
//     EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
// #endif

    // 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;

    if (!(sc_ana_in = ecrt_master_slave_config(
                    master, AnaInSlavePos, Beckhoff_EL3102))) {
        fprintf(stderr, "Failed to get slave configuration.\n");
        return -1;
    }

#if SDO_ACCESS
    fprintf(stderr, "Creating SDO requests...\n");
    if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x6000, 2,
2))) {
        fprintf(stderr, "Failed to create SDO request.\n");
        return -1;
    }
    ecrt_sdo_request_timeout(sdo, 500); // ms
#endif

#if CONFIGURE_PDOS
    printf("Configuring PDOs...\n");
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
        fprintf(stderr, "Failed to configure PDOs.\n");
        return -1;
    }

//     if (!(sc = ecrt_master_slave_config(
//                     master, AnaOutSlavePos, Beckhoff_EL4102))) {
//         fprintf(stderr, "Failed to get slave configuration.\n");
//         return -1;
//     }
//
//     if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
//         fprintf(stderr, "Failed to configure PDOs.\n");
//         return -1;
//     }
//
//     if (!(sc = ecrt_master_slave_config(
//                     master, DigOutSlavePos, Beckhoff_EL2032))) {
//         fprintf(stderr, "Failed to get slave configuration.\n");
//         return -1;
//     }

//     if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
//         fprintf(stderr, "Failed to configure PDOs.\n");
//         return -1;
//     }
#endif

    // Create configuration for bus coupler
    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EL3102);
    if (!sc)
        return -1;

    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
        fprintf(stderr, "PDO entry registration failed!\n");
        return -1;
    }

    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 = 100000 / 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;
    }

    printf("Started.\n");
    while (1) {
      //printf("test");
        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();
        //fprintf("t");
            user_alarms++;
        }
    }

    return 0;
}

/***********************************************************
*****************/




On Mon, Apr 3, 2017 at 7:10 PM, Gavin Lambert <gavinl at compacsort.com> wrote:

> You’re halfway there.  You also need to update the domain1_regs to
> reflect the layout of your network (type and position of all slave devices)
> and to define variables to receive the offsets into domain memory to use
> for transferring the corresponding PDOs.
>
>
>
> *From:* Justin Hunt
> *Sent:* Tuesday, 4 April 2017 13:50
> *To:* etherlab-users at etherlab.org
> *Subject:* [etherlab-users] Beginner: Modifying the example code "user"
>
>
>
> Hello all,
>
>
>
> I have an force sensor with ethercat communication. I got EtherCAT Master
> installed on my system (thanks to this form's help) and have been using the
> terminal commands included in the PDF manual to collect data, which has
> been working great.
>
>
>
> I would now like to try to implement the equivalent commands in C++ so
> that I can stream the data and sample at a higher rate. However I am
> struggling to do so. I have tried to modify the example code "user" with
> the pdo entry info I get from the "ethercat cstruct" Konsole command, which
> outputs:
>
> ec_pdo_entry_info_t slave_0_pdo_entries[] = {
>     {0x7010, 0x01, 32}, /* Control 1 */
>     {0x7010, 0x02, 32}, /* Control 2 */
>     {0x6000, 0x01, 32}, /* Fx/Gage0 */
>     {0x6000, 0x02, 32}, /* Fy/Gage1 */
>     {0x6000, 0x03, 32}, /* Fz/Gage2 */
>     {0x6000, 0x04, 32}, /* Tx/Gage3 */
>     {0x6000, 0x05, 32}, /* Ty/Gage3 */
>     {0x6000, 0x06, 32}, /* Tz/Gage3 */
>     {0x6010, 0x00, 32}, /* SubIndex 000 */
>     {0x6020, 0x00, 32}, /* SubIndex 000 */
> };
>
> ec_pdo_info_t slave_0_pdos[] = {
>     {0x1601, 2, slave_0_pdo_entries + 0}, /* DO RxPDO-Map */
>     {0x1a00, 8, slave_0_pdo_entries + 2}, /* DI TxPDO-Map */
> };
>
> ec_sync_info_t slave_0_syncs[] = {
>     {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
>     {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>     {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
>     {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
>     {0xff}
> };
>
> Since I am working with an analog force sensor, I replaced the analog
> input of the example code "user" with the above info and compiled the code.
> It compiles fine but when I try to run it I get the following error:
>
> Configuring PDOs...
> Failed to register PDO entry: No such file or directory
> PDO entry registration failed!
>
> Any ideas why it can't register the PDO entry? I included my complete code
> below in case having a look helps. Thank you for your time all.
>
>
> /***********************************************************
> ******************
>  *
>  *  $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
>  *
>  *  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
> #define SDO_ACCESS      0
>
> /***********************************************************
> *****************/
>
> // 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 = {};
>
> static ec_slave_config_t *sc_ana_in = NULL;
> static ec_slave_config_state_t sc_ana_in_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 assigns 0, 0 to the name
> BusCouplerPos
> #define DigOutSlavePos 0, 2
> #define AnaInSlavePos  0, 3
> #define AnaOutSlavePos 0, 4
>
> #define Beckhoff_EK1100 0x00000002, 0x044c2c52
> //#define Beckhoff_EL2004 0x00000002, 0x07d43052
> #define Beckhoff_EL2032 0x00000002, 0x07f03052
> #define Beckhoff_EL3152 0x00000002, 0x0c503052
> #define Beckhoff_EL3102 0x00000002, 0x0c1e3052
> #define Beckhoff_EL4102 0x00000002, 0x10063052
> //test
> // offsets for PDO entries
> static unsigned int off_ana_in_status;
> static unsigned int off_ana_in_value;
> static unsigned int off_ana_out;
> static unsigned int off_dig_out;
>
> const static ec_pdo_entry_reg_t domain1_regs[] = {
>     {AnaInSlavePos,  Beckhoff_EL3102, 0x6000, 1, &off_ana_in_status},
>     {AnaInSlavePos,  Beckhoff_EL3102, 0x6000, 2, &off_ana_in_value},
>     {AnaOutSlavePos, Beckhoff_EL4102, 0x6000, 1, &off_ana_out},
>     {DigOutSlavePos, Beckhoff_EL2032, 0x6000, 1, &off_dig_out},
>     {}
> };
>
> static unsigned int counter = 0;
> static unsigned int blink = 0;
>
> /***********************************************************
> ******************/
>
> #if CONFIGURE_PDOS
>
> // Analog in --------------------------
>
> // static ec_pdo_entry_info_t el3102_pdo_entries[] = {
> //     {0x3101, 1,  8}, // channel 1 status
> //     {0x3101, 2, 16}, // channel 1 value
> //     {0x3102, 1,  8}, // channel 2 status
> //     {0x3102, 2, 16}, // channel 2 value
> //     {0x6401, 1, 16}, // channel 1 value (alt.)
> //     {0x6401, 2, 16}  // channel 2 value (alt.)
> // };
> //
> // static ec_pdo_info_t el3102_pdos[] = {
> //     {0x1A00, 2, el3102_pdo_entries},
> //     {0x1A01, 2, el3102_pdo_entries + 2}
> // };
> //
> // static ec_sync_info_t el3102_syncs[] = {
> //     {2, EC_DIR_OUTPUT},
> //     {3, EC_DIR_INPUT, 2, el3102_pdos},
> //     {0xff}
> // };
>
> static ec_pdo_entry_info_t el3102_pdo_entries[] = {
>     {0x7010, 1, 32}, /* Control 1 */
>     {0x7010, 2, 32}, /* Control 2 */
>     {0x6000, 1, 32}, /* Fx/Gage0 */
>     {0x6000, 2, 32}, /* Fy/Gage1 */
>     {0x6000, 3, 32}, /* Fz/Gage2 */
>     {0x6000, 4, 32}, /* Tx/Gage3 */
>     {0x6000, 5, 32}, /* Ty/Gage3 */
>     {0x6000, 6, 32}, /* Tz/Gage3 */
>     {0x6010, 0, 32}, /* SubIndex 000 */
>     {0x6020, 0, 32}, /* SubIndex 000 */
> };
>
> static ec_pdo_info_t el3102_pdos[] = {
>     {0x1601, 2, el3102_pdo_entries + 0}, /* DO RxPDO-Map */
>     {0x1a00, 8, el3102_pdo_entries + 2}, /* DI TxPDO-Map */
> };
> ec_sync_info_t el3102_syncs[] = {
>     {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
>     {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>     {2, EC_DIR_OUTPUT, 1, el3102_pdos + 0, EC_WD_ENABLE},
>     {3, EC_DIR_INPUT, 1, el3102_pdos + 1, EC_WD_DISABLE},
>     {0xff}
> };
>
>
>
>
> /*
> // Analog out -------------------------
>
> static ec_pdo_entry_info_t el4102_pdo_entries[] = {
>     {0x3001, 1, 16}, // channel 1 value
>     {0x3002, 1, 16}, // channel 2 value
> };
>
> static ec_pdo_info_t el4102_pdos[] = {
>     {0x1600, 1, el4102_pdo_entries},
>     {0x1601, 1, el4102_pdo_entries + 1}
> };
>
> static ec_sync_info_t el4102_syncs[] = {
>     {2, EC_DIR_OUTPUT, 2, el4102_pdos},
>     {3, EC_DIR_INPUT},
>     {0xff}
> };
>
> // Digital out ------------------------
>
> static ec_pdo_entry_info_t el2004_channels[] = {
>     {0x3001, 1, 1}, // Value 1
>     {0x3001, 2, 1}, // Value 2
>     {0x3001, 3, 1}, // Value 3
>     {0x3001, 4, 1}  // Value 4
> };
>
> static ec_pdo_info_t el2004_pdos[] = {
>     {0x1600, 1, &el2004_channels[0]},
>     {0x1601, 1, &el2004_channels[1]},
>     {0x1602, 1, &el2004_channels[2]},
>     {0x1603, 1, &el2004_channels[3]}
> };
>
> static ec_sync_info_t el2004_syncs[] = {
>     {0, EC_DIR_OUTPUT, 4, el2004_pdos},
>     {1, EC_DIR_INPUT},
>     {0xff}
> };*/
> #endif
>
> /***********************************************************
> ******************/
>
> #if SDO_ACCESS
> static ec_sdo_request_t *sdo;
> #endif
>
> /***********************************************************
> ******************/
>
> 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;
>     //printf("test");
>     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("test");
>         printf("Link is %s.\n", ms.link_up ? "up" : "down");
>     master_state = ms;
>
> }
>
> /***********************************************************
> ******************/
> //printf("enter");
> void check_slave_config_states(void)
>
> {
>
>     ec_slave_config_state_t s;
>
>     ecrt_slave_config_state(sc_ana_in, &s);
> printf("test");
>     if (s.al_state != sc_ana_in_state.al_state)
>         printf("AnaIn: State 0x%02X.\n", s.al_state);
>     if (s.online != sc_ana_in_state.online)
>         printf("AnaIn: %s.\n", s.online ? "online" : "offline");
>     if (s.operational != sc_ana_in_state.operational)
>         printf("AnaIn: %soperational.\n",
>                 s.operational ? "" : "Not ");
>
>     sc_ana_in_state = s;
> }
>
> /***********************************************************
> ******************/
>
> #if SDO_ACCESS
> void read_sdo(void)
> {
>     switch (ecrt_sdo_request_state(sdo)) {
>         case EC_REQUEST_UNUSED: // request was not used yet
>             ecrt_sdo_request_read(sdo); // trigger first read
>             break;
>         case EC_REQUEST_BUSY:
>             fprintf(stderr, "Still busy...\n");
>             break;
>         case EC_REQUEST_SUCCESS:
>             fprintf(stderr, "SDO value: 0x%04X\n",
>                     EC_READ_U32(ecrt_sdo_request_data(sdo)));
>             ecrt_sdo_request_read(sdo); // trigger next read
>             break;
>         case EC_REQUEST_ERROR:
>             fprintf(stderr, "Failed to read SDO!\n");
>             ecrt_sdo_request_read(sdo); // retry reading
>             break;
>     }
> }
> #endif
>
> /***********************************************************
> *****************/
>
> void cyclic_task()
> {
>     // 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;
>       //printf("test");
>         // check for master state (optional)
>         //check_master_state();
> printf("test");
>         // check for islave configuration state(s) (optional)
>         check_slave_config_states();
>
> #if SDO_ACCESS
>         // read process data SDO
>         read_sdo();
> #endif
>
>     }
>
> #if 0
>     // read process data
>     printf("AnaIn: state %u value %u\n",
>             EC_READ_U8(domain1_pd + off_ana_in_status),
>             EC_READ_U32(domain1_pd + off_ana_in_value));
> #endif
>
> #if 1
>     // write process data
>     EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
> #endif
>
>     // 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;
>
>     if (!(sc_ana_in = ecrt_master_slave_config(
>                     master, AnaInSlavePos, Beckhoff_EL3102))) {
>         fprintf(stderr, "Failed to get slave configuration.\n");
>         return -1;
>     }
>
> #if SDO_ACCESS
>     fprintf(stderr, "Creating SDO requests...\n");
>     if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102,
> 2, 2))) {
>         fprintf(stderr, "Failed to create SDO request.\n");
>         return -1;
>     }
>     ecrt_sdo_request_timeout(sdo, 500); // ms
> #endif
>
> #if CONFIGURE_PDOS
>     printf("Configuring PDOs...\n");
>     if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
>         fprintf(stderr, "Failed to configure PDOs.\n");
>         return -1;
>     }
>
> //     if (!(sc = ecrt_master_slave_config(
> //                     master, AnaOutSlavePos, Beckhoff_EL4102))) {
> //         fprintf(stderr, "Failed to get slave configuration.\n");
> //         return -1;
> //     }
> //
> //     if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
> //         fprintf(stderr, "Failed to configure PDOs.\n");
> //         return -1;
> //     }
> //
> //     if (!(sc = ecrt_master_slave_config(
> //                     master, DigOutSlavePos, Beckhoff_EL2032))) {
> //         fprintf(stderr, "Failed to get slave configuration.\n");
> //         return -1;
> //     }
>
> //     if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
> //         fprintf(stderr, "Failed to configure PDOs.\n");
> //         return -1;
> //     }
> #endif
>
>     // Create configuration for bus coupler
>     sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
>     if (!sc)
>         return -1;
>
>     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
>         fprintf(stderr, "PDO entry registration failed!\n");
>         return -1;
>     }
>
>     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;
>     }
>
>     printf("Started.\n");
>     while (1) {
>       //printf("test");
>         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;
> }
>
> /***********************************************************
> *****************/
>
>
>
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