296 lines
7.5 KiB
C
296 lines
7.5 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2011 IgH Andreas Stewering-Bone
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* 2012 Florian Pose <fp@igh.de>
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*
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* This file is part of the IgH EtherCAT master
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>.
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*
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****************************************************************************/
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#include <errno.h>
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#include <mqueue.h>
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#include <signal.h>
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#include <pthread.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <limits.h>
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#include <sys/ioctl.h>
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#include <sys/mman.h>
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#include <time.h>
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#include <rtdm/rtdm.h>
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#include <rtdk.h>
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#include "ecrt.h"
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#define NSEC_PER_SEC 1000000000
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static unsigned int cycle_us = 1000; /* 1 ms */
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static pthread_t cyclic_thread;
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static int run = 1;
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/****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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static uint8_t *domain1_pd = NULL;
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static ec_slave_config_t *sc_dig_out_01 = NULL;
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/****************************************************************************/
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// process data
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#define BusCoupler01_Pos 0, 0
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#define DigOutSlave01_Pos 0, 1
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2004 0x00000002, 0x07d43052
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// offsets for PDO entries
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static unsigned int off_dig_out0 = 0;
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// process data
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL},
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{}
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};
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/****************************************************************************/
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/* Slave 1, "EL2004"
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* Vendor ID: 0x00000002
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* Product code: 0x07d43052
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* Revision number: 0x00100000
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*/
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ec_pdo_entry_info_t slave_1_pdo_entries[] = {
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{0x7000, 0x01, 1}, /* Output */
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{0x7010, 0x01, 1}, /* Output */
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{0x7020, 0x01, 1}, /* Output */
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{0x7030, 0x01, 1}, /* Output */
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};
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ec_pdo_info_t slave_1_pdos[] = {
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{0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
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{0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
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{0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
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{0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
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};
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ec_sync_info_t slave_1_syncs[] = {
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{0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
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{0xff}
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};
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/*****************************************************************************
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* Realtime task
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****************************************************************************/
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void rt_check_domain_state(void)
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{
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ec_domain_state_t ds = {};
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ecrt_domain_state(domain1, &ds);
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if (ds.working_counter != domain1_state.working_counter) {
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rt_printf("Domain1: WC %u.\n", ds.working_counter);
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}
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if (ds.wc_state != domain1_state.wc_state) {
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rt_printf("Domain1: State %u.\n", ds.wc_state);
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}
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domain1_state = ds;
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}
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/****************************************************************************/
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void rt_check_master_state(void)
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{
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ec_master_state_t ms;
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ecrt_master_state(master, &ms);
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if (ms.slaves_responding != master_state.slaves_responding) {
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rt_printf("%u slave(s).\n", ms.slaves_responding);
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}
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if (ms.al_states != master_state.al_states) {
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rt_printf("AL states: 0x%02X.\n", ms.al_states);
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}
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if (ms.link_up != master_state.link_up) {
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rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
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}
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master_state = ms;
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}
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/****************************************************************************/
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void *my_thread(void *arg)
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{
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struct timespec next_period;
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int cycle_counter = 0;
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unsigned int blink = 0;
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clock_gettime(CLOCK_REALTIME, &next_period);
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while (run) {
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next_period.tv_nsec += cycle_us * 1000;
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while (next_period.tv_nsec >= NSEC_PER_SEC) {
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next_period.tv_nsec -= NSEC_PER_SEC;
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next_period.tv_sec++;
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}
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clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next_period, NULL);
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cycle_counter++;
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// receive EtherCAT
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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rt_check_domain_state();
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if (!(cycle_counter % 1000)) {
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rt_check_master_state();
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}
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if (!(cycle_counter % 200)) {
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blink = !blink;
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}
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EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F);
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// send process data
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ecrt_domain_queue(domain1);
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ecrt_master_send(master);
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}
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return NULL;
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}
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/*****************************************************************************
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* Signal handler
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****************************************************************************/
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void signal_handler(int sig)
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{
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run = 0;
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}
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/*****************************************************************************
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* Main function
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****************************************************************************/
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int main(int argc, char *argv[])
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{
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ec_slave_config_t *sc;
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int ret;
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signal(SIGTERM, signal_handler);
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signal(SIGINT, signal_handler);
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mlockall(MCL_CURRENT | MCL_FUTURE);
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printf("Requesting master...\n");
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master = ecrt_request_master(0);
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if (!master) {
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return -1;
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}
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domain1 = ecrt_master_create_domain(master);
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if (!domain1) {
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return -1;
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}
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printf("Creating slave configurations...\n");
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// Create configuration for bus coupler
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sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
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if (!sc) {
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return -1;
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}
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sc_dig_out_01 =
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ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
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if (!sc_dig_out_01) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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fprintf(stderr, "PDO entry registration failed!\n");
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return -1;
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}
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printf("Activating master...\n");
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if (ecrt_master_activate(master)) {
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return -1;
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}
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if (!(domain1_pd = ecrt_domain_data(domain1))) {
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fprintf(stderr, "Failed to get domain data pointer.\n");
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return -1;
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}
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/* Create cyclic RT-thread */
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struct sched_param param = { .sched_priority = 82 };
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pthread_attr_t thattr;
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pthread_attr_init(&thattr);
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pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE);
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pthread_attr_setinheritsched(&thattr, PTHREAD_EXPLICIT_SCHED);
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pthread_attr_setschedpolicy(&thattr, SCHED_FIFO);
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pthread_setschedparam(cyclic_thread, SCHED_FIFO, ¶m);
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ret = pthread_create(&cyclic_thread, &thattr, &my_thread, NULL);
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if (ret) {
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fprintf(stderr, "%s: pthread_create cyclic task failed\n",
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strerror(-ret));
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return 1;
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}
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while (run) {
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sched_yield();
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}
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pthread_join(cyclic_thread, NULL);
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printf("End of Program\n");
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ecrt_release_master(master);
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return 0;
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}
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/****************************************************************************/
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