EtherCAT driver for a 6 axis robot

ec_slaves_responding_ok = (ec_slaves_responding == ec_slaves); if (!ec_slaves_responding_ok) {   emc_enable_out = 0;   if (data.last_ec_slaves_responding_ok) {     rtapi_print_msg(RTAPI_MSG_ERR, "EtherCAT: Not all %d slaves responding!\n",    ec_slaves); }} data.last_ec_slaves_responding_ok = ec_slaves_responding_ok;  if (!ec_link_up) {   emc_enable_out = 0;   if (data.last_ec_link_up) {     rtapi_print_msg(RTAPI_MSG_ERR, "EtherCAT: Link down!\n"); }} data.last_ec_link_up = ec_link_up;  if (!ec_all_op) {   emc_enable_out = 0;   if (data.last_ec_all_op)   {rtapi_print_msg(RTAPI_MSG_ERR, "EtherCAT: Not all slaves in OP mode!\n"); }} data.last_ec_all_op = ec_all_op;

[quote]I don't know if this is practicable in the whole system but my way of implementation would be:[/quote] This is where my experience and knowlege of the workings of lcnc falls off a cliff.  If you're available for contract work let me know.  The resulting work would be open source.

{normal .comp headers, as you have} pin out signed state; pin out float timer; ... FUNCTION(_){ ... switch (state){ case 0: // waiting if (! enable) return; output_1 = 1; timer = 1000; state = 1; break; case 1: timer -= fperiod; if (timer > 0) return; output_2 = 1; timer = 1500; state = 2; break; case 2: timer -= fperiod; if (timer > 0) return; output_3 = 1; timer = 500; state = 3; . break; case 3: ...