Initialization

To enable POWERLINK support in GOAL the goal_eplInit function must be called during appl_init. Afterwards, a new POWERLINK instance can setup by goal_eplNew during appl_setup.

static GOAL_EPL_T *pHdlEpl;                     /**< GOAL POWERLINK handle */

GOAL_STATUS_T appl_init(
    void
)
{
    GOAL_STATUS_T res;                          /* result */

    /* initialize POWERLINK */
    res = goal_eplInit();
    if (GOAL_RES_ERR(res)) {
        goal_logErr("Initialization of POWERLINK failed");
    }

    return res;
}


GOAL_STATUS_T appl_setup(
    void
)
{
    GOAL_STATUS_T res;                          /* result */

    /* setup Ethernet POWERLINK */
    res = goal_eplNew(&pHdlEpl);
    if (GOAL_RES_ERR(res)) {
        goal_logErr("failed to create a new POWERLINK instance");
    }

    return res;
}