diff --git a/CMakeLists.txt b/CMakeLists.txt
index 494da40..b9ae2ab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -158,12 +158,10 @@ install(FILES
 )
 
 if(SOEM_BUILD_SAMPLES)
-  add_subdirectory(samples/coetest)
+  add_subdirectory(samples/ec_sample)
   add_subdirectory(samples/eepromtool)
   add_subdirectory(samples/firm_update)
-  add_subdirectory(samples/red_test)
   add_subdirectory(samples/simple_ng)
-  add_subdirectory(samples/simple_test)
   add_subdirectory(samples/slaveinfo)
 
   if (${CMAKE_SYSTEM_NAME} STREQUAL Linux)
diff --git a/cmake/Linux.cmake b/cmake/Linux.cmake
index ec2bc51..2254068 100644
--- a/cmake/Linux.cmake
+++ b/cmake/Linux.cmake
@@ -18,14 +18,12 @@ target_include_directories(soem PUBLIC
 
 foreach(target IN ITEMS
     soem
-    coetest
+    ec_sample
     eepromtool
     eni_test
     eoe_test
     firm_update
-    red_test
     simple_ng
-    simple_test
     slaveinfo)
   if (TARGET ${target})
     target_compile_options(${target} PRIVATE
diff --git a/cmake/Windows.cmake b/cmake/Windows.cmake
index 874424d..cfd4d73 100644
--- a/cmake/Windows.cmake
+++ b/cmake/Windows.cmake
@@ -31,14 +31,12 @@ target_link_libraries(soem PUBLIC
 
 foreach(target IN ITEMS
     soem
-    coetest
+    ec_sample
     eepromtool
     eni_test
     eoe_test
     firm_update
-    red_test
     simple_ng
-    simple_test
     slaveinfo)
   if (TARGET ${target})
     target_compile_options(${target} PRIVATE
diff --git a/cmake/rt-kernel.cmake b/cmake/rt-kernel.cmake
index 77f5503..6a5aeb4 100644
--- a/cmake/rt-kernel.cmake
+++ b/cmake/rt-kernel.cmake
@@ -28,14 +28,12 @@ target_include_directories(soem PUBLIC
 
 foreach(target IN ITEMS
     soem
-    coetest
+    ec_sample
     eepromtool
     eni_test
     eoe_test
     firm_update
-    red_test
     simple_ng
-    simple_test
     slaveinfo)
   if (TARGET ${target})
     target_compile_options(${target} PRIVATE
diff --git a/samples/coetest/CMakeLists.txt b/samples/coetest/CMakeLists.txt
deleted file mode 100644
index b3d5b6f..0000000
--- a/samples/coetest/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-add_executable(coetest coetest.c)
-target_link_libraries(coetest soem)
-install(TARGETS coetest DESTINATION bin)
diff --git a/samples/ec_sample/CMakeLists.txt b/samples/ec_sample/CMakeLists.txt
new file mode 100644
index 0000000..0c72def
--- /dev/null
+++ b/samples/ec_sample/CMakeLists.txt
@@ -0,0 +1,3 @@
+add_executable(ec_sample ec_sample.c)
+target_link_libraries(ec_sample soem)
+install(TARGETS ec_sample DESTINATION bin)
diff --git a/samples/coetest/coetest.c b/samples/ec_sample/ec_sample.c
similarity index 66%
rename from samples/coetest/coetest.c
rename to samples/ec_sample/ec_sample.c
index d91e8d5..1761661 100644
--- a/samples/coetest/coetest.c
+++ b/samples/ec_sample/ec_sample.c
@@ -1,26 +1,27 @@
-/** \file
- * \brief CoE example code for Simple Open EtherCAT master
- *
- * Usage : coetest [ifname1]
- * ifname is NIC interface, f.e. eth0
- *
- * (c)Arthur Ketels 2010 - 2024
+/*
+ * This software is dual-licensed under GPLv3 and a commercial
+ * license. See the file LICENSE.md distributed with this software for
+ * full license information.
  */
 
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 #include <inttypes.h>
 
 #include "soem/soem.h"
 
 #define EC_TIMEOUTMON 500
+
 #define NSEC_PER_SEC  1000000000
 
 static uint8 IOmap[4096];
 static OSAL_THREAD_HANDLE threadrt, thread1;
 static int expectedWKC;
+static int wkc;
 static int mappingdone, dorun, inOP, dowkccheck;
-static int adapterisbound, conf_io_size, currentgroup;
+static int currentgroup = 0;
+static int cycle = 0;
 static int64_t cycletime = 1000000;
 
 static ecx_contextt ctx;
@@ -39,7 +40,7 @@ static float pgain = 0.01f;
 static float igain = 0.00002f;
 /* set linux sync point 500us later than DC sync, just as example */
 static int64 syncoffset = 500000;
-int64 timeerror;
+static int64 timeerror;
 
 /* PI calculation to get linux time synced to DC time */
 void ec_sync(int64 reftime, int64 cycletime, int64 *offsettime)
@@ -56,11 +57,11 @@ void ec_sync(int64 reftime, int64 cycletime, int64 *offsettime)
    *offsettime = (int64)((timeerror * pgain) + (integral * igain));
 }
 
-/* RT EtherCAT thread */
+/* Cyclic RT EtherCAT thread */
 OSAL_THREAD_FUNC_RT ecatthread(void)
 {
    ec_timet ts;
-   int ht, wkc;
+   int ht;
    static int64_t toff = 0;
 
    dorun = 0;
@@ -80,11 +81,13 @@ OSAL_THREAD_FUNC_RT ecatthread(void)
       osal_monotonic_sleep(&ts);
       if (dorun > 0)
       {
+         cycle++;
          wkc = ecx_receive_processdata(&ctx, EC_TIMEOUTRET);
          if (wkc != expectedWKC)
             dowkccheck++;
          else
             dowkccheck = 0;
+
          if (ctx.slavelist[0].hasdc && (wkc > 0))
          {
             /* calculate toff to get linux time and DC synced */
@@ -96,6 +99,7 @@ OSAL_THREAD_FUNC_RT ecatthread(void)
    }
 }
 
+/* Slave error handler */
 OSAL_THREAD_FUNC ecatcheck(void)
 {
    int slaveix;
@@ -147,7 +151,6 @@ OSAL_THREAD_FUNC ecatcheck(void)
                      if (slave->Ibytes)
                      {
                         memset(slave->inputs, 0x00, slave->Ibytes);
-                        printf("zero inputs %p %d\n\r", slave->inputs, slave->Ibytes);
                      }
                      printf("ERROR : slave %d lost\n", slaveix);
                   }
@@ -178,59 +181,127 @@ OSAL_THREAD_FUNC ecatcheck(void)
    }
 }
 
-void ethercatstartup(char *ifname)
+/* Transition network to operational state */
+void ecatbringup(char *ifname)
 {
    printf("EtherCAT Startup\n");
    int rv = ecx_init(&ctx, ifname);
    if (rv)
    {
-      adapterisbound = 1;
       ecx_config_init(&ctx);
       if (ctx.slavecount > 0)
       {
          ec_groupt *group = &ctx.grouplist[0];
 
-         conf_io_size = ecx_config_map_group(&ctx, IOmap, 0);
+         ecx_config_map_group(&ctx, IOmap, 0);
          expectedWKC = (group->outputsWKC * 2) + group->inputsWKC;
+         printf("%d slaves found and configured.\n", ctx.slavecount);
+
+         printf("segments : %d : %d %d %d %d\n",
+                group->nsegments,
+                group->IOsegment[0],
+                group->IOsegment[1],
+                group->IOsegment[2],
+                group->IOsegment[3]);
+
+         /* Configure distributed clocks */
          mappingdone = 1;
          ecx_configdc(&ctx);
+
+         /* Add all CoE slaves to cyclic mailbox handler */
          int sdoslave = -1;
          for (int si = 1; si <= ctx.slavecount; si++)
          {
             ec_slavet *slave = &ctx.slavelist[si];
-            printf("Slave %d name:%s man:%8.8x id:%8.8x rev:%d ser:%d\n", si, slave->name, slave->eep_man, slave->eep_id, slave->eep_rev, slave->eep_ser);
             if (slave->CoEdetails > 0)
             {
                ecx_slavembxcyclic(&ctx, si);
                sdoslave = si;
-               printf(" Slave added to cyclic mailbox handler\n");
+               printf(" Slave %d added to cyclic mailbox handler\n", si);
             }
          }
+
+         /* Let network sync to clocks */
          dorun = 1;
          osal_usleep(1000000);
+
+         /* Go to operational state */
          ctx.slavelist[0].state = EC_STATE_OPERATIONAL;
          ecx_writestate(&ctx, 0);
          ecx_statecheck(&ctx, 0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
-         inOP = 1;
-         printf("EtherCAT OP\n");
-         uint32_t aval = 0;
-         int avals = sizeof(aval);
-         for (int i = 0; i < 100; i++)
+
+         if (ctx.slavelist[0].state != EC_STATE_OPERATIONAL)
          {
-            printf("Cycle %d timeerror %" PRId64 "\n", i, timeerror);
-            if (sdoslave > 0)
+            ecx_readstate(&ctx);
+            for (int si = 1; si <= ctx.slavecount; si++)
             {
-               aval = 0;
-               int rval = ecx_SDOread(&ctx, sdoslave, 0x1018, 0x02, FALSE, &avals, &aval, EC_TIMEOUTRXM);
-               printf(" Slave %d Rval %d Prodcode %8.8x\n", sdoslave, rval, aval);
+               ec_slavet *slave = &ctx.slavelist[si];
+               if (slave->state != EC_STATE_OPERATIONAL)
+               {
+                  printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
+                         si,
+                         slave->state,
+                         slave->ALstatuscode,
+                         ec_ALstatuscode2string(slave->ALstatuscode));
+               }
             }
-            osal_usleep(100000);
          }
-         inOP = 0;
-         printf("EtherCAT to safe-OP\n");
+         else
+         {
+            int size;
+
+            printf("EtherCAT OP\n");
+            inOP = TRUE;
+
+            /* acyclic loop 5000 x 20ms = 100s */
+            for (int i = 0; i < 5000; i++)
+            {
+               printf("Processdata cycle %5d , Wck %3d, DCtime %12" PRId64 ", dt %8" PRId64 ", O:",
+                      cycle,
+                      wkc,
+                      ctx.DCtime,
+                      timeerror);
+
+               size = group->Obytes < 8 ? group->Obytes : 8;
+               for (int j = 0; j < size; j++)
+               {
+                  printf(" %2.2x", *(ctx.slavelist[0].outputs + j));
+               }
+
+               printf(" I:");
+               size = group->Ibytes < 8 ? group->Ibytes : 8;
+               for (int j = 0; j < size; j++)
+               {
+                  printf(" %2.2x", *(ctx.slavelist[0].inputs + j));
+               }
+
+               printf("\r");
+               fflush(stdout);
+
+               /* Demonstrate SDO access from other threads */
+               uint32_t value = 0;
+               int size = sizeof(value);
+               if (sdoslave > 0)
+               {
+                  value = 0;
+                  int sdo_wkc = ecx_SDOread(&ctx, sdoslave, 0x1018, 0x02, FALSE, &size, &value, EC_TIMEOUTRXM);
+                  (void)sdo_wkc;
+               }
+
+               osal_usleep(20000);
+            }
+            printf("\n");
+            dorun = 0;
+            inOP = FALSE;
+         }
+
+         /* Go to SAFE_OP */
+         printf("EtherCAT to SAFE_OP\n");
          ctx.slavelist[0].state = EC_STATE_SAFE_OP;
          ecx_writestate(&ctx, 0);
          ecx_statecheck(&ctx, 0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
+
+         /* Go to INIT state */
          printf("EtherCAT to INIT\n");
          ctx.slavelist[0].state = EC_STATE_INIT;
          ecx_writestate(&ctx, 0);
@@ -241,22 +312,27 @@ void ethercatstartup(char *ifname)
 
 int main(int argc, char *argv[])
 {
-   printf("SOEM (Simple Open EtherCAT Master)\nCoEtest\n");
+   printf("SOEM (Simple Open EtherCAT Master)\nec_sample\n");
+
+   if (argc > 2)
+      cycletime = atoi(argv[2]) * 1000;
 
    if (argc > 1)
    {
-      /* create thread to handle slave error handling in OP */
+      /* create process data thread */
       osal_thread_create_rt(&threadrt, 128000, &ecatthread, NULL);
       /* create thread to handle slave error handling in OP */
       osal_thread_create(&thread1, 128000, &ecatcheck, NULL);
-      /* start cyclic part */
-      ethercatstartup(argv[1]);
+      /* bringup network */
+      ecatbringup(argv[1]);
    }
    else
    {
       ec_adaptert *adapter = NULL;
       ec_adaptert *head = NULL;
-      printf("Usage: coetest ifname1\nifname = eth0 for example\n");
+      printf("Usage: ec_sample ifname1 [cycletime]\n");
+      printf("ifname = eth0 for example\n");
+      printf("cycletime in us\n");
 
       printf("\nAvailable adapters:\n");
       head = adapter = ec_find_adapters();
diff --git a/samples/red_test/CMakeLists.txt b/samples/red_test/CMakeLists.txt
deleted file mode 100644
index 6257622..0000000
--- a/samples/red_test/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-add_executable(red_test red_test.c)
-target_link_libraries(red_test soem)
-install(TARGETS red_test DESTINATION bin)
diff --git a/samples/red_test/red_test.c b/samples/red_test/red_test.c
deleted file mode 100644
index b2de8d0..0000000
--- a/samples/red_test/red_test.c
+++ /dev/null
@@ -1,356 +0,0 @@
-/** \file
- * \brief Example code for Simple Open EtherCAT master
- *
- * Usage : red_test [ifname1] [ifname2] [cycletime]
- * ifname is NIC interface, f.e. eth0
- * cycletime in us, f.e. 500
- *
- * This is a redundancy test.
- *
- * (c)Arthur Ketels 2008
- */
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <inttypes.h>
-
-#include "soem/soem.h"
-
-#define EC_TIMEOUTMON 500
-#define NSEC_PER_SEC  1000000000
-
-static uint8 IOmap[4096];
-static OSAL_THREAD_HANDLE thread1;
-static OSAL_THREAD_HANDLE thread2;
-static int expectedWKC;
-static boolean needlf;
-static volatile int wkc;
-static boolean inOP;
-static uint8 currentgroup = 0;
-static uint8 *digout = NULL;
-static int dorun = 0;
-static int64 toff, gl_delta;
-
-static ecx_contextt ctx;
-
-void redtest(char *ifname, char *ifname2)
-{
-   int cnt, i, j, oloop, iloop;
-
-   printf("Starting Redundant test\n");
-
-   /* initialise SOEM, bind socket to ifname */
-   (void)ifname2;
-   //   if (ecx_init_redundant(&ctx, ifname, ifname2))
-   if (ecx_init(&ctx, ifname))
-   {
-      printf("ecx_init on %s succeeded.\n", ifname);
-
-      /* find and auto-config slaves */
-      if (ecx_config_init(&ctx) > 0)
-      {
-         ec_groupt *group = &ctx.grouplist[0];
-
-         ecx_config_map_group(&ctx, IOmap, 0);
-
-         printf("%d slaves found and configured.\n", ctx.slavecount);
-
-         /* wait for all slaves to reach SAFE_OP state */
-         ecx_statecheck(&ctx, 0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
-
-         ecx_configdc(&ctx);
-
-         /* read indevidual slave state and store in ctx.slavelist[] */
-         ecx_readstate(&ctx);
-         for (cnt = 1; cnt <= ctx.slavecount; cnt++)
-         {
-            printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n",
-                   cnt, ctx.slavelist[cnt].name, ctx.slavelist[cnt].Obits, ctx.slavelist[cnt].Ibits,
-                   ctx.slavelist[cnt].state, (int)ctx.slavelist[cnt].pdelay, ctx.slavelist[cnt].hasdc);
-            printf("         Out:%p,%4d In:%p,%4d\n",
-                   ctx.slavelist[cnt].outputs, ctx.slavelist[cnt].Obytes, ctx.slavelist[cnt].inputs, ctx.slavelist[cnt].Ibytes);
-            /* check for EL2004 or EL2008 */
-            if (!digout && ((ctx.slavelist[cnt].eep_id == 0x0af83052) || (ctx.slavelist[cnt].eep_id == 0x07d83052)))
-            {
-               digout = ctx.slavelist[cnt].outputs;
-            }
-         }
-         expectedWKC = (group->outputsWKC * 2) + group->inputsWKC;
-         printf("Calculated workcounter %d\n", expectedWKC);
-
-         printf("Request operational state for all slaves\n");
-         ctx.slavelist[0].state = EC_STATE_OPERATIONAL;
-         /* request OP state for all slaves */
-         ecx_writestate(&ctx, 0);
-         /* activate cyclic process data */
-         dorun = 1;
-         /* wait for all slaves to reach OP state */
-         ecx_statecheck(&ctx, 0, EC_STATE_OPERATIONAL, 5 * EC_TIMEOUTSTATE);
-
-         oloop = group->Obytes;
-         if (oloop > 8) oloop = 8;
-         iloop = group->Ibytes;
-         if (iloop > 8) iloop = 8;
-
-         if (ctx.slavelist[0].state == EC_STATE_OPERATIONAL)
-         {
-            printf("Operational state reached for all slaves.\n");
-            inOP = TRUE;
-            /* acyclic loop 5000 x 20ms = 10s */
-            for (i = 1; i <= 5000; i++)
-            {
-               printf("Processdata cycle %5d , Wck %3d, DCtime %12" PRId64 ", dt %12" PRId64 ", O:",
-                      dorun, wkc, ctx.DCtime, gl_delta);
-               for (j = 0; j < oloop; j++)
-               {
-                  printf(" %2.2x", *(ctx.slavelist[0].outputs + j));
-               }
-               printf(" I:");
-               for (j = 0; j < iloop; j++)
-               {
-                  printf(" %2.2x", *(ctx.slavelist[0].inputs + j));
-               }
-               printf("\r");
-               fflush(stdout);
-               osal_usleep(20000);
-            }
-            dorun = 0;
-            inOP = FALSE;
-         }
-         else
-         {
-            printf("Not all slaves reached operational state.\n");
-            ecx_readstate(&ctx);
-            for (i = 1; i <= ctx.slavecount; i++)
-            {
-               ec_slavet *slave = &ctx.slavelist[i];
-               if (slave->state != EC_STATE_OPERATIONAL)
-               {
-                  printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
-                         i, slave->state, slave->ALstatuscode, ec_ALstatuscode2string(slave->ALstatuscode));
-               }
-            }
-         }
-         printf("Request safe operational state for all slaves\n");
-         ctx.slavelist[0].state = EC_STATE_SAFE_OP;
-         /* request SAFE_OP state for all slaves */
-         ecx_writestate(&ctx, 0);
-      }
-      else
-      {
-         printf("No slaves found!\n");
-      }
-      printf("End redundant test, close socket\n");
-      /* stop SOEM, close socket */
-      ecx_close(&ctx);
-   }
-   else
-   {
-      printf("No socket connection on %s\nExcecute as root\n", ifname);
-   }
-}
-
-/* add ns to ec_timet */
-void add_time_ns(ec_timet *ts, int64 addtime)
-{
-   ec_timet addts;
-
-   addts.tv_nsec = addtime % NSEC_PER_SEC;
-   addts.tv_sec = (addtime - addts.tv_nsec) / NSEC_PER_SEC;
-   osal_timespecadd(ts, &addts, ts);
-}
-
-/* PI calculation to get linux time synced to DC time */
-void ec_sync(int64 reftime, int64 cycletime, int64 *offsettime)
-{
-   static int64 integral = 0;
-   int64 delta;
-   /* set linux sync point 50us later than DC sync, just as example */
-   delta = (reftime - 50000) % cycletime;
-   if (delta > (cycletime / 2))
-   {
-      delta = delta - cycletime;
-   }
-   if (delta > 0)
-   {
-      integral++;
-   }
-   if (delta < 0)
-   {
-      integral--;
-   }
-   *offsettime = -(delta / 100) - (integral / 20);
-   gl_delta = delta;
-}
-
-/* RT EtherCAT thread */
-OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
-{
-   ec_timet ts;
-   int ht;
-   int64 cycletime;
-
-   osal_get_monotonic_time(&ts);
-   ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */
-   ts.tv_nsec = ht * 1000000;
-   if (ts.tv_nsec >= NSEC_PER_SEC)
-   {
-      ts.tv_sec++;
-      ts.tv_nsec -= NSEC_PER_SEC;
-   }
-   cycletime = *(int *)ptr * 1000; /* cycletime in ns */
-   toff = 0;
-   dorun = 0;
-   ecx_send_processdata(&ctx);
-   while (1)
-   {
-      /* calculate next cycle start */
-      add_time_ns(&ts, cycletime + toff);
-      /* wait to cycle start */
-      osal_monotonic_sleep(&ts);
-      if (dorun > 0)
-      {
-         wkc = ecx_receive_processdata(&ctx, EC_TIMEOUTRET);
-
-         dorun++;
-         /* if we have some digital output, cycle */
-         if (digout) *digout = (uint8)((dorun / 16) & 0xff);
-
-         if (ctx.slavelist[0].hasdc)
-         {
-            /* calculate toff to get linux time and DC synced */
-            ec_sync(ctx.DCtime, cycletime, &toff);
-         }
-         ecx_send_processdata(&ctx);
-      }
-   }
-}
-
-OSAL_THREAD_FUNC ecatcheck(void *ptr)
-{
-   int slaveix;
-   (void)ptr; /* Not used */
-
-   while (1)
-   {
-      if (inOP && ((wkc < expectedWKC) || ctx.grouplist[currentgroup].docheckstate))
-      {
-         if (needlf)
-         {
-            needlf = FALSE;
-            printf("\n");
-         }
-         /* one or more slaves are not responding */
-         ctx.grouplist[currentgroup].docheckstate = FALSE;
-         ecx_readstate(&ctx);
-         for (slaveix = 1; slaveix <= ctx.slavecount; slaveix++)
-         {
-            ec_slavet *slave = &ctx.slavelist[slaveix];
-
-            if ((slave->group == currentgroup) && (slave->state != EC_STATE_OPERATIONAL))
-            {
-               ctx.grouplist[currentgroup].docheckstate = TRUE;
-               if (slave->state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
-               {
-                  printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slaveix);
-                  slave->state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
-                  ecx_writestate(&ctx, slaveix);
-               }
-               else if (slave->state == EC_STATE_SAFE_OP)
-               {
-                  printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slaveix);
-                  slave->state = EC_STATE_OPERATIONAL;
-                  if (slave->mbxhandlerstate == ECT_MBXH_LOST) slave->mbxhandlerstate = ECT_MBXH_CYCLIC;
-                  ecx_writestate(&ctx, slaveix);
-               }
-               else if (slave->state > EC_STATE_NONE)
-               {
-                  if (ecx_reconfig_slave(&ctx, slaveix, EC_TIMEOUTMON) >= EC_STATE_PRE_OP)
-                  {
-                     slave->islost = FALSE;
-                     printf("MESSAGE : slave %d reconfigured\n", slaveix);
-                  }
-               }
-               else if (!slave->islost)
-               {
-                  /* re-check state */
-                  ecx_statecheck(&ctx, slaveix, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
-                  if (slave->state == EC_STATE_NONE)
-                  {
-                     slave->islost = TRUE;
-                     slave->mbxhandlerstate = ECT_MBXH_LOST;
-                     /* zero input data for this slave */
-                     if (slave->Ibytes)
-                     {
-                        memset(slave->inputs, 0x00, slave->Ibytes);
-                        printf("zero inputs %p %d\n\r", slave->inputs, slave->Ibytes);
-                     }
-                     printf("ERROR : slave %d lost\n", slaveix);
-                  }
-               }
-            }
-            if (slave->islost)
-            {
-               if (slave->state <= EC_STATE_INIT)
-               {
-                  if (ecx_recover_slave(&ctx, slaveix, EC_TIMEOUTMON))
-                  {
-                     slave->islost = FALSE;
-                     printf("MESSAGE : slave %d recovered\n", slaveix);
-                  }
-               }
-               else
-               {
-                  slave->islost = FALSE;
-                  printf("MESSAGE : slave %d found\n", slaveix);
-               }
-            }
-         }
-         if (!ctx.grouplist[currentgroup].docheckstate)
-            printf("OK : all slaves resumed OPERATIONAL.\n");
-      }
-      osal_usleep(10000);
-   }
-}
-
-int main(int argc, char *argv[])
-{
-   int ctime;
-
-   printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n");
-
-   if (argc > 3)
-   {
-      dorun = 0;
-      ctime = atoi(argv[3]);
-
-      /* create RT thread */
-      osal_thread_create_rt(&thread1, 128000, &ecatthread, (void *)&ctime);
-
-      /* create thread to handle slave error handling in OP */
-      osal_thread_create(&thread2, 128000, &ecatcheck, NULL);
-
-      /* start acyclic part */
-      redtest(argv[1], argv[2]);
-   }
-   else
-   {
-      ec_adaptert *adapter = NULL;
-      ec_adaptert *head = NULL;
-      printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n");
-
-      printf("\nAvailable adapters:\n");
-      head = adapter = ec_find_adapters();
-      while (adapter != NULL)
-      {
-         printf("    - %s  (%s)\n", adapter->name, adapter->desc);
-         adapter = adapter->next;
-      }
-      ec_free_adapters(head);
-   }
-
-   printf("End program\n");
-
-   return (0);
-}
diff --git a/samples/simple_test/CMakeLists.txt b/samples/simple_test/CMakeLists.txt
deleted file mode 100644
index 5ef7327..0000000
--- a/samples/simple_test/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-add_executable(simple_test simple_test.c)
-target_link_libraries(simple_test soem)
-install(TARGETS simple_test DESTINATION bin)
diff --git a/samples/simple_test/simple_test.c b/samples/simple_test/simple_test.c
deleted file mode 100644
index b3c7ccf..0000000
--- a/samples/simple_test/simple_test.c
+++ /dev/null
@@ -1,262 +0,0 @@
-/** \file
- * \brief Example code for Simple Open EtherCAT master
- *
- * Usage : simple_test [ifname1]
- * ifname is NIC interface, f.e. eth0
- *
- * This is a minimal test.
- *
- * (c)Arthur Ketels 2010 - 2011
- */
-
-#include <stdio.h>
-#include <string.h>
-#include <inttypes.h>
-
-#include "soem/soem.h"
-
-#define EC_TIMEOUTMON 500
-
-static uint8 IOmap[4096];
-static OSAL_THREAD_HANDLE thread1;
-static int expectedWKC;
-static boolean needlf;
-static volatile int wkc;
-static boolean inOP;
-static uint8 currentgroup = 0;
-
-static ecx_contextt ctx;
-
-void simpletest(char *ifname)
-{
-   int i, j, oloop, iloop, chk;
-   needlf = FALSE;
-   inOP = FALSE;
-
-   printf("Starting simple test\n");
-
-   /* initialise SOEM, bind socket to ifname */
-   if (ecx_init(&ctx, ifname))
-   {
-      printf("ecx_init on %s succeeded.\n", ifname);
-
-      /* find and auto-config slaves */
-      if (ecx_config_init(&ctx) > 0)
-      {
-         ec_groupt *group = &ctx.grouplist[0];
-
-         ecx_config_map_group(&ctx, IOmap, 0);
-
-         ecx_configdc(&ctx);
-
-         printf("%d slaves found and configured.\n", ctx.slavecount);
-
-         /* wait for all slaves to reach SAFE_OP state */
-         ecx_statecheck(&ctx, 0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
-
-         oloop = group->Obytes;
-         if (oloop > 8) oloop = 8;
-         iloop = group->Ibytes;
-         if (iloop > 8) iloop = 8;
-
-         printf("segments : %d : %d %d %d %d\n", group->nsegments, group->IOsegment[0], group->IOsegment[1], group->IOsegment[2], group->IOsegment[3]);
-
-         printf("Request operational state for all slaves\n");
-         expectedWKC = (group->outputsWKC * 2) + group->inputsWKC;
-         printf("Calculated workcounter %d\n", expectedWKC);
-         ctx.slavelist[0].state = EC_STATE_OPERATIONAL;
-         /* send one valid process data to make outputs in slaves happy*/
-         ecx_send_processdata(&ctx);
-         ecx_receive_processdata(&ctx, EC_TIMEOUTRET);
-         /* request OP state for all slaves */
-         ecx_writestate(&ctx, 0);
-         chk = 200;
-         /* wait for all slaves to reach OP state */
-         do
-         {
-            ecx_send_processdata(&ctx);
-            ecx_receive_processdata(&ctx, EC_TIMEOUTRET);
-            ecx_statecheck(&ctx, 0, EC_STATE_OPERATIONAL, 50000);
-         } while (chk-- && (ctx.slavelist[0].state != EC_STATE_OPERATIONAL));
-         if (ctx.slavelist[0].state == EC_STATE_OPERATIONAL)
-         {
-            printf("Operational state reached for all slaves.\n");
-            inOP = TRUE;
-            /* cyclic loop */
-            for (i = 1; i <= 10000; i++)
-            {
-               ecx_send_processdata(&ctx);
-               wkc = ecx_receive_processdata(&ctx, EC_TIMEOUTRET);
-
-               if (wkc >= expectedWKC)
-               {
-                  printf("Processdata cycle %4d, WKC %d , O:", i, wkc);
-
-                  for (j = 0; j < oloop; j++)
-                  {
-                     printf(" %2.2x", *(ctx.slavelist[0].outputs + j));
-                  }
-
-                  printf(" I:");
-                  for (j = 0; j < iloop; j++)
-                  {
-                     printf(" %2.2x", *(ctx.slavelist[0].inputs + j));
-                  }
-                  printf(" T:%" PRId64 "\r", ctx.DCtime);
-                  needlf = TRUE;
-               }
-               osal_usleep(5000);
-            }
-            inOP = FALSE;
-         }
-         else
-         {
-            printf("Not all slaves reached operational state.\n");
-            ecx_readstate(&ctx);
-            for (i = 1; i <= ctx.slavecount; i++)
-            {
-               ec_slavet *slave = &ctx.slavelist[i];
-               if (slave->state != EC_STATE_OPERATIONAL)
-               {
-                  printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
-                         i, slave->state, slave->ALstatuscode, ec_ALstatuscode2string(slave->ALstatuscode));
-               }
-            }
-         }
-         printf("\nRequest init state for all slaves\n");
-         ctx.slavelist[0].state = EC_STATE_INIT;
-         /* request INIT state for all slaves */
-         ecx_writestate(&ctx, 0);
-      }
-      else
-      {
-         printf("No slaves found!\n");
-      }
-      printf("End simple test, close socket\n");
-      /* stop SOEM, close socket */
-      ecx_close(&ctx);
-   }
-   else
-   {
-      printf("No socket connection on %s\nExecute as root\n", ifname);
-   }
-}
-
-OSAL_THREAD_FUNC ecatcheck(void *ptr)
-{
-   int slaveix;
-   (void)ptr; /* Not used */
-
-   while (1)
-   {
-      if (inOP && ((wkc < expectedWKC) || ctx.grouplist[currentgroup].docheckstate))
-      {
-         printf("check wkc=%d/%d docheckstate=%d!\n", wkc, expectedWKC, ctx.grouplist[currentgroup].docheckstate);
-         if (needlf)
-         {
-            needlf = FALSE;
-            printf("\n");
-         }
-         /* one or more slaves are not responding */
-         ctx.grouplist[currentgroup].docheckstate = FALSE;
-         ecx_readstate(&ctx);
-         for (slaveix = 1; slaveix <= ctx.slavecount; slaveix++)
-         {
-            ec_slavet *slave = &ctx.slavelist[slaveix];
-
-            if ((slave->group == currentgroup) && (slave->state != EC_STATE_OPERATIONAL))
-            {
-               ctx.grouplist[currentgroup].docheckstate = TRUE;
-               if (slave->state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
-               {
-                  printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slaveix);
-                  slave->state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
-                  ecx_writestate(&ctx, slaveix);
-               }
-               else if (slave->state == EC_STATE_SAFE_OP)
-               {
-                  printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slaveix);
-                  slave->state = EC_STATE_OPERATIONAL;
-                  if (slave->mbxhandlerstate == ECT_MBXH_LOST) slave->mbxhandlerstate = ECT_MBXH_CYCLIC;
-                  ecx_writestate(&ctx, slaveix);
-               }
-               else if (slave->state > EC_STATE_NONE)
-               {
-                  if (ecx_reconfig_slave(&ctx, slaveix, EC_TIMEOUTMON) >= EC_STATE_PRE_OP)
-                  {
-                     slave->islost = FALSE;
-                     printf("MESSAGE : slave %d reconfigured\n", slaveix);
-                  }
-               }
-               else if (!slave->islost)
-               {
-                  /* re-check state */
-                  ecx_statecheck(&ctx, slaveix, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
-                  if (slave->state == EC_STATE_NONE)
-                  {
-                     slave->islost = TRUE;
-                     slave->mbxhandlerstate = ECT_MBXH_LOST;
-                     /* zero input data for this slave */
-                     if (slave->Ibytes)
-                     {
-                        memset(slave->inputs, 0x00, slave->Ibytes);
-                        printf("zero inputs %p %d\n\r", slave->inputs, slave->Ibytes);
-                     }
-                     printf("ERROR : slave %d lost\n", slaveix);
-                  }
-               }
-            }
-            if (slave->islost)
-            {
-               if (slave->state <= EC_STATE_INIT)
-               {
-                  if (ecx_recover_slave(&ctx, slaveix, EC_TIMEOUTMON))
-                  {
-                     slave->islost = FALSE;
-                     printf("MESSAGE : slave %d recovered\n", slaveix);
-                  }
-               }
-               else
-               {
-                  slave->islost = FALSE;
-                  printf("MESSAGE : slave %d found\n", slaveix);
-               }
-            }
-         }
-         if (!ctx.grouplist[currentgroup].docheckstate)
-            printf("OK : all slaves resumed OPERATIONAL.\n");
-      }
-      osal_usleep(10000);
-   }
-}
-
-int main(int argc, char *argv[])
-{
-   printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
-
-   if (argc > 1)
-   {
-      /* create thread to handle slave error handling in OP */
-      osal_thread_create(&thread1, 128000, &ecatcheck, NULL);
-      /* start cyclic part */
-      simpletest(argv[1]);
-   }
-   else
-   {
-      ec_adaptert *adapter = NULL;
-      ec_adaptert *head = NULL;
-      printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
-
-      printf("\nAvailable adapters:\n");
-      head = adapter = ec_find_adapters();
-      while (adapter != NULL)
-      {
-         printf("    - %s  (%s)\n", adapter->name, adapter->desc);
-         adapter = adapter->next;
-      }
-      ec_free_adapters(head);
-   }
-
-   printf("End program\n");
-   return (0);
-}