author | Laurent Bessard |
Thu, 18 Oct 2012 01:23:35 +0200 | |
changeset 2083 | 0f7ab170c862 |
parent 2082 | caae3ad2d03b |
child 2084 | 579af800b359 |
permissions | -rw-r--r-- |
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1 |
/* |
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* Ethercat CIA402 node execution code |
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3 |
* |
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* */ |
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5 |
|
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6 |
#include "ecrt.h" |
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8 |
#ifdef _WINDOWS_H |
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#include "iec_types.h" |
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#else |
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11 |
#include "iec_std_lib.h" |
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12 |
#endif |
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13 |
|
2034 | 14 |
IEC_INT beremiz__IW%(location)s_0; |
15 |
IEC_INT *__IW%(location)s_0 = &beremiz__IW%(location)s_0; |
|
16 |
||
17 |
%(MCL_headers)s |
|
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18 |
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fixed multiple cia402 instance symbol collision
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19 |
static IEC_UINT __InactiveMask = 0x4f; |
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20 |
static IEC_UINT __ActiveMask = 0x6f; |
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21 |
static IEC_UINT __PowerMask = 0x10; |
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22 |
static IEC_BOOL __FirstTick = 1; |
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23 |
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24 |
typedef enum { |
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25 |
__Unknown, |
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26 |
__NotReadyToSwitchOn, |
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27 |
__SwitchOnDisabled, |
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28 |
__ReadyToSwitchOn, |
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29 |
__SwitchedOn, |
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__OperationEnabled, |
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__QuickStopActive, |
2077 | 32 |
__FaultReactionActive, |
33 |
__Fault, |
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34 |
} __CIA402NodeState; |
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35 |
|
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36 |
typedef struct { |
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37 |
%(entry_variables)s |
2077 | 38 |
__CIA402NodeState state; |
39 |
axis_s* axis; |
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40 |
} __CIA402Node; |
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41 |
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static __CIA402Node __CIA402Node_%(location)s; |
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43 |
|
2034 | 44 |
%(extern_located_variables_declaration)s |
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45 |
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int __init_%(location)s() |
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47 |
{ |
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48 |
%(init_entry_variables)s |
2069 | 49 |
*__IW%(location)s_0 = __MK_Alloc_AXIS_REF(); |
50 |
__CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0); |
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*(__CIA402Node_%(location)s.ModesOfOperation) = 0x08; |
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52 |
return 0; |
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53 |
} |
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54 |
|
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55 |
void __cleanup_%(location)s() |
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56 |
{ |
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57 |
} |
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58 |
|
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59 |
void __retrieve_%(location)s() |
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60 |
{ |
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61 |
IEC_UINT statusword_inactive = *(__CIA402Node_%(location)s.StatusWord) & __InactiveMask; |
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62 |
IEC_UINT statusword_active = *(__CIA402Node_%(location)s.StatusWord) & __ActiveMask; |
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63 |
|
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64 |
if (__FirstTick) { |
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65 |
%(init_axis_params)s |
2045 | 66 |
__FirstTick = 0; |
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67 |
} |
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68 |
|
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69 |
// CIA402 node state computation |
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70 |
__CIA402Node_%(location)s.state = __Unknown; |
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switch (statusword_inactive) { |
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case 0x00: |
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__CIA402Node_%(location)s.state = __NotReadyToSwitchOn; |
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74 |
break; |
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75 |
case 0x40: |
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76 |
__CIA402Node_%(location)s.state = __SwitchOnDisabled; |
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77 |
break; |
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78 |
case 0x0f: |
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79 |
__CIA402Node_%(location)s.state = __FaultReactionActive; |
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80 |
break; |
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81 |
case 0x08: |
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__CIA402Node_%(location)s.state = __Fault; |
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83 |
break; |
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84 |
default: |
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85 |
break; |
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86 |
} |
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87 |
switch (statusword_active) { |
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88 |
case 0x21: |
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89 |
__CIA402Node_%(location)s.state = __ReadyToSwitchOn; |
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90 |
break; |
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91 |
case 0x23: |
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92 |
__CIA402Node_%(location)s.state = __SwitchedOn; |
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93 |
break; |
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94 |
case 0x27: |
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95 |
__CIA402Node_%(location)s.state = __OperationEnabled; |
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96 |
break; |
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97 |
case 0x07: |
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98 |
__CIA402Node_%(location)s.state = __QuickStopActive; |
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99 |
break; |
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100 |
default: |
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101 |
break; |
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102 |
} |
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103 |
if (__CIA402Node_%(location)s.state == __Unknown) { |
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104 |
return; |
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105 |
} |
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106 |
|
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107 |
__CIA402Node_%(location)s.axis->PowerFeedback = __CIA402Node_%(location)s.state == __OperationEnabled; |
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caae3ad2d03b
Adding support for selecting a PDO in a list of mutually exclusive configured PDOs in Ethercat Network Configurator
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108 |
__CIA402Node_%(location)s.axis->ActualPosition = (IEC_LREAL)(*(__CIA402Node_%(location)s.ActualPosition)) * __CIA402Node_%(location)s.axis->RatioDenominator / __CIA402Node_%(location)s.axis->RatioNumerator; |
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109 |
} |
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110 |
|
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111 |
void __publish_%(location)s() |
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112 |
{ |
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113 |
IEC_BOOL power = ((*(__CIA402Node_%(location)s.StatusWord) & __PowerMask) > 0) && __CIA402Node_%(location)s.axis->Power; |
2034 | 114 |
|
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115 |
// CIA402 node state transition computation |
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116 |
switch (__CIA402Node_%(location)s.state) { |
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117 |
case __SwitchOnDisabled: |
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118 |
*(__CIA402Node_%(location)s.ControlWord) = (*(__CIA402Node_%(location)s.ControlWord) & ~0x87) | 0x06; |
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119 |
break; |
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120 |
case __ReadyToSwitchOn: |
2034 | 121 |
case __OperationEnabled: |
122 |
if (!power) { |
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123 |
*(__CIA402Node_%(location)s.ControlWord) = (*(__CIA402Node_%(location)s.ControlWord) & ~0x8f) | 0x07; |
2034 | 124 |
break; |
125 |
} |
|
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126 |
case __SwitchedOn: |
2034 | 127 |
if (power) { |
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128 |
*(__CIA402Node_%(location)s.ControlWord) = (*(__CIA402Node_%(location)s.ControlWord) & ~0x8f) | 0x0f; |
2034 | 129 |
} |
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130 |
break; |
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131 |
case __Fault: |
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132 |
*(__CIA402Node_%(location)s.ControlWord) = (*(__CIA402Node_%(location)s.ControlWord) & ~0x8f) | 0x80; |
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133 |
break; |
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134 |
default: |
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135 |
break; |
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136 |
} |
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137 |
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138 |
if (__CIA402Node_%(location)s.axis->CSP && *(__CIA402Node_%(location)s.ModesOfOperationDisplay) == 0x08) { |
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139 |
*(__CIA402Node_%(location)s.TargetPosition) = (IEC_DINT)(__CIA402Node_%(location)s.axis->PositionSetPoint * __CIA402Node_%(location)s.axis->RatioNumerator / __CIA402Node_%(location)s.axis->RatioDenominator); |
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140 |
} |
7c31fab22c74
Adding support for setting TargetPosition only if PositionSetPoint value from MCL is valid
laurent
parents:
2035
diff
changeset
|
141 |
else { |
2043
27d4cb689a79
Adding plugin icons and replacing reference to DS402 by CIA402
laurent
parents:
2041
diff
changeset
|
142 |
*(__CIA402Node_%(location)s.TargetPosition) = *(__CIA402Node_%(location)s.ActualPosition); |
2036
7c31fab22c74
Adding support for setting TargetPosition only if PositionSetPoint value from MCL is valid
laurent
parents:
2035
diff
changeset
|
143 |
} |
2032
766078d83e22
Adding support for DS402 node subplugin (only simple state transition implemented)
laurent
parents:
diff
changeset
|
144 |
} |