targets/plc_common_main.c
author Lolitech
Thu, 03 Jun 2010 17:23:11 +0200
changeset 548 1428fd553988
parent 518 8e61b0066859
child 568 20a223828a06
permissions -rw-r--r--
Some fixes in LPCApp{Obj,Proto}, to be continued.
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/**
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 * Code common to all C targets
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 **/
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#include <locale.h>
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#include "iec_types.h"
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/*
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 * Prototypes of functions provided by generated C softPLC
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 **/
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void config_run__(unsigned long tick);
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void config_init__(void);
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/*
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 * Prototypes of functions provided by generated target C code
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 * */
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void __init_debug(void);
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void __cleanup_debug(void);
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/*void __retrieve_debug(void);*/
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void __publish_debug(void);
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/*
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 *  Variables used by generated C softPLC and plugins
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 **/
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IEC_TIME __CURRENT_TIME;
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IEC_BOOL __DEBUG = 0;
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unsigned long __tick = 0;
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/*
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 *  Variable generated by C softPLC and plugins
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 **/
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extern unsigned long greatest_tick_count__;
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/* Help to quit cleanly when init fail at a certain level */
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static int init_level = 0;
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/*
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 * Prototypes of functions exported by plugins
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 **/
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%(calls_prototypes)s
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/*
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 * Retrieve input variables, run PLC and publish output variables
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 **/
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void __run(void)
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{
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    __tick++;
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    if (greatest_tick_count__)
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        __tick %%= greatest_tick_count__;
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    %(retrieve_calls)s
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    /*__retrieve_debug();*/
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    config_run__(__tick);
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    __publish_debug();
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    %(publish_calls)s
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}
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/*
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 * Initialize variables according to PLC's default values,
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 * and then init plugins with that values
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 **/
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int __init(int argc,char **argv)
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{
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    int res = 0;
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    init_level = 0;
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    setlocale(LC_NUMERIC, "C");
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    config_init__();
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    __init_debug();
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    %(init_calls)s
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    return res;
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}
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/*
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 * Calls plugin cleanup proc.
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 **/
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void __cleanup(void)
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{
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    %(cleanup_calls)s
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    __cleanup_debug();
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}
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void PLC_GetTime(IEC_TIME *CURRENT_TIME);
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void PLC_SetTimer(unsigned long long next, unsigned long long period);
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#define CALIBRATED -2
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#define NOT_CALIBRATED -1
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static int calibration_count = NOT_CALIBRATED;
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static IEC_TIME cal_begin;
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static long long Tsync = 0;
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static long long FreqCorr = 0;
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static int Nticks = 0;
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static unsigned long last_tick = 0;
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static long long Ttick = 0;
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#define mod %%
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/*
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 * Call this on each external sync,
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 * @param sync_align_ratio 0->100 : align ratio, < 0 : no align, calibrate period
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 **/
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void align_tick(int sync_align_ratio)
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{
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	/*
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	printf("align_tick(%%d)\n", calibrate);
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	*/
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	if(sync_align_ratio < 0){ /* Calibration */
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		if(calibration_count == CALIBRATED)
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			/* Re-calibration*/
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			calibration_count = NOT_CALIBRATED;
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		if(calibration_count == NOT_CALIBRATED)
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			/* Calibration start, get time*/
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			PLC_GetTime(&cal_begin);
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		calibration_count++;
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	}else{ /* do alignment (if possible) */
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		if(calibration_count >= 0){
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			/* End of calibration */
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			/* Get final time */
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			IEC_TIME cal_end;
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			PLC_GetTime(&cal_end);
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			/*adjust calibration_count*/
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			calibration_count++;
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			/* compute mean of Tsync, over calibration period */
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			Tsync = ((long long)(cal_end.tv_sec - cal_begin.tv_sec) * (long long)1000000000 +
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					(cal_end.tv_nsec - cal_begin.tv_nsec)) / calibration_count;
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			if( (Nticks = (Tsync / Ttick)) > 0){
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				FreqCorr = (Tsync mod Ttick); /* to be divided by Nticks */
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			}else{
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				FreqCorr = Tsync - (Ttick mod Tsync);
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			}
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			/*
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			printf("Tsync = %%ld\n", Tsync);
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			printf("calibration_count = %%d\n", calibration_count);
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			printf("Nticks = %%d\n", Nticks);
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			*/
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			calibration_count = CALIBRATED;
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		}
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		if(calibration_count == CALIBRATED){
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			/* Get Elapsed time since last PLC tick (__CURRENT_TIME) */
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			IEC_TIME now;
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			long long elapsed;
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			long long Tcorr;
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			long long PhaseCorr;
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			long long PeriodicTcorr;
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			PLC_GetTime(&now);
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			elapsed = (now.tv_sec - __CURRENT_TIME.tv_sec) * 1000000000 + now.tv_nsec - __CURRENT_TIME.tv_nsec;
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			if(Nticks > 0){
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				PhaseCorr = elapsed - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */
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				Tcorr = Ttick + (PhaseCorr + FreqCorr) / Nticks;
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				if(Nticks < 2){
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					/* When Sync source period is near Tick time */
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					/* PhaseCorr may not be applied to Periodic time given to timer */
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					PeriodicTcorr = Ttick + FreqCorr / Nticks;
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				}else{
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					PeriodicTcorr = Tcorr;
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				}
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			}else if(__tick > last_tick){
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				last_tick = __tick;
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				PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);
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				PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr;
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			}else{
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				/*PLC did not run meanwhile. Nothing to do*/
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				return;
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			}
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			/* DO ALIGNEMENT */
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			PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);
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		}
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	}
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}
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/**
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 * Prototypes for function provided by arch-specific code (main)
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 * is concatained hereafter
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 **/