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/*

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 * Ethercat DS402 node execution code

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 *

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 * */

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#include "ecrt.h"

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#ifdef _WINDOWS_H

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  #include "iec_types.h"

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#else

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  #include "iec_std_lib.h"

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#endif

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%(MCL_includes)s

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IEC_UINT __InactiveMask = 0x4f;

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IEC_UINT __ActiveMask = 0x6f;

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typedef enum {

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	__Unknown,

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	__NotReadyToSwitchOn,

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	__SwitchOnDisabled,

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	__ReadyToSwitchOn,

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	__SwitchedOn,

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	__OperationEnabled,

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	__QuickStopActive,

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	__FaultReactionActive,

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	__Fault,

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} __DS402NodeState;

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typedef struct {

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%(entry_variables)s

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	__DS402NodeState state;

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} __DS402Node;

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static __DS402Node __DS402Node_%(location)s;

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%(located_variables_declaration)s

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extern uint8_t *domain1_pd;

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%(extern_pdo_entry_configuration)s

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int __init_%(location)s()

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{

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	return 0;

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}

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void __cleanup_%(location)s()

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{

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}

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void __retrieve_%(location)s()

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{

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	IEC_UINT statusword_inactive = __DS402Node_%(location)s.StatusWord & __InactiveMask;

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	IEC_UINT statusword_active = __DS402Node_%(location)s.StatusWord & __ActiveMask;

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    // DS402 input entries extraction

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%(retrieve_variables)s

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	// DS402 node state computation

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	__DS402Node_%(location)s.state = __Unknown;

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	switch (statusword_inactive) {

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		case 0x00:

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			__DS402Node_%(location)s.state = __NotReadyToSwitchOn;

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			break;

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		case 0x40:

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			__DS402Node_%(location)s.state = __SwitchOnDisabled;

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			break;

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		case 0x0f:

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			__DS402Node_%(location)s.state = __FaultReactionActive;

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			break;

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		case 0x08:

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			__DS402Node_%(location)s.state = __Fault;

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			break;

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		default:

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			break;

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	}

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	switch (statusword_active) {

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		case 0x21:

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			__DS402Node_%(location)s.state = __ReadyToSwitchOn;

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			break;

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		case 0x23:

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			__DS402Node_%(location)s.state = __SwitchedOn;

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			break;

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		case 0x27:

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			__DS402Node_%(location)s.state = __OperationEnabled;

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			break;

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		case 0x07:

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			__DS402Node_%(location)s.state = __QuickStopActive;

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			break;

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		default:

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			break;

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	}

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	if (__DS402Node_%(location)s.state == __Unknown) {

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		return;

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	}

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}

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void __publish_%(location)s()

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{

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	// DS402 node state transition computation

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	switch (__DS402Node_%(location)s.state) {

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	    case __SwitchOnDisabled:

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	    	__DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x87) | 0x06;

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	    	break;

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	    case __ReadyToSwitchOn:

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	    	__DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x8f) | 0x07;

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	    	break;

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	    case __SwitchedOn:

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	    	// if (POWER) {

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	    	//      __DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x8f) | 0x0f;

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	    	// }

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	    	break;

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	    case __OperationEnabled:

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	    	// if (!POWER) {

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	        //      __DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x8f) | 0x07;

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	    	// }

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	    	break;

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	    case __Fault:

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	    	__DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x8f) | 0x80;

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	    	break;

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	    default:

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	    	break;

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	}

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	// DS402 output entries setting

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%(publish_variables)s

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}