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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 provied by generated C softPLC

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 **/

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void config_run__(int tick);

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void config_init__(void);

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/*

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 * Prototypes of functions provied 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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void __init_python(void);

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void __cleanup_python(void);

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void __retrieve_python(void);

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void __publish_python(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;

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int __tick = -1;

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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()

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{

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    __tick++;

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    %(retrieve_calls)s

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    __retrieve_python();

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    /*__retrieve_debug();*/

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    config_run__(__tick);

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    __publish_python();

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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 defalut 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;

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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_python();

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    %(init_calls)s

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    return 0;

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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()

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{

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    %(cleanup_calls)s

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    __cleanup_debug();

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    __cleanup_python();

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}

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void PLC_GetTime(IEC_TIME *CURRENT_TIME);

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void PLC_SetTimer(long long next, 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 int  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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 **/