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/*

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 * Prototypes for function provided by arch-specific code (main)

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 * concatained after this template

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 ** /

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/*

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 * Functions and variables provied by generated C softPLC

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 **/ 

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extern int common_ticktime__;

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/*

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 * Functions and variables provied by plc.c

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 **/ 

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void run(long int tv_sec, long int tv_nsec);

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#define maxval(a,b) ((a>b)?a:b)

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#include "iec_types.h"

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/*

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 * Functions and variables 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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 **/

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IEC_TIME __CURRENT_TIME;

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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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    %(retrieve_calls)s

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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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    config_init__();

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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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}

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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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 **/

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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(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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		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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				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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				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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}