runtime/plc_common_main.c
author lbessard
Mon, 30 Jun 2008 14:28:48 +0200
changeset 186 ed2a408d79b6
parent 178 2390b409eb93
child 203 cb9901076a21
permissions -rw-r--r--
Various bugs fixed
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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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 *  Functions and variables to export to generated C softPLC
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 **/
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IEC_TIME __CURRENT_TIME;
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static int tick = 0;
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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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    %(retrieve_calls)s
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	/*
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	printf("run tick = %%d\n", tick + 1);
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	*/
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    config_run__(tick++);
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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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void align_tick(int calibrate)
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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(calibrate){
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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{
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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)d/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)d/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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}