1

/**

     2

 * Code common to all C targets

     3

 **/

     4

     5

#include <locale.h>

     6

#include "iec_types.h"

     7

/*

     8

 * Prototypes of functions provied by generated C softPLC

     9

 **/

    10

void config_run__(int tick);

    11

void config_init__(void);

    12

    13

/*

    14

 * Prototypes of functions provied by generated target C code

    15

 * */

    16

void __init_debug(void);

    17

void __cleanup_debug(void);

    18

/*void __retrieve_debug(void);*/

    19

void __publish_debug(void);

    20

    21

/*

    22

 *  Variables used by generated C softPLC and plugins

    23

 **/

    24

IEC_TIME __CURRENT_TIME;

    25

IEC_BOOL __DEBUG;

    26

int __tick = -1;

    27

    28

/* Help to quit cleanly when init fail at a certain level */

    29

static int init_level = 0;

    30

    31

/*

    32

 * Prototypes of functions exported by plugins

    33

 **/

    34

%(calls_prototypes)s

    35

    36

/*

    37

 * Retrieve input variables, run PLC and publish output variables

    38

 **/

    39

void __run()

    40

{

    41

    __tick++;

    42

    43

    %(retrieve_calls)s

    44

    45

    /*__retrieve_debug();*/

    46

    47

    config_run__(__tick);

    48

    49

    __publish_debug();

    50

    51

    %(publish_calls)s

    52

    53

}

    54

    55

/*

    56

 * Initialize variables according to PLC's defalut values,

    57

 * and then init plugins with that values

    58

 **/

    59

int __init(int argc,char **argv)

    60

{

    61

    int res;

    62

    setlocale(LC_NUMERIC, "C");

    63

    config_init__();

    64

    __init_debug();

    65

    %(init_calls)s

    66

    return 0;

    67

}

    68

/*

    69

 * Calls plugin cleanup proc.

    70

 **/

    71

void __cleanup()

    72

{

    73

    %(cleanup_calls)s

    74

    __cleanup_debug();

    75

}

    76

    77

    78

void PLC_GetTime(IEC_TIME *CURRENT_TIME);

    79

void PLC_SetTimer(long long next, long long period);

    80

    81

#define CALIBRATED -2

    82

#define NOT_CALIBRATED -1

    83

static int calibration_count = NOT_CALIBRATED;

    84

static IEC_TIME cal_begin;

    85

static long long Tsync = 0;

    86

static long long FreqCorr = 0;

    87

static int Nticks = 0;

    88

static int  last_tick = 0;

    89

static long long Ttick = 0;

    90

#define mod %%

    91

/*

    92

 * Call this on each external sync,

    93

 * @param sync_align_ratio 0->100 : align ratio, < 0 : no align, calibrate period

    94

 **/

    95

void align_tick(int sync_align_ratio)

    96

{

    97

	/*

    98

	printf("align_tick(%%d)\n", calibrate);

    99

	*/

   100

	if(sync_align_ratio < 0){ /* Calibration */

   101

		if(calibration_count == CALIBRATED)

   102

			/* Re-calibration*/

   103

			calibration_count = NOT_CALIBRATED;

   104

		if(calibration_count == NOT_CALIBRATED)

   105

			/* Calibration start, get time*/

   106

			PLC_GetTime(&cal_begin);

   107

		calibration_count++;

   108

	}else{ /* do alignment (if possible) */

   109

		if(calibration_count >= 0){

   110

			/* End of calibration */

   111

			/* Get final time */

   112

			IEC_TIME cal_end;

   113

			PLC_GetTime(&cal_end);

   114

			/*adjust calibration_count*/

   115

			calibration_count++;

   116

			/* compute mean of Tsync, over calibration period */

   117

			Tsync = ((long long)(cal_end.tv_sec - cal_begin.tv_sec) * (long long)1000000000 +

   118

					(cal_end.tv_nsec - cal_begin.tv_nsec)) / calibration_count;

   119

			if( (Nticks = (Tsync / Ttick)) > 0){

   120

				FreqCorr = (Tsync mod Ttick); /* to be divided by Nticks */

   121

			}else{

   122

				FreqCorr = Tsync - (Ttick mod Tsync);

   123

			}

   124

			/*

   125

			printf("Tsync = %%ld\n", Tsync);

   126

			printf("calibration_count = %%d\n", calibration_count);

   127

			printf("Nticks = %%d\n", Nticks);

   128

			*/

   129

			calibration_count = CALIBRATED;

   130

		}

   131

		if(calibration_count == CALIBRATED){

   132

			/* Get Elapsed time since last PLC tick (__CURRENT_TIME) */

   133

			IEC_TIME now;

   134

			long long elapsed;

   135

			long long Tcorr;

   136

			long long PhaseCorr;

   137

			long long PeriodicTcorr;

   138

			PLC_GetTime(&now);

   139

			elapsed = (now.tv_sec - __CURRENT_TIME.tv_sec) * 1000000000 + now.tv_nsec - __CURRENT_TIME.tv_nsec;

   140

			if(Nticks > 0){

   141

				PhaseCorr = elapsed - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */

   142

				Tcorr = Ttick + (PhaseCorr + FreqCorr) / Nticks;

   143

				if(Nticks < 2){

   144

					/* When Sync source period is near Tick time */

   145

					/* PhaseCorr may not be applied to Periodic time given to timer */

   146

					PeriodicTcorr = Ttick + FreqCorr / Nticks;

   147

				}else{

   148

					PeriodicTcorr = Tcorr;

   149

				}

   150

			}else if(__tick > last_tick){

   151

				last_tick = __tick;

   152

				PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);

   153

				PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr;

   154

			}else{

   155

				/*PLC did not run meanwhile. Nothing to do*/

   156

				return;

   157

			}

   158

			/* DO ALIGNEMENT */

   159

			PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);

   160

		}

   161

	}

   162

}

   163

   164

/**

   165

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

   166

 * is concatained hereafter

   167

 **/