1 /*

     2  * Ethercat DS402 node execution code

     3  *

     4  * */

     5 

     6 #include "ecrt.h"

     7 

     8 #ifdef _WINDOWS_H

     9   #include "iec_types.h"

    10 #else

    11   #include "iec_std_lib.h"

    12 #endif

    13 

    14 %(MCL_includes)s

    15 

    16 IEC_UINT __InactiveMask = 0x4f;

    17 IEC_UINT __ActiveMask = 0x6f;

    18 

    19 typedef enum {

    20 	__Unknown,

    21 	__NotReadyToSwitchOn,

    22 	__SwitchOnDisabled,

    23 	__ReadyToSwitchOn,

    24 	__SwitchedOn,

    25 	__OperationEnabled,

    26 	__QuickStopActive,

    27 	__FaultReactionActive,

    28 	__Fault,

    29 } __DS402NodeState;

    30 

    31 typedef struct {

    32 %(entry_variables)s

    33 	__DS402NodeState state;

    34 } __DS402Node;

    35 

    36 static __DS402Node __DS402Node_%(location)s;

    37 

    38 %(located_variables_declaration)s

    39 

    40 extern uint8_t *domain1_pd;

    41 %(extern_pdo_entry_configuration)s

    42 

    43 int __init_%(location)s()

    44 {

    45 	return 0;

    46 }

    47 

    48 void __cleanup_%(location)s()

    49 {

    50 }

    51 

    52 void __retrieve_%(location)s()

    53 {

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

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

    56 

    57     // DS402 input entries extraction

    58 %(retrieve_variables)s

    59 

    60 	// DS402 node state computation

    61 	__DS402Node_%(location)s.state = __Unknown;

    62 	switch (statusword_inactive) {

    63 		case 0x00:

    64 			__DS402Node_%(location)s.state = __NotReadyToSwitchOn;

    65 			break;

    66 		case 0x40:

    67 			__DS402Node_%(location)s.state = __SwitchOnDisabled;

    68 			break;

    69 		case 0x0f:

    70 			__DS402Node_%(location)s.state = __FaultReactionActive;

    71 			break;

    72 		case 0x08:

    73 			__DS402Node_%(location)s.state = __Fault;

    74 			break;

    75 		default:

    76 			break;

    77 	}

    78 	switch (statusword_active) {

    79 		case 0x21:

    80 			__DS402Node_%(location)s.state = __ReadyToSwitchOn;

    81 			break;

    82 		case 0x23:

    83 			__DS402Node_%(location)s.state = __SwitchedOn;

    84 			break;

    85 		case 0x27:

    86 			__DS402Node_%(location)s.state = __OperationEnabled;

    87 			break;

    88 		case 0x07:

    89 			__DS402Node_%(location)s.state = __QuickStopActive;

    90 			break;

    91 		default:

    92 			break;

    93 	}

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

    95 		return;

    96 	}

    97 

    98 }

    99 

   100 void __publish_%(location)s()

   101 {

   102 	// DS402 node state transition computation

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

   104 	    case __SwitchOnDisabled:

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

   106 	    	break;

   107 	    case __ReadyToSwitchOn:

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

   109 	    	break;

   110 	    case __SwitchedOn:

   111 	    	// if (POWER) {

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

   113 	    	// }

   114 	    	break;

   115 	    case __OperationEnabled:

   116 	    	// if (!POWER) {

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

   118 	    	// }

   119 	    	break;

   120 	    case __Fault:

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

   122 	    	break;

   123 	    default:

   124 	    	break;

   125 	}

   126 

   127 	// DS402 output entries setting

   128 %(publish_variables)s

   129 }