--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/plc_common_main.c	Thu Aug 21 17:17:36 2008 +0200
@@ -0,0 +1,177 @@
+/*
+ * Prototypes for function provided by arch-specific code (main)
+ * concatained after this template
+ ** /
+
+
+/*
+ * Functions and variables provied by generated C softPLC
+ **/ 
+extern int common_ticktime__;
+
+/*
+ * Functions and variables provied by plc.c
+ **/ 
+void run(long int tv_sec, long int tv_nsec);
+
+#define maxval(a,b) ((a>b)?a:b)
+
+#include "iec_types.h"
+/*#include "stdio.h" /* For debug */
+
+/*
+ * Functions and variables provied by generated C softPLC
+ **/ 
+void config_run__(int tick);
+void config_init__(void);
+
+/*
+ *  Functions and variables to export to generated C softPLC and plugins
+ **/
+ 
+IEC_TIME __CURRENT_TIME;
+int __tick = 0;
+
+static int init_level = 0;
+static int Debugging = 1;
+
+/*
+ * Prototypes of functions exported by plugins 
+ **/
+%(calls_prototypes)s
+
+/*
+ * Retrieve input variables, run PLC and publish output variables 
+ **/
+void __run()
+{
+    %(retrieve_calls)s
+
+    if(Debugging) __retrieve_debug();
+    
+    config_run__(__tick);
+
+    if(Debugging) __publish_debug();
+    
+    %(publish_calls)s
+
+    __tick++;
+}
+
+/*
+ * Initialize variables according to PLC's defalut values,
+ * and then init plugins with that values  
+ **/
+int __init(int argc,char **argv)
+{
+    int res;
+    config_init__();
+    %(init_calls)s
+    return 0;
+}
+/*
+ * Calls plugin cleanup proc.
+ **/
+void __cleanup()
+{
+    %(cleanup_calls)s
+}
+
+
+void PLC_GetTime(IEC_TIME *CURRENT_TIME);
+void PLC_SetTimer(long long next, long long period);
+
+#define CALIBRATED -2
+#define NOT_CALIBRATED -1
+static int calibration_count = NOT_CALIBRATED;
+static IEC_TIME cal_begin;
+static long long Tsync = 0;
+static long long FreqCorr = 0;
+static int Nticks = 0;
+static int  last_tick = 0;
+static long long Ttick = 0;
+#define mod %%
+/*
+ * Call this on each external sync, 
+ * @param sync_align_ratio 0->100 : align ratio, < 0 : no align, calibrate period 
+ **/
+void align_tick(int sync_align_ratio)
+{
+	/*
+	printf("align_tick(%%d)\n", calibrate);
+	*/
+	if(sync_align_ratio < 0){ /* Calibration */
+		if(calibration_count == CALIBRATED)
+			/* Re-calibration*/
+			calibration_count = NOT_CALIBRATED;
+		if(calibration_count == NOT_CALIBRATED)
+			/* Calibration start, get time*/
+			PLC_GetTime(&cal_begin);
+		calibration_count++;
+	}else{ /* do alignment (if possible) */
+		if(calibration_count >= 0){
+			/* End of calibration */
+			/* Get final time */
+			IEC_TIME cal_end;
+			PLC_GetTime(&cal_end);
+			/*adjust calibration_count*/
+			calibration_count++;
+			/* compute mean of Tsync, over calibration period */	
+			Tsync = ((long long)(cal_end.tv_sec - cal_begin.tv_sec) * (long long)1000000000 +
+					(cal_end.tv_nsec - cal_begin.tv_nsec)) / calibration_count;
+			if( (Nticks = (Tsync / Ttick)) > 0){
+				FreqCorr = (Tsync mod Ttick); /* to be divided by Nticks */
+			}else{
+				FreqCorr = Tsync - (Ttick mod Tsync);
+			}
+			/*
+			printf("Tsync = %%ld\n", Tsync);
+			printf("calibration_count = %%d\n", calibration_count);
+			printf("Nticks = %%d\n", Nticks);
+			*/
+			calibration_count = CALIBRATED;
+		}
+		if(calibration_count == CALIBRATED){
+			/* Get Elapsed time since last PLC tick (__CURRENT_TIME) */
+			IEC_TIME now;
+			long long elapsed;
+			long long Tcorr;
+			long long PhaseCorr;
+			long long PeriodicTcorr;
+			PLC_GetTime(&now);
+			elapsed = (now.tv_sec - __CURRENT_TIME.tv_sec) * 1000000000 + now.tv_nsec - __CURRENT_TIME.tv_nsec;
+			if(Nticks > 0){
+				PhaseCorr = elapsed - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */
+				Tcorr = Ttick + (PhaseCorr + FreqCorr) / Nticks;
+				if(Nticks < 2){
+					/* When Sync source period is near Tick time */
+					/* PhaseCorr may not be applied to Periodic time given to timer */
+					PeriodicTcorr = Ttick + FreqCorr / Nticks;
+				}else{
+					PeriodicTcorr = Tcorr; 
+				}
+			}else if(__tick > last_tick){
+				last_tick = __tick;
+				PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);
+				PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr;
+			}else{
+				/*PLC did not run meanwhile. Nothing to do*/
+				return;
+			}
+			/* DO ALIGNEMENT */
+			PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);
+		}
+	}
+}
+
+int suspendDebug()
+{
+    /* Prevent PLC to enter debug code */
+    Debugging = 0;
+}
+
+int resumeDebug()
+{
+    /* Let PLC enter debug code */
+    Debugging = 1;
+}