--- a/etherlab/plc_ds402node.c	Mon Mar 19 00:45:19 2012 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,146 +0,0 @@
-/*
- * Ethercat DS402 node execution code
- *
- * */
-
-#include "ecrt.h"
-
-#ifdef _WINDOWS_H
-  #include "iec_types.h"
-#else
-  #include "iec_std_lib.h"
-#endif
-
-IEC_INT beremiz__IW%(location)s_0;
-IEC_INT *__IW%(location)s_0 = &beremiz__IW%(location)s_0;
-
-%(MCL_headers)s
-
-IEC_UINT __InactiveMask = 0x4f;
-IEC_UINT __ActiveMask = 0x6f;
-IEC_UINT __PowerMask = 0x10;
-IEC_BOOL __FirstTick = 1;
-
-typedef enum {
-	__Unknown,
-	__NotReadyToSwitchOn,
-	__SwitchOnDisabled,
-	__ReadyToSwitchOn,
-	__SwitchedOn,
-	__OperationEnabled,
-	__QuickStopActive,
-	__FaultReactionActive,
-	__Fault,
-} __DS402NodeState;
-
-typedef struct {
-%(entry_variables)s
-	__DS402NodeState state;
-	axis_s* axis;
-} __DS402Node;
-
-static __DS402Node __DS402Node_%(location)s;
-
-%(extern_located_variables_declaration)s
-
-int __init_%(location)s()
-{
-%(init_entry_variables)s
-	*__IW%(location)s_0 = __MK_AllocAxis(&(__DS402Node_%(location)s.axis));
-	return 0;
-}
-
-void __cleanup_%(location)s()
-{
-}
-
-void __retrieve_%(location)s()
-{
-	IEC_UINT statusword_inactive = *(__DS402Node_%(location)s.StatusWord) & __InactiveMask;
-	IEC_UINT statusword_active = *(__DS402Node_%(location)s.StatusWord) & __ActiveMask;
-
-	if (__FirstTick) {
-%(init_axis_params)s
-		_FirstTick = 0;
-	}
-
-	// DS402 node state computation
-	__DS402Node_%(location)s.state = __Unknown;
-	switch (statusword_inactive) {
-		case 0x00:
-			__DS402Node_%(location)s.state = __NotReadyToSwitchOn;
-			break;
-		case 0x40:
-			__DS402Node_%(location)s.state = __SwitchOnDisabled;
-			break;
-		case 0x0f:
-			__DS402Node_%(location)s.state = __FaultReactionActive;
-			break;
-		case 0x08:
-			__DS402Node_%(location)s.state = __Fault;
-			break;
-		default:
-			break;
-	}
-	switch (statusword_active) {
-		case 0x21:
-			__DS402Node_%(location)s.state = __ReadyToSwitchOn;
-			break;
-		case 0x23:
-			__DS402Node_%(location)s.state = __SwitchedOn;
-			break;
-		case 0x27:
-			__DS402Node_%(location)s.state = __OperationEnabled;
-			break;
-		case 0x07:
-			__DS402Node_%(location)s.state = __QuickStopActive;
-			break;
-		default:
-			break;
-	}
-	if (__DS402Node_%(location)s.state == __Unknown) {
-		return;
-	}
-
-	__DS402Node_%(location)s.axis->PowerFeedback = __DS402Node_%(location)s.state == __OperationEnabled;
-	__DS402Node_%(location)s.axis->ActualPosition = (IEC_REAL)(*(__DS402Node_%(location)s.ActualPosition)) * __DS402Node_%(location)s.axis->RatioDenominator / __DS402Node_%(location)s.axis->RatioNumerator;
-
-	__MK_UpdateAxis(*__IW%(location)s_0);
-}
-
-void __publish_%(location)s()
-{
-	__MK_ComputeAxis(*__IW%(location)s_0);
-
-	IEC_BOOL power = ((*(__DS402Node_%(location)s.StatusWord) & __PowerMask) > 0) && __DS402Node_%(location)s.axis->Power;
-
-	// DS402 node state transition computation
-	switch (__DS402Node_%(location)s.state) {
-	    case __SwitchOnDisabled:
-	    	*(__DS402Node_%(location)s.ControlWord) = (*(__DS402Node_%(location)s.ControlWord) & ~0x87) | 0x06;
-	    	break;
-	    case __ReadyToSwitchOn:
-	    case __OperationEnabled:
-	    	if (!power) {
-	    		*(__DS402Node_%(location)s.ControlWord) = (*(__DS402Node_%(location)s.ControlWord) & ~0x8f) | 0x07;
-	    		break;
-	    	}
-	    case __SwitchedOn:
-	    	if (power) {
-	    	    *(__DS402Node_%(location)s.ControlWord) = (*(__DS402Node_%(location)s.ControlWord) & ~0x8f) | 0x0f;
-	    	}
-	    	break;
-	    case __Fault:
-	    	*(__DS402Node_%(location)s.ControlWord) = (*(__DS402Node_%(location)s.ControlWord) & ~0x8f) | 0x80;
-	    	break;
-	    default:
-	    	break;
-	}
-
-	if (__DS402Node_%(location)s.axis->CSP && *(__DS402Node_%(location)s.ModesOfOperationDisplay) == 0x08) {
-		*(__DS402Node_%(location)s.TargetPosition) = (IEC_DINT)(__DS402Node_%(location)s.axis->PositionSetPoint * __DS402Node_%(location)s.axis->RatioNumerator / __DS402Node_%(location)s.axis->RatioDenominator);
-	}
-	else {
-		*(__DS402Node_%(location)s.TargetPosition) = *(__DS402Node_%(location)s.ActualPosition);
-	}
-}