--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/plc_ds402node.c	Wed Feb 15 00:38:26 2012 +0100
@@ -0,0 +1,129 @@
+/*
+ * Ethercat DS402 node execution code
+ *
+ * */
+
+#include "ecrt.h"
+
+#ifdef _WINDOWS_H
+  #include "iec_types.h"
+#else
+  #include "iec_std_lib.h"
+#endif
+
+%(MCL_includes)s
+
+IEC_UINT __InactiveMask = 0x4f;
+IEC_UINT __ActiveMask = 0x6f;
+
+typedef enum {
+	__Unknown,
+	__NotReadyToSwitchOn,
+	__SwitchOnDisabled,
+	__ReadyToSwitchOn,
+	__SwitchedOn,
+	__OperationEnabled,
+	__QuickStopActive,
+	__FaultReactionActive,
+	__Fault,
+} __DS402NodeState;
+
+typedef struct {
+%(entry_variables)s
+	__DS402NodeState state;
+} __DS402Node;
+
+static __DS402Node __DS402Node_%(location)s;
+
+%(located_variables_declaration)s
+
+extern uint8_t *domain1_pd;
+%(extern_pdo_entry_configuration)s
+
+int __init_%(location)s()
+{
+	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;
+
+    // DS402 input entries extraction
+%(retrieve_variables)s
+
+	// 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;
+	}
+
+}
+
+void __publish_%(location)s()
+{
+	// 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:
+	    	__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 __OperationEnabled:
+	    	// if (!POWER) {
+	        //      __DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x8f) | 0x07;
+	    	// }
+	    	break;
+	    case __Fault:
+	    	__DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x8f) | 0x80;
+	    	break;
+	    default:
+	    	break;
+	}
+
+	// DS402 output entries setting
+%(publish_variables)s
+}