--- a/etherlab/plc_ds402node.c Thu Feb 16 18:40:13 2012 +0100
+++ b/etherlab/plc_ds402node.c Wed Feb 22 01:39:22 2012 +0100
@@ -11,10 +11,14 @@
#include "iec_std_lib.h"
#endif
-%(MCL_includes)s
+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;
typedef enum {
__Unknown,
@@ -31,17 +35,17 @@
typedef struct {
%(entry_variables)s
__DS402NodeState state;
+ axis_s* axis;
} __DS402Node;
static __DS402Node __DS402Node_%(location)s;
-%(located_variables_declaration)s
-
-extern uint8_t *domain1_pd;
-%(extern_pdo_entry_configuration)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;
}
@@ -51,11 +55,8 @@
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
+ IEC_UINT statusword_inactive = *(__DS402Node_%(location)s.StatusWord) & __InactiveMask;
+ IEC_UINT statusword_active = *(__DS402Node_%(location)s.StatusWord) & __ActiveMask;
// DS402 node state computation
__DS402Node_%(location)s.state = __Unknown;
@@ -95,35 +96,40 @@
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;
+ *(__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 __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 __OperationEnabled:
- // if (!POWER) {
- // __DS402Node_%(location)s.ControlWord = (__DS402Node_%(location)s.ControlWord & ~0x8f) | 0x07;
- // }
+ 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;
+ *(__DS402Node_%(location)s.ControlWord) = (*(__DS402Node_%(location)s.ControlWord) & ~0x8f) | 0x80;
break;
default:
break;
}
- // DS402 output entries setting
-%(publish_variables)s
+ *(__DS402Node_%(location)s.TargetPosition) = (IEC_DINT)(__DS402Node_%(location)s.axis->PositionSetPoint * __DS402Node_%(location)s.axis->RatioNumerator / __DS402Node_%(location)s.axis->RatioDenominator);
}