beremiz: plcopen/Additional_Function

Make online debug optional

It could be useful for very small targets like Atmega (Arduino) and
for target bring-up there developer want to have running PLC program,
but has not implemented runtime communication yet.

TARGET_DEBUG_AND_RETAIN_DISABLE - completely disable debug and retain
functionality. Previously named TARGET_DEBUG_DISABLE.

TARGET_ONLINE_DEBUG_DISABLE - can be used to enable retain
functionality (no define TARGET_DEBUG_AND_RETAIN_DISABLE is used), but disable
online debug with corresponding RAM/FLASH overhead.

TARGET_LOGGING_DISABLE - disables logging functionality from runtime and PLC program

TARGET_EXT_SYNC_DISABLE - disables PLC program synchronization with
external events. For example, it could be used to synchronize several
PLCs that control motors for different axes.

By default all these options are off.

To test generate program for Generic target, put following files in
project files directory and run build.sh after generating PLC program.
This is very easy to integrate into makefile (Generic target).

[------------- build.sh --------------------------]
files=$(find $PWD/../build -iname '*.c' | grep -v POUS.c)
arm-none-eabi-gcc \
-DTARGET_DEBUG_AND_RETAIN_DISABLE \
-DTARGET_ONLINE_DEBUG_DISABLE \
-DTARGET_LOGGING_DISABLE \
-DTARGET_EXT_SYNC_DISABLE \
-flto -ffunction-sections -fdata-sections -I../../../../matiec/lib/C \
$files \
main.c \
-Wl,--Map=./program.map,--cref \
-nodefaultlibs --specs=nano.specs -Wl,--static -Wl,--gc-section -Wl,--start-group -lc -lm -lnosys -lgcc -Wl,--end-group
[------------------------------------------------]

[------------- main.c --------------------------]
#ifndef TARGET_DEBUG_AND_RETAIN_DISABLE
void Retain(void){}
void InValidateRetainBuffer(void){}
void ValidateRetainBuffer(void){}
#endif

extern void __run(void);
int main(void)
{
for(;;) {
__run();
// sleep common_ticktime__ ns
// add common_ticktime__ ns to __CURRENT_TIME
}
return 0;
}
[------------------------------------------------]

<?xml version='1.0' encoding='utf-8'?>
<project xmlns:ns1="http://www.plcopen.org/xml/tc6_0201" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns="http://www.plcopen.org/xml/tc6_0201">
  <fileHeader companyName="Beremiz" productName="Additional Function Blocks Library" productVersion="1.0" creationDateTime="2013-09-09T09:56:11"/>
  <contentHeader name="Standard Funtion Blocks" author="Laurent Bessard" modificationDateTime="2013-09-10T22:45:31">
    <coordinateInfo>
      <fbd>
        <scaling x="0" y="0"/>
      </fbd>
      <ld>
        <scaling x="0" y="0"/>
      </ld>
      <sfc>
        <scaling x="0" y="0"/>
      </sfc>
    </coordinateInfo>
  </contentHeader>
  <types>
    <dataTypes/>
    <pous>
      <pou name="RTC" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="IN">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[0 - current time, 1 - load time from PDT]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="PDT">
              <type>
                <DT/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Preset datetime]]></xhtml:p>
              </documentation>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="Q">
              <type>
                <BOOL/>
              </type>
              <initialValue>
                <simpleValue value="FALSE"/>
              </initialValue>
              <documentation>
                <xhtml:p><![CDATA[Copy of IN]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="CDT">
              <type>
                <DT/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Datetime, current or relative to PDT]]></xhtml:p>
              </documentation>
            </variable>
          </outputVars>
          <localVars>
            <variable name="PREV_IN">
              <type>
                <BOOL/>
              </type>
              <initialValue>
                <simpleValue value="FALSE"/>
              </initialValue>
            </variable>
            <variable name="OFFSET">
              <type>
                <TIME/>
              </type>
            </variable>
            <variable name="CURRENT_TIME">
              <type>
                <DT/>
              </type>
            </variable>
          </localVars>
        </interface>
        <body>
          <ST>
            <xhtml:p><![CDATA[{__SET_VAR(data__->,CURRENT_TIME,,__CURRENT_TIME)}

 IF IN
 THEN
   IF NOT PREV_IN
   THEN
       OFFSET := PDT - CURRENT_TIME;
   END_IF;

   (* PDT + time since PDT was loaded *)
   CDT := CURRENT_TIME + OFFSET;
 ELSE
   CDT := CURRENT_TIME;
 END_IF;

 Q := IN;
 PREV_IN := IN;
]]></xhtml:p>
          </ST>
        </body>
        <documentation>
          <xhtml:p><![CDATA[The real time clock has many uses including time stamping, setting dates and times of day in batch reports, in alarm messages and so on.]]></xhtml:p>
        </documentation>
      </pou>
      <pou name="INTEGRAL" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="RUN">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[1 = integrate, 0 = hold]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="R1">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Overriding reset]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="XIN">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Input variable]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="X0">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Initial value]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="CYCLE">
              <type>
                <TIME/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Sampling period]]></xhtml:p>
              </documentation>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="Q">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[NOT R1]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="XOUT">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Integrated output]]></xhtml:p>
              </documentation>
            </variable>
          </outputVars>
        </interface>
        <body>
          <ST>
            <xhtml:p><![CDATA[Q := NOT R1 ;
IF R1 THEN XOUT := X0;
ELSIF RUN THEN XOUT := XOUT + XIN * TIME_TO_REAL(CYCLE);
END_IF;]]></xhtml:p>
          </ST>
        </body>
        <documentation>
          <xhtml:p><![CDATA[The integral function block integrates the value of input XIN over time.]]></xhtml:p>
        </documentation>
      </pou>
      <pou name="DERIVATIVE" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="RUN">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[0 = reset]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="XIN">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Input to be differentiated]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="CYCLE">
              <type>
                <TIME/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Sampling period]]></xhtml:p>
              </documentation>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="XOUT">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Differentiated output]]></xhtml:p>
              </documentation>
            </variable>
          </outputVars>
          <localVars>
            <variable name="X1">
              <type>
                <REAL/>
              </type>
            </variable>
            <variable name="X2">
              <type>
                <REAL/>
              </type>
            </variable>
            <variable name="X3">
              <type>
                <REAL/>
              </type>
            </variable>
          </localVars>
        </interface>
        <body>
          <ST>
            <xhtml:p><![CDATA[IF RUN THEN
  XOUT := (3.0 * (XIN - X3) + X1 - X2)
          / (10.0 * TIME_TO_REAL(CYCLE));
  X3 := X2;
  X2 := X1;
  X1 := XIN;
ELSE 
  XOUT := 0.0;
  X1 := XIN;
  X2 := XIN;
  X3 := XIN;
END_IF;]]></xhtml:p>
          </ST>
        </body>
        <documentation>
          <xhtml:p><![CDATA[The derivative function block produces an output XOUT proportional to the rate of change of the input XIN.]]></xhtml:p>
        </documentation>
      </pou>
      <pou name="PID" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="AUTO">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[0 - manual , 1 - automatic]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="PV">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Process variable]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="SP">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Set point]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="X0">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Manual output adjustment - Typically from transfer station]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="KP">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Proportionality constant]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="TR">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Reset time]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="TD">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Derivative time constant]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="CYCLE">
              <type>
                <TIME/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Sampling period]]></xhtml:p>
              </documentation>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="XOUT">
              <type>
                <REAL/>
              </type>
            </variable>
          </outputVars>
          <localVars>
            <variable name="ERROR">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[PV - SP]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="ITERM">
              <type>
                <derived name="INTEGRAL"/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[FB for integral term]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="DTERM">
              <type>
                <derived name="DERIVATIVE"/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[FB for derivative term]]></xhtml:p>
              </documentation>
            </variable>
          </localVars>
        </interface>
        <body>
          <ST>
            <xhtml:p><![CDATA[ERROR := PV - SP ;
(*** Adjust ITERM so that XOUT := X0 when AUTO = 0 ***)
ITERM(RUN := AUTO, R1 := NOT AUTO, XIN := ERROR,
      X0 := TR * (X0 - ERROR), CYCLE := CYCLE);
DTERM(RUN := AUTO, XIN := ERROR, CYCLE := CYCLE);
XOUT := KP * (ERROR + ITERM.XOUT/TR + DTERM.XOUT*TD);]]></xhtml:p>
          </ST>
        </body>
        <documentation>
          <xhtml:p><![CDATA[The PID (proportional, Integral, Derivative) function block provides the classical three term controller for closed loop control.]]></xhtml:p>
        </documentation>
      </pou>
      <pou name="RAMP" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="RUN">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[0 - track X0, 1 - ramp to/track X1]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="X0">
              <type>
                <REAL/>
              </type>
            </variable>
            <variable name="X1">
              <type>
                <REAL/>
              </type>
            </variable>
            <variable name="TR">
              <type>
                <TIME/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Ramp duration]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="CYCLE">
              <type>
                <TIME/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Sampling period]]></xhtml:p>
              </documentation>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="BUSY">
              <type>
                <BOOL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[BUSY = 1 during ramping period]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="XOUT">
              <type>
                <REAL/>
              </type>
              <initialValue>
                <simpleValue value="0.0"/>
              </initialValue>
            </variable>
          </outputVars>
          <localVars>
            <variable name="XI">
              <type>
                <REAL/>
              </type>
              <documentation>
                <xhtml:p><![CDATA[Initial value]]></xhtml:p>
              </documentation>
            </variable>
            <variable name="T">
              <type>
                <TIME/>
              </type>
              <initialValue>
                <simpleValue value="T#0s"/>
              </initialValue>
              <documentation>
                <xhtml:p><![CDATA[Elapsed time of ramp]]></xhtml:p>
              </documentation>
            </variable>
          </localVars>
        </interface>
        <body>
          <ST>
            <xhtml:p><![CDATA[BUSY := RUN ;
IF RUN THEN
  IF T >= TR THEN 
    BUSY := 0;
    XOUT := X1;
  ELSE XOUT := XI + (X1-XI) * TIME_TO_REAL(T)
                            / TIME_TO_REAL(TR);
    T := T + CYCLE;
  END_IF;
ELSE
  XOUT := X0;
  XI := X0;
  T := T#0s;
END_IF;]]></xhtml:p>
          </ST>
        </body>
        <documentation>
          <xhtml:p><![CDATA[The RAMP function block is modelled on example given in the standard.]]></xhtml:p>
        </documentation>
      </pou>
      <pou name="HYSTERESIS" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="XIN1">
              <type>
                <REAL/>
              </type>
            </variable>
            <variable name="XIN2">
              <type>
                <REAL/>
              </type>
            </variable>
            <variable name="EPS">
              <type>
                <REAL/>
              </type>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="Q">
              <type>
                <BOOL/>
              </type>
            </variable>
          </outputVars>
        </interface>
        <body>
          <ST>
            <xhtml:p><![CDATA[IF Q THEN
  IF XIN1 < (XIN2 - EPS) THEN 
    Q := 0;
  END_IF;
ELSIF XIN1 > (XIN2 + EPS) THEN
  Q := 1;
END_IF;]]></xhtml:p>
          </ST>
        </body>
        <documentation>
          <xhtml:p><![CDATA[The hysteresis function block provides a hysteresis boolean output driven by the difference of two floating point (REAL) inputs XIN1 and XIN2.]]></xhtml:p>
        </documentation>
      </pou>
    </pous>
  </types>
  <instances>
    <configurations/>
  </instances>
</project>

author	Andrey Skvortsov <andrej.skvortzov@gmail.com>
	Sun, 06 Jan 2019 03:11:39 +0300
changeset 2501	eba2bbb2dd9a
parent 1410	0d34b69cc9b5
permissions	-rw-r--r--