commit de544a96327f871a104d4e2b17686c486ef318e3 Author: Tiago Batista Cardoso Date: Fri Nov 14 11:13:23 2025 +0100 yo diff --git a/README.md b/README.md new file mode 100644 index 0000000..d5be549 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +:P diff --git a/motor/beremiz.xml b/motor/beremiz.xml new file mode 100644 index 0000000..5ecfa5f --- /dev/null +++ b/motor/beremiz.xml @@ -0,0 +1,4 @@ + + + + diff --git a/motor/build/Config0.c b/motor/build/Config0.c new file mode 100644 index 0000000..a824b83 --- /dev/null +++ b/motor/build/Config0.c @@ -0,0 +1,29 @@ +/*******************************************/ +/* FILE GENERATED BY iec2c */ +/* Editing this file is not recommended... */ +/*******************************************/ + +#include "iec_std_lib.h" + +#include "accessor.h" + +#include "POUS.h" + +// CONFIGURATION CONFIG0 + +void RES0_init__(void); + +void config_init__(void) { + BOOL retain; + retain = 0; + + RES0_init__(); +} + +void RES0_run__(unsigned long tick); + +void config_run__(unsigned long tick) { + RES0_run__(tick); +} +unsigned long long common_ticktime__ = 20000000ULL; /*ns*/ +unsigned long greatest_tick_count__ = (unsigned long)0UL; /*tick*/ diff --git a/motor/build/Config0.h b/motor/build/Config0.h new file mode 100644 index 0000000..680f75c --- /dev/null +++ b/motor/build/Config0.h @@ -0,0 +1,2 @@ +#include "beremiz.h" + diff --git a/motor/build/Config0.o b/motor/build/Config0.o new file mode 100644 index 0000000..c907a24 Binary files /dev/null and b/motor/build/Config0.o differ diff --git a/motor/build/LOCATED_VARIABLES.h b/motor/build/LOCATED_VARIABLES.h new file mode 100644 index 0000000..e69de29 diff --git a/motor/build/POUS.c b/motor/build/POUS.c new file mode 100644 index 0000000..3592cb6 --- /dev/null +++ b/motor/build/POUS.c @@ -0,0 +1,74 @@ +void LOGGER_init__(LOGGER *data__, BOOL retain) { + __INIT_VAR(data__->EN,__BOOL_LITERAL(TRUE),retain) + __INIT_VAR(data__->ENO,__BOOL_LITERAL(TRUE),retain) + __INIT_VAR(data__->TRIG,__BOOL_LITERAL(FALSE),retain) + __INIT_VAR(data__->MSG,__STRING_LITERAL(0,""),retain) + __INIT_VAR(data__->LEVEL,LOGLEVEL__INFO,retain) + __INIT_VAR(data__->TRIG0,__BOOL_LITERAL(FALSE),retain) +} + +// Code part +void LOGGER_body__(LOGGER *data__) { + // Control execution + if (!__GET_VAR(data__->EN)) { + __SET_VAR(data__->,ENO,,__BOOL_LITERAL(FALSE)); + return; + } + else { + __SET_VAR(data__->,ENO,,__BOOL_LITERAL(TRUE)); + } + // Initialise TEMP variables + + if ((__GET_VAR(data__->TRIG,) && !(__GET_VAR(data__->TRIG0,)))) { + #define GetFbVar(var,...) __GET_VAR(data__->var,__VA_ARGS__) + #define SetFbVar(var,val,...) __SET_VAR(data__->,var,__VA_ARGS__,val) + + LogMessage(GetFbVar(LEVEL),(char*)GetFbVar(MSG, .body),GetFbVar(MSG, .len)); + + #undef GetFbVar + #undef SetFbVar +; + }; + __SET_VAR(data__->,TRIG0,,__GET_VAR(data__->TRIG,)); + + goto __end; + +__end: + return; +} // LOGGER_body__() + + + + + +void MOTOR_init__(MOTOR *data__, BOOL retain) { + __INIT_VAR(data__->START,__BOOL_LITERAL(FALSE),retain) + __INIT_VAR(data__->STOP,__BOOL_LITERAL(FALSE),retain) + __INIT_VAR(data__->DELAY,__time_to_timespec(1, 100, 0, 0, 0, 0),retain) + __INIT_VAR(data__->RUNNING,__BOOL_LITERAL(FALSE),retain) + RS_init__(&data__->RS0,retain); + TON_init__(&data__->TON0,retain); +} + +// Code part +void MOTOR_body__(MOTOR *data__) { + // Initialise TEMP variables + + __SET_VAR(data__->TON0.,IN,,__GET_VAR(data__->START,)); + __SET_VAR(data__->TON0.,PT,,__GET_VAR(data__->DELAY,)); + TON_body__(&data__->TON0); + __SET_VAR(data__->RS0.,S,,__GET_VAR(data__->TON0.Q,)); + __SET_VAR(data__->RS0.,R1,,__GET_VAR(data__->STOP,)); + RS_body__(&data__->RS0); + __SET_VAR(data__->,RUNNING,,__GET_VAR(data__->RS0.Q1,)); + + goto __end; + +__end: + return; +} // MOTOR_body__() + + + + + diff --git a/motor/build/POUS.h b/motor/build/POUS.h new file mode 100644 index 0000000..10a17cf --- /dev/null +++ b/motor/build/POUS.h @@ -0,0 +1,50 @@ +#include "beremiz.h" +#ifndef __POUS_H +#define __POUS_H + +#include "accessor.h" +#include "iec_std_lib.h" + +__DECLARE_ENUMERATED_TYPE(LOGLEVEL, + LOGLEVEL__CRITICAL, + LOGLEVEL__WARNING, + LOGLEVEL__INFO, + LOGLEVEL__DEBUG +) +// FUNCTION_BLOCK LOGGER +// Data part +typedef struct { + // FB Interface - IN, OUT, IN_OUT variables + __DECLARE_VAR(BOOL,EN) + __DECLARE_VAR(BOOL,ENO) + __DECLARE_VAR(BOOL,TRIG) + __DECLARE_VAR(STRING,MSG) + __DECLARE_VAR(LOGLEVEL,LEVEL) + + // FB private variables - TEMP, private and located variables + __DECLARE_VAR(BOOL,TRIG0) + +} LOGGER; + +void LOGGER_init__(LOGGER *data__, BOOL retain); +// Code part +void LOGGER_body__(LOGGER *data__); +// PROGRAM MOTOR +// Data part +typedef struct { + // PROGRAM Interface - IN, OUT, IN_OUT variables + + // PROGRAM private variables - TEMP, private and located variables + __DECLARE_VAR(BOOL,START) + __DECLARE_VAR(BOOL,STOP) + __DECLARE_VAR(TIME,DELAY) + __DECLARE_VAR(BOOL,RUNNING) + RS RS0; + TON TON0; + +} MOTOR; + +void MOTOR_init__(MOTOR *data__, BOOL retain); +// Code part +void MOTOR_body__(MOTOR *data__); +#endif //__POUS_H diff --git a/motor/build/Res0.c b/motor/build/Res0.c new file mode 100644 index 0000000..61156b7 --- /dev/null +++ b/motor/build/Res0.c @@ -0,0 +1,37 @@ +/*******************************************/ +/* FILE GENERATED BY iec2c */ +/* Editing this file is not recommended... */ +/*******************************************/ + +#include "iec_std_lib.h" + +// RESOURCE RES0 + +extern unsigned long long common_ticktime__; + +#include "accessor.h" +#include "POUS.h" + +#include "Config0.h" + +#include "POUS.c" + +BOOL TASK0; +MOTOR RES0__INSTANCE0; +#define INSTANCE0 RES0__INSTANCE0 + +void RES0_init__(void) { + BOOL retain; + retain = 0; + + TASK0 = __BOOL_LITERAL(FALSE); + MOTOR_init__(&INSTANCE0,retain); +} + +void RES0_run__(unsigned long tick) { + TASK0 = !(tick % 1); + if (TASK0) { + MOTOR_body__(&INSTANCE0); + } +} + diff --git a/motor/build/Res0.o b/motor/build/Res0.o new file mode 100644 index 0000000..2191f0f Binary files /dev/null and b/motor/build/Res0.o differ diff --git a/motor/build/VARIABLES.csv b/motor/build/VARIABLES.csv new file mode 100644 index 0000000..d7ad373 --- /dev/null +++ b/motor/build/VARIABLES.csv @@ -0,0 +1,30 @@ +// Programs +0;CONFIG0.RES0.INSTANCE0;MOTOR; + +// Variables +0;FB;CONFIG0.RES0.INSTANCE0;CONFIG0.RES0.INSTANCE0;MOTOR; +1;VAR;CONFIG0.RES0.INSTANCE0.START;CONFIG0.RES0.INSTANCE0.START;BOOL; +2;VAR;CONFIG0.RES0.INSTANCE0.STOP;CONFIG0.RES0.INSTANCE0.STOP;BOOL; +3;VAR;CONFIG0.RES0.INSTANCE0.DELAY;CONFIG0.RES0.INSTANCE0.DELAY;TIME; +4;VAR;CONFIG0.RES0.INSTANCE0.RUNNING;CONFIG0.RES0.INSTANCE0.RUNNING;BOOL; +5;FB;CONFIG0.RES0.INSTANCE0.RS0;CONFIG0.RES0.INSTANCE0.RS0;RS; +6;VAR;CONFIG0.RES0.INSTANCE0.RS0.EN;CONFIG0.RES0.INSTANCE0.RS0.EN;BOOL; +7;VAR;CONFIG0.RES0.INSTANCE0.RS0.ENO;CONFIG0.RES0.INSTANCE0.RS0.ENO;BOOL; +8;VAR;CONFIG0.RES0.INSTANCE0.RS0.S;CONFIG0.RES0.INSTANCE0.RS0.S;BOOL; +9;VAR;CONFIG0.RES0.INSTANCE0.RS0.R1;CONFIG0.RES0.INSTANCE0.RS0.R1;BOOL; +10;VAR;CONFIG0.RES0.INSTANCE0.RS0.Q1;CONFIG0.RES0.INSTANCE0.RS0.Q1;BOOL; +11;FB;CONFIG0.RES0.INSTANCE0.TON0;CONFIG0.RES0.INSTANCE0.TON0;TON; +12;VAR;CONFIG0.RES0.INSTANCE0.TON0.EN;CONFIG0.RES0.INSTANCE0.TON0.EN;BOOL; +13;VAR;CONFIG0.RES0.INSTANCE0.TON0.ENO;CONFIG0.RES0.INSTANCE0.TON0.ENO;BOOL; +14;VAR;CONFIG0.RES0.INSTANCE0.TON0.IN;CONFIG0.RES0.INSTANCE0.TON0.IN;BOOL; +15;VAR;CONFIG0.RES0.INSTANCE0.TON0.PT;CONFIG0.RES0.INSTANCE0.TON0.PT;TIME; +16;VAR;CONFIG0.RES0.INSTANCE0.TON0.Q;CONFIG0.RES0.INSTANCE0.TON0.Q;BOOL; +17;VAR;CONFIG0.RES0.INSTANCE0.TON0.ET;CONFIG0.RES0.INSTANCE0.TON0.ET;TIME; +18;VAR;CONFIG0.RES0.INSTANCE0.TON0.STATE;CONFIG0.RES0.INSTANCE0.TON0.STATE;SINT; +19;VAR;CONFIG0.RES0.INSTANCE0.TON0.PREV_IN;CONFIG0.RES0.INSTANCE0.TON0.PREV_IN;BOOL; +20;VAR;CONFIG0.RES0.INSTANCE0.TON0.CURRENT_TIME;CONFIG0.RES0.INSTANCE0.TON0.CURRENT_TIME;TIME; +21;VAR;CONFIG0.RES0.INSTANCE0.TON0.START_TIME;CONFIG0.RES0.INSTANCE0.TON0.START_TIME;TIME; + + +// Ticktime +20000000 diff --git a/motor/build/beremiz.h b/motor/build/beremiz.h new file mode 100644 index 0000000..89f7b4b --- /dev/null +++ b/motor/build/beremiz.h @@ -0,0 +1,44 @@ +#ifndef _BEREMIZ_H_ +#define _BEREMIZ_H_ + +/* Beremiz' header file for use by extensions */ + +#include "iec_types.h" + +#define LOG_LEVELS 4 +#define LOG_CRITICAL 0 +#define LOG_WARNING 1 +#define LOG_INFO 2 +#define LOG_DEBUG 3 + +extern unsigned long long common_ticktime__; + +#ifdef TARGET_LOGGING_DISABLE +static inline int LogMessage(uint8_t level, char* buf, uint32_t size) +{ + (void)level; + (void)buf; + (void)size; + return 0; +} +#else +int LogMessage(uint8_t level, char* buf, uint32_t size); +#endif + +long AtomicCompareExchange(long* atomicvar,long compared, long exchange); +void *create_RT_to_nRT_signal(char* name); +void delete_RT_to_nRT_signal(void* handle); +int wait_RT_to_nRT_signal(void* handle); +int unblock_RT_to_nRT_signal(void* handle); +void nRT_reschedule(void); + + +#ifdef REALTIME_LINUX + +#ifndef PLC_THREAD_PRIORITY +#define PLC_THREAD_PRIORITY 80 +#endif + +#endif + +#endif diff --git a/motor/build/generated_plc.st b/motor/build/generated_plc.st new file mode 100644 index 0000000..0cefef6 --- /dev/null +++ b/motor/build/generated_plc.st @@ -0,0 +1,23 @@ +PROGRAM motor + VAR + START : BOOL; + STOP : BOOL; + DELAY : TIME := T#100ms; + RUNNING : BOOL; + RS0 : RS; + TON0 : TON; + END_VAR + + TON0(IN := START, PT := DELAY); + RS0(S := TON0.Q, R1 := STOP); + RUNNING := RS0.Q1; +END_PROGRAM + + +CONFIGURATION Config0 + + RESOURCE Res0 ON PLC + TASK task0(INTERVAL := T#20ms,PRIORITY := 0); + PROGRAM instance0 WITH task0 : motor; + END_RESOURCE +END_CONFIGURATION diff --git a/motor/build/lastbuildPLC.md5 b/motor/build/lastbuildPLC.md5 new file mode 100644 index 0000000..a72dd3c --- /dev/null +++ b/motor/build/lastbuildPLC.md5 @@ -0,0 +1 @@ +533fc3297d0bbb235fea6b21736971d0 \ No newline at end of file diff --git a/motor/build/motor.dll b/motor/build/motor.dll new file mode 100644 index 0000000..f59ed90 Binary files /dev/null and b/motor/build/motor.dll differ diff --git a/motor/build/plc.st b/motor/build/plc.st new file mode 100644 index 0000000..8bc6c81 --- /dev/null +++ b/motor/build/plc.st @@ -0,0 +1,46 @@ +TYPE + LOGLEVEL : (CRITICAL, WARNING, INFO, DEBUG) := INFO; +END_TYPE + +FUNCTION_BLOCK LOGGER + VAR_INPUT + TRIG : BOOL; + MSG : STRING; + LEVEL : LOGLEVEL := INFO; + END_VAR + VAR + TRIG0 : BOOL; + END_VAR + + IF TRIG AND NOT TRIG0 THEN + {{ + LogMessage(GetFbVar(LEVEL),(char*)GetFbVar(MSG, .body),GetFbVar(MSG, .len)); + }} + END_IF; + TRIG0:=TRIG; +END_FUNCTION_BLOCK + + +PROGRAM motor + VAR + START : BOOL; + STOP : BOOL; + DELAY : TIME := T#100ms; + RUNNING : BOOL; + RS0 : RS; + TON0 : TON; + END_VAR + + TON0(IN := START, PT := DELAY); + RS0(S := TON0.Q, R1 := STOP); + RUNNING := RS0.Q1; +END_PROGRAM + + +CONFIGURATION Config0 + + RESOURCE Res0 ON PLC + TASK task0(INTERVAL := T#20ms,PRIORITY := 0); + PROGRAM instance0 WITH task0 : motor; + END_RESOURCE +END_CONFIGURATION diff --git a/motor/build/plc_debugger.c b/motor/build/plc_debugger.c new file mode 100644 index 0000000..078388c --- /dev/null +++ b/motor/build/plc_debugger.c @@ -0,0 +1,548 @@ +/* + * DEBUGGER code + * + * On "publish", when buffer is free, debugger stores arbitrary variables + * content into, and mark this buffer as filled + * + * + * Buffer content is read asynchronously, (from non real time part), + * and then buffer marked free again. + * + * + * */ +#ifdef TARGET_DEBUG_AND_RETAIN_DISABLE + +void __init_debug (void){} +void __cleanup_debug (void){} +void __retrieve_debug(void){} +void __publish_debug (void){} + +#else + +#include "iec_types_all.h" +#include "POUS.h" +/*for memcpy*/ +#include +#include + +typedef unsigned int dbgvardsc_index_t; +typedef unsigned short trace_buf_offset_t; + +#define BUFFER_EMPTY 0 +#define BUFFER_FULL 1 + +#ifndef TARGET_ONLINE_DEBUG_DISABLE + +#define TRACE_BUFFER_SIZE 4096 +#define TRACE_LIST_SIZE 1024 + +/* Atomically accessed variable for buffer state */ +static long trace_buffer_state = BUFFER_EMPTY; + +typedef struct trace_item_s { + dbgvardsc_index_t dbgvardsc_index; +} trace_item_t; + +trace_item_t trace_list[TRACE_LIST_SIZE]; +char trace_buffer[TRACE_BUFFER_SIZE]; + +/* Trace's cursor*/ +static trace_item_t *trace_list_collect_cursor = trace_list; +static trace_item_t *trace_list_addvar_cursor = trace_list; +static const trace_item_t *trace_list_end = + &trace_list[TRACE_LIST_SIZE-1]; +static char *trace_buffer_cursor = trace_buffer; +static const char *trace_buffer_end = trace_buffer + TRACE_BUFFER_SIZE; + + + +#define FORCE_BUFFER_SIZE 1024 +#define FORCE_LIST_SIZE 256 + +typedef struct force_item_s { + dbgvardsc_index_t dbgvardsc_index; + void *value_pointer_backup; +} force_item_t; + +force_item_t force_list[FORCE_LIST_SIZE]; +char force_buffer[FORCE_BUFFER_SIZE]; + +/* Force's cursor*/ +static force_item_t *force_list_apply_cursor = force_list; +static force_item_t *force_list_addvar_cursor = force_list; +static const force_item_t *force_list_end = + &force_list[FORCE_LIST_SIZE-1]; +static char *force_buffer_cursor = force_buffer; +static const char *force_buffer_end = force_buffer + FORCE_BUFFER_SIZE; + + +#endif + +/*** + * Declare programs + **/ +extern MOTOR RES0__INSTANCE0; + +/*** + * Declare global variables from resources and conf + **/ +extern MOTOR RES0__INSTANCE0; + +typedef const struct { + void *ptr; + __IEC_types_enum type; +} dbgvardsc_t; + +static const dbgvardsc_t dbgvardsc[] = { +{&(RES0__INSTANCE0.START), BOOL_ENUM}, +{&(RES0__INSTANCE0.STOP), BOOL_ENUM}, +{&(RES0__INSTANCE0.DELAY), TIME_ENUM}, +{&(RES0__INSTANCE0.RUNNING), BOOL_ENUM}, +{&(RES0__INSTANCE0.RS0.EN), BOOL_ENUM}, +{&(RES0__INSTANCE0.RS0.ENO), BOOL_ENUM}, +{&(RES0__INSTANCE0.RS0.S), BOOL_ENUM}, +{&(RES0__INSTANCE0.RS0.R1), BOOL_ENUM}, +{&(RES0__INSTANCE0.RS0.Q1), BOOL_ENUM}, +{&(RES0__INSTANCE0.TON0.EN), BOOL_ENUM}, +{&(RES0__INSTANCE0.TON0.ENO), BOOL_ENUM}, +{&(RES0__INSTANCE0.TON0.IN), BOOL_ENUM}, +{&(RES0__INSTANCE0.TON0.PT), TIME_ENUM}, +{&(RES0__INSTANCE0.TON0.Q), BOOL_ENUM}, +{&(RES0__INSTANCE0.TON0.ET), TIME_ENUM}, +{&(RES0__INSTANCE0.TON0.STATE), SINT_ENUM}, +{&(RES0__INSTANCE0.TON0.PREV_IN), BOOL_ENUM}, +{&(RES0__INSTANCE0.TON0.CURRENT_TIME), TIME_ENUM}, +{&(RES0__INSTANCE0.TON0.START_TIME), TIME_ENUM} +}; + +static const dbgvardsc_index_t retain_list[] = { + +}; +static unsigned int retain_list_collect_cursor = 0; +static const unsigned int retain_list_size = sizeof(retain_list)/sizeof(dbgvardsc_index_t); + +typedef void(*__for_each_variable_do_fp)(dbgvardsc_t*); +void __for_each_variable_do(__for_each_variable_do_fp fp) +{ + unsigned int i; + for(i = 0; i < sizeof(dbgvardsc)/sizeof(dbgvardsc_t); i++){ + dbgvardsc_t *dsc = &dbgvardsc[i]; + if(dsc->type != UNKNOWN_ENUM) + (*fp)(dsc); + } +} + +#define __Unpack_desc_type dbgvardsc_t + + +#define __Unpack_case_t(TYPENAME) \ + case TYPENAME##_ENUM : \ + if(flags) *flags = ((__IEC_##TYPENAME##_t *)varp)->flags; \ + if(value_p) *value_p = &((__IEC_##TYPENAME##_t *)varp)->value; \ + if(size) *size = sizeof(TYPENAME); \ + break; + +#define __Unpack_case_p(TYPENAME) \ + case TYPENAME##_O_ENUM : \ + case TYPENAME##_P_ENUM : \ + if(flags) *flags = ((__IEC_##TYPENAME##_p *)varp)->flags; \ + if(value_p) *value_p = ((__IEC_##TYPENAME##_p *)varp)->value; \ + if(size) *size = sizeof(TYPENAME); \ + break; + +#define __Is_a_string(dsc) (dsc->type == STRING_ENUM) ||\ + (dsc->type == STRING_P_ENUM) ||\ + (dsc->type == STRING_O_ENUM) + +static int UnpackVar(__Unpack_desc_type *dsc, void **value_p, char *flags, size_t *size) +{ + void *varp = dsc->ptr; + /* find data to copy*/ + switch(dsc->type){ + __ANY(__Unpack_case_t) + __ANY(__Unpack_case_p) + default: + return 0; /* should never happen */ + } + return 1; +} + + + +void Remind(unsigned int offset, unsigned int count, void * p); + +extern int CheckRetainBuffer(void); +extern void InitRetain(void); + +void __init_debug(void) +{ + /* init local static vars */ +#ifndef TARGET_ONLINE_DEBUG_DISABLE + trace_buffer_cursor = trace_buffer; + trace_list_addvar_cursor = trace_list; + trace_list_collect_cursor = trace_list; + trace_buffer_state = BUFFER_EMPTY; + + force_buffer_cursor = force_buffer; + force_list_addvar_cursor = force_list; + force_list_apply_cursor = force_list; +#endif + + InitRetain(); + /* Iterate over all variables to fill debug buffer */ + if(CheckRetainBuffer()){ + unsigned int retain_offset = 0; + retain_list_collect_cursor = 0; + + /* iterate over retain list */ + while(retain_list_collect_cursor < retain_list_size){ + void *value_p = NULL; + size_t size; + char* next_cursor; + + dbgvardsc_t *dsc = &dbgvardsc[ + retain_list[retain_list_collect_cursor]]; + + UnpackVar(dsc, &value_p, NULL, &size); + + /* if buffer not full */ + Remind(retain_offset, size, value_p); + /* increment cursor according size*/ + retain_offset += size; + + retain_list_collect_cursor++; + } + }else{ + char mstr[] = "RETAIN memory invalid - defaults used"; + LogMessage(LOG_WARNING, mstr, sizeof(mstr)); + } +} + +extern void InitiateDebugTransfer(void); +extern void CleanupRetain(void); + +extern unsigned long __tick; + +void __cleanup_debug(void) +{ +#ifndef TARGET_ONLINE_DEBUG_DISABLE + trace_buffer_cursor = trace_buffer; + InitiateDebugTransfer(); +#endif + + CleanupRetain(); +} + +void __retrieve_debug(void) +{ +} + +void Retain(unsigned int offset, unsigned int count, void * p); + +/* Return size of all retain variables */ +unsigned int GetRetainSize(void) +{ + unsigned int retain_size = 0; + retain_list_collect_cursor = 0; + + /* iterate over retain list */ + while(retain_list_collect_cursor < retain_list_size){ + void *value_p = NULL; + size_t size; + char* next_cursor; + + dbgvardsc_t *dsc = &dbgvardsc[ + retain_list[retain_list_collect_cursor]]; + + UnpackVar(dsc, &value_p, NULL, &size); + + retain_size += size; + retain_list_collect_cursor++; + } + + return retain_size; +} + + +extern void PLC_GetTime(IEC_TIME*); +extern int TryEnterDebugSection(void); +extern long AtomicCompareExchange(long*, long, long); +extern long long AtomicCompareExchange64(long long* , long long , long long); +extern void LeaveDebugSection(void); +extern void ValidateRetainBuffer(void); +extern void InValidateRetainBuffer(void); + +#define __ReForceOutput_case_p(TYPENAME) \ + case TYPENAME##_P_ENUM : \ + case TYPENAME##_O_ENUM : \ + { \ + char *next_cursor = force_buffer_cursor + sizeof(TYPENAME); \ + if(next_cursor <= force_buffer_end ){ \ + /* outputs real value must be systematically forced */ \ + if(vartype == TYPENAME##_O_ENUM) \ + /* overwrite value pointed by backup */ \ + *((TYPENAME *)force_list_apply_cursor->value_pointer_backup) = \ + *((TYPENAME *)force_buffer_cursor); \ + /* inc force_buffer cursor */ \ + force_buffer_cursor = next_cursor; \ + }else{ \ + stop = 1; \ + } \ + } \ + break; +void __publish_debug(void) +{ + InValidateRetainBuffer(); + +#ifndef TARGET_ONLINE_DEBUG_DISABLE + /* Check there is no running debugger re-configuration */ + if(TryEnterDebugSection()){ + /* Lock buffer */ + long latest_state = AtomicCompareExchange( + &trace_buffer_state, + BUFFER_EMPTY, + BUFFER_FULL); + + /* If buffer was free */ + if(latest_state == BUFFER_EMPTY) + { + int stop = 0; + /* Reset force list cursor */ + force_list_apply_cursor = force_list; + + /* iterate over force list */ + while(!stop && force_list_apply_cursor < force_list_addvar_cursor){ + dbgvardsc_t *dsc = &dbgvardsc[ + force_list_apply_cursor->dbgvardsc_index]; + void *varp = dsc->ptr; + __IEC_types_enum vartype = dsc->type; + switch(vartype){ + __ANY(__ReForceOutput_case_p) + default: + break; + } + force_list_apply_cursor++; + } + + /* Reset buffer cursor */ + trace_buffer_cursor = trace_buffer; + /* Reset trace list cursor */ + trace_list_collect_cursor = trace_list; + + /* iterate over trace list */ + while(trace_list_collect_cursor < trace_list_addvar_cursor){ + void *value_p = NULL; + size_t size; + char* next_cursor; + + dbgvardsc_t *dsc = &dbgvardsc[ + trace_list_collect_cursor->dbgvardsc_index]; + + UnpackVar(dsc, &value_p, NULL, &size); + + /* copy visible variable to buffer */; + if(__Is_a_string(dsc)){ + /* optimization for strings */ + /* assume NULL terminated strings */ + size = ((STRING*)value_p)->len + 1; + } + + /* compute next cursor positon.*/ + next_cursor = trace_buffer_cursor + size; + /* check for buffer overflow */ + if(next_cursor < trace_buffer_end) + /* copy data to the buffer */ + memcpy(trace_buffer_cursor, value_p, size); + else + /* stop looping in case of overflow */ + break; + /* increment cursor according size*/ + trace_buffer_cursor = next_cursor; + trace_list_collect_cursor++; + } + + /* Leave debug section, + * Trigger asynchronous transmission + * (returns immediately) */ + InitiateDebugTransfer(); /* size */ + } + LeaveDebugSection(); + } +#endif + unsigned int retain_offset = 0; + /* when not debugging, do only retain */ + retain_list_collect_cursor = 0; + + /* iterate over retain list */ + while(retain_list_collect_cursor < retain_list_size){ + void *value_p = NULL; + size_t size; + char* next_cursor; + + dbgvardsc_t *dsc = &dbgvardsc[ + retain_list[retain_list_collect_cursor]]; + + UnpackVar(dsc, &value_p, NULL, &size); + + /* if buffer not full */ + Retain(retain_offset, size, value_p); + /* increment cursor according size*/ + retain_offset += size; + + retain_list_collect_cursor++; + } + ValidateRetainBuffer(); +} + +#ifndef TARGET_ONLINE_DEBUG_DISABLE + +#define TRACE_LIST_OVERFLOW 1 +#define FORCE_LIST_OVERFLOW 2 +#define FORCE_BUFFER_OVERFLOW 3 + +#define __ForceVariable_case_t(TYPENAME) \ + case TYPENAME##_ENUM : \ + /* add to force_list*/ \ + force_list_addvar_cursor->dbgvardsc_index = idx; \ + ((__IEC_##TYPENAME##_t *)varp)->flags |= __IEC_FORCE_FLAG; \ + ((__IEC_##TYPENAME##_t *)varp)->value = *((TYPENAME *)force); \ + break; +#define __ForceVariable_case_p(TYPENAME) \ + case TYPENAME##_P_ENUM : \ + case TYPENAME##_O_ENUM : \ + { \ + char *next_cursor = force_buffer_cursor + sizeof(TYPENAME); \ + if(next_cursor <= force_buffer_end ){ \ + /* add to force_list*/ \ + force_list_addvar_cursor->dbgvardsc_index = idx; \ + /* save pointer to backup */ \ + force_list_addvar_cursor->value_pointer_backup = \ + ((__IEC_##TYPENAME##_p *)varp)->value; \ + /* store forced value in force_buffer */ \ + *((TYPENAME *)force_buffer_cursor) = *((TYPENAME *)force); \ + /* replace pointer with pointer to force_buffer */ \ + ((__IEC_##TYPENAME##_p *)varp)->value = \ + (TYPENAME *)force_buffer_cursor; \ + (((__IEC_##TYPENAME##_p *)varp)->fvalue) = *((TYPENAME *)force); \ + /* mark variable as forced */ \ + ((__IEC_##TYPENAME##_p *)varp)->flags |= __IEC_FORCE_FLAG; \ + /* inc force_buffer cursor */ \ + force_buffer_cursor = next_cursor; \ + /* outputs real value must be systematically forced */ \ + if(vartype == TYPENAME##_O_ENUM) \ + *(((__IEC_##TYPENAME##_p *)varp)->value) = *((TYPENAME *)force);\ + } else { \ + error_code = FORCE_BUFFER_OVERFLOW; \ + goto error_cleanup; \ + } \ + } \ + break; + + +void ResetDebugVariables(void); + +int RegisterDebugVariable(dbgvardsc_index_t idx, void* force) +{ + int error_code = 0; + if(idx < sizeof(dbgvardsc)/sizeof(dbgvardsc_t)){ + /* add to trace_list, inc trace_list_addvar_cursor*/ + if(trace_list_addvar_cursor <= trace_list_end){ + trace_list_addvar_cursor->dbgvardsc_index = idx; + trace_list_addvar_cursor++; + } else { + error_code = TRACE_LIST_OVERFLOW; + goto error_cleanup; + } + if(force){ + if(force_list_addvar_cursor <= force_list_end){ + dbgvardsc_t *dsc = &dbgvardsc[idx]; + void *varp = dsc->ptr; + __IEC_types_enum vartype = dsc->type; + + switch(vartype){ + __ANY(__ForceVariable_case_t) + __ANY(__ForceVariable_case_p) + default: + break; + } + /* inc force_list cursor */ + force_list_addvar_cursor++; + } else { + error_code = FORCE_LIST_OVERFLOW; + goto error_cleanup; + } + } + } + return 0; + +error_cleanup: + ResetDebugVariables(); + trace_buffer_state = BUFFER_EMPTY; + return error_code; + +} + +#define ResetForcedVariable_case_t(TYPENAME) \ + case TYPENAME##_ENUM : \ + ((__IEC_##TYPENAME##_t *)varp)->flags &= ~__IEC_FORCE_FLAG; \ + /* for local variable we don't restore original value */ \ + /* that can be added if needed, but it was like that since ever */ \ + break; + +#define ResetForcedVariable_case_p(TYPENAME) \ + case TYPENAME##_P_ENUM : \ + case TYPENAME##_O_ENUM : \ + ((__IEC_##TYPENAME##_p *)varp)->flags &= ~__IEC_FORCE_FLAG; \ + /* restore backup to pointer */ \ + ((__IEC_##TYPENAME##_p *)varp)->value = \ + force_list_apply_cursor->value_pointer_backup; \ + break; + +void ResetDebugVariables(void) +{ + /* Reset trace list */ + trace_list_addvar_cursor = trace_list; + + force_list_apply_cursor = force_list; + /* Restore forced variables */ + while(force_list_apply_cursor < force_list_addvar_cursor){ + dbgvardsc_t *dsc = &dbgvardsc[ + force_list_apply_cursor->dbgvardsc_index]; + void *varp = dsc->ptr; + switch(dsc->type){ + __ANY(ResetForcedVariable_case_t) + __ANY(ResetForcedVariable_case_p) + default: + break; + } + /* inc force_list cursor */ + force_list_apply_cursor++; + } /* else TODO: warn user about failure to force */ + + /* Reset force list */ + force_list_addvar_cursor = force_list; + /* Reset force buffer */ + force_buffer_cursor = force_buffer; +} + +void FreeDebugData(void) +{ + /* atomically mark buffer as free */ + AtomicCompareExchange( + &trace_buffer_state, + BUFFER_FULL, + BUFFER_EMPTY); +} +int WaitDebugData(unsigned long *tick); +/* Wait until debug data ready and return pointer to it */ +int GetDebugData(unsigned long *tick, unsigned long *size, void **buffer){ + int wait_error = WaitDebugData(tick); + if(!wait_error){ + *size = trace_buffer_cursor - trace_buffer; + *buffer = trace_buffer; + } + return wait_error; +} +#endif +#endif + diff --git a/motor/build/plc_debugger.o b/motor/build/plc_debugger.o new file mode 100644 index 0000000..7eeb5db Binary files /dev/null and b/motor/build/plc_debugger.o differ diff --git a/motor/build/plc_main.c b/motor/build/plc_main.c new file mode 100644 index 0000000..d5ac50a --- /dev/null +++ b/motor/build/plc_main.c @@ -0,0 +1,980 @@ +/** + * Head of code common to all C targets + **/ + +#include "beremiz.h" +#include +/* + * Prototypes of functions provided by generated C softPLC + **/ +void config_run__(unsigned long tick); +void config_init__(void); + +/* + * Prototypes of functions provided by generated target C code + * */ +long long AtomicCompareExchange64(long long*, long long, long long); +void __init_debug(void); +void __cleanup_debug(void); +/*void __retrieve_debug(void);*/ +void __publish_debug(void); + +/* + * Variables used by generated C softPLC and plugins + **/ +IEC_TIME __CURRENT_TIME; +IEC_BOOL __DEBUG = 0; +unsigned long __tick = 0; +char *PLC_ID = NULL; + +/* + * Variable generated by C softPLC and plugins + **/ +extern unsigned long greatest_tick_count__; + +/* Help to quit cleanly when init fail at a certain level */ +static int init_level = 0; + +/* + * Prototypes of functions exported by plugins + **/ + + + +/* + * Retrieve input variables, run PLC and publish output variables + **/ +void __run(void) +{ + __tick++; + if (greatest_tick_count__) + __tick %= greatest_tick_count__; + + + + + /*__retrieve_debug();*/ + + config_run__(__tick); + + __publish_debug(); + + + + +} + +/* + * Initialize variables according to PLC's default values, + * and then init plugins with that values + **/ +int __init(int argc,char **argv) +{ + int res = 0; + init_level = 0; + + /* Effective tick time with 1ms default value */ + if(!common_ticktime__) + common_ticktime__ = 1000000; + + config_init__(); + __init_debug(); + + + return res; +} +/* + * Calls plugin cleanup proc. + **/ +void __cleanup(void) +{ + + + __cleanup_debug(); +} + +void PLC_GetTime(IEC_TIME *CURRENT_TIME); +void PLC_SetTimer(unsigned long long next, unsigned long long period); + + + +/** + * Win32 specific code + **/ + +#include +#include +#include +#include +#include + + +long AtomicCompareExchange(long* atomicvar, long compared, long exchange) +{ + return InterlockedCompareExchange(atomicvar, exchange, compared); +} +CRITICAL_SECTION Atomic64CS; +long long AtomicCompareExchange64(long long* atomicvar, long long compared, long long exchange) +{ + long long res; + EnterCriticalSection(&Atomic64CS); + res=*atomicvar; + if(*atomicvar == compared){ + *atomicvar = exchange; + } + LeaveCriticalSection(&Atomic64CS); + return res; +} + +struct timeb timetmp; +void PLC_GetTime(IEC_TIME *CURRENT_TIME) +{ + ftime(&timetmp); + + (*CURRENT_TIME).tv_sec = timetmp.time; + (*CURRENT_TIME).tv_nsec = timetmp.millitm * 1000000; +} + +HANDLE PLC_timer = NULL; +void PLC_SetTimer(unsigned long long next, unsigned long long period) +{ + LARGE_INTEGER liDueTime; + /* arg 2 of SetWaitableTimer take 100 ns interval*/ + liDueTime.QuadPart = next / (-100); + + if (!SetWaitableTimer(PLC_timer, &liDueTime, period<1000000?1:period/1000000, NULL, NULL, 0)) + { + printf("SetWaitableTimer failed (%d)\n", GetLastError()); + } +} + +int PLC_shutdown; + +int ForceSaveRetainReq(void) { + return PLC_shutdown; +} + +/* Variable used to stop plcloop thread */ +void PlcLoop() +{ + PLC_shutdown = 0; + while(!PLC_shutdown) { + if (WaitForSingleObject(PLC_timer, INFINITE) != WAIT_OBJECT_0){ + PLC_shutdown = 1; + break; + } + PLC_GetTime(&__CURRENT_TIME); + __run(); + } +} + +HANDLE PLC_thread; +HANDLE debug_sem; +HANDLE debug_wait_sem; +HANDLE python_sem; +HANDLE python_wait_sem; + +#define maxval(a,b) ((a>b)?a:b) +int startPLC(int argc,char **argv) +{ + unsigned long thread_id = 0; + BOOL tmp; + + debug_sem = CreateSemaphore( + NULL, // default security attributes + 1, // initial count + 1, // maximum count + NULL); // unnamed semaphore + if (debug_sem == NULL) + { + printf("startPLC CreateSemaphore debug_sem error: %d\n", GetLastError()); + return 1; + } + + debug_wait_sem = CreateSemaphore( + NULL, // default security attributes + 0, // initial count + 1, // maximum count + NULL); // unnamed semaphore + + if (debug_wait_sem == NULL) + { + printf("startPLC CreateSemaphore debug_wait_sem error: %d\n", GetLastError()); + return 1; + } + + python_sem = CreateSemaphore( + NULL, // default security attributes + 1, // initial count + 1, // maximum count + NULL); // unnamed semaphore + + if (python_sem == NULL) + { + printf("startPLC CreateSemaphore python_sem error: %d\n", GetLastError()); + return 1; + } + python_wait_sem = CreateSemaphore( + NULL, // default security attributes + 0, // initial count + 1, // maximum count + NULL); // unnamed semaphore + + + if (python_wait_sem == NULL) + { + printf("startPLC CreateSemaphore python_wait_sem error: %d\n", GetLastError()); + return 1; + } + + + /* Create a waitable timer */ + timeBeginPeriod(1); + PLC_timer = CreateWaitableTimer(NULL, FALSE, "WaitableTimer"); + if(NULL == PLC_timer) + { + printf("CreateWaitableTimer failed (%d)\n", GetLastError()); + return 1; + } + if( __init(argc,argv) == 0 ) + { + PLC_SetTimer(common_ticktime__,common_ticktime__); + PLC_thread = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)PlcLoop, NULL, 0, &thread_id); + } + else{ + return 1; + } + return 0; +} +static unsigned long __debug_tick; + +int TryEnterDebugSection(void) +{ + //printf("TryEnterDebugSection\n"); + if(WaitForSingleObject(debug_sem, 0) == WAIT_OBJECT_0){ + /* Only enter if debug active */ + if(__DEBUG){ + return 1; + } + ReleaseSemaphore(debug_sem, 1, NULL); + } + return 0; +} + +void LeaveDebugSection(void) +{ + ReleaseSemaphore(debug_sem, 1, NULL); + //printf("LeaveDebugSection\n"); +} + +int stopPLC() +{ + + PLC_shutdown = 1; + // force last wakeup of PLC thread + SetWaitableTimer(PLC_timer, 0, 0, NULL, NULL, 0); + // wait end of PLC thread + WaitForSingleObject(PLC_thread, INFINITE); + + __cleanup(); + + CloseHandle(PLC_timer); + CloseHandle(debug_wait_sem); + CloseHandle(debug_sem); + CloseHandle(python_wait_sem); + CloseHandle(python_sem); + CloseHandle(PLC_thread); +} + +/* from plc_debugger.c */ +int WaitDebugData(unsigned long *tick) +{ + DWORD res; + res = WaitForSingleObject(debug_wait_sem, INFINITE); + *tick = __debug_tick; + /* Wait signal from PLC thread */ + return res != WAIT_OBJECT_0; +} + +/* Called by PLC thread when debug_publish finished + * This is supposed to unlock debugger thread in WaitDebugData*/ +void InitiateDebugTransfer() +{ + /* remember tick */ + __debug_tick = __tick; + /* signal debugger thread it can read data */ + ReleaseSemaphore(debug_wait_sem, 1, NULL); +} + +int suspendDebug(int disable) +{ + /* Prevent PLC to enter debug code */ + WaitForSingleObject(debug_sem, INFINITE); + __DEBUG = !disable; + if(disable) + ReleaseSemaphore(debug_sem, 1, NULL); + return 0; +} + +void resumeDebug() +{ + __DEBUG = 1; + /* Let PLC enter debug code */ + ReleaseSemaphore(debug_sem, 1, NULL); +} + +/* from plc_python.c */ +int WaitPythonCommands(void) +{ + /* Wait signal from PLC thread */ + return WaitForSingleObject(python_wait_sem, INFINITE); +} + +/* Called by PLC thread on each new python command*/ +void UnBlockPythonCommands(void) +{ + /* signal debugger thread it can read data */ + ReleaseSemaphore(python_wait_sem, 1, NULL); +} + +int TryLockPython(void) +{ + return WaitForSingleObject(python_sem, 0) == WAIT_OBJECT_0; +} + +void UnLockPython(void) +{ + ReleaseSemaphore(python_sem, 1, NULL); +} + +void LockPython(void) +{ + WaitForSingleObject(python_sem, INFINITE); +} + +static void __attribute__((constructor)) +beremiz_dll_init(void) +{ + InitializeCriticalSection(&Atomic64CS); + +} + +static void __attribute__((destructor)) +beremiz_dll_destroy(void) +{ + DeleteCriticalSection(&Atomic64CS); +} + +struct RT_to_nRT_signal_s { + HANDLE sem; +}; + +typedef struct RT_to_nRT_signal_s RT_to_nRT_signal_t; + +#define _LogAndReturnNull(text) \ + {\ + char mstr[256] = text " for ";\ + strncat(mstr, name, 255);\ + LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\ + return NULL;\ + } + +void *create_RT_to_nRT_signal(char* name){ + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)malloc(sizeof(RT_to_nRT_signal_t)); + + if(!sig) + _LogAndReturnNull("Failed allocating memory for RT_to_nRT signal"); + + sig->sem = CreateSemaphore( + NULL, // default security attributes + 1, // initial count + 1, // maximum count + NULL); // unnamed semaphore + + if(sig->sem == NULL) + { + char mstr[256]; + snprintf(mstr, 255, "startPLC CreateSemaphore %s error: %d\n", name, GetLastError()); + LogMessage(LOG_CRITICAL, mstr, strlen(mstr)); + return NULL; + } + + return (void*)sig; +} + +void delete_RT_to_nRT_signal(void* handle){ + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; + + CloseHandle(python_sem); + + free(sig); +} + +int wait_RT_to_nRT_signal(void* handle){ + int ret; + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; + return WaitForSingleObject(sig->sem, INFINITE); +} + +int unblock_RT_to_nRT_signal(void* handle){ + RT_to_nRT_signal_t *sig = (RT_to_nRT_signal_t*)handle; + return ReleaseSemaphore(sig->sem, 1, NULL); +} + +void nRT_reschedule(void){ + SwitchToThread(); +} + + +/* + This file is part of Beremiz, a Integrated Development Environment for + programming IEC 61131-3 automates supporting plcopen standard and CanFestival. + + See COPYING.runtime + + Copyright (C) 2018: Sergey Surkov + Copyright (C) 2018: Andrey Skvortsov + +*/ + +#ifndef HAVE_RETAIN +#include +#include +#include +#include "iec_types.h" + +int GetRetainSize(void); + +/* Retain buffer. */ +FILE *retain_buffer; +const char rb_file[] = "retain_buffer_file"; +const char rb_file_bckp[] = "retain_buffer_file.bak"; + + +/* Retain header struct. */ +struct retain_info_t { + uint32_t retain_size; + uint32_t hash_size; + uint8_t* hash; + uint32_t header_offset; + uint32_t header_crc; +}; + +/* Init retain info structure. */ +struct retain_info_t retain_info; + +/* CRC lookup table and initial state. */ +static const uint32_t crc32_table[256] = { + 0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, + 0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91, + 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, + 0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, + 0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, + 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59, + 0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, + 0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D, + 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433, + 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, + 0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, + 0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, + 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, + 0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9, + 0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F, + 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD, + 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683, + 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, + 0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7, + 0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, + 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, + 0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79, + 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F, + 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, + 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713, + 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, + 0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777, + 0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45, + 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, + 0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9, + 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF, + 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D, +}; +uint32_t retain_crc; + + +/* Calculate CRC32 for len bytes from pointer buf with init starting value. */ +uint32_t GenerateCRC32Sum(const void* buf, unsigned int len, uint32_t init) +{ + uint32_t crc = ~init; + unsigned char* current = (unsigned char*) buf; + while (len--) + crc = crc32_table[(crc ^ *current++) & 0xFF] ^ (crc >> 8); + return ~crc; +} + +/* Calc CRC32 for retain file byte by byte. */ +int CheckFileCRC(FILE* file_buffer) +{ + /* Set the magic constant for one-pass CRC calc according to ZIP CRC32. */ + const uint32_t magic_number = 0x2144df1c; + + /* CRC initial state. */ + uint32_t calc_crc32 = 0; + char data_block = 0; + + while(!feof(file_buffer)){ + if (fread(&data_block, sizeof(data_block), 1, file_buffer)) + calc_crc32 = GenerateCRC32Sum(&data_block, sizeof(data_block), calc_crc32); + } + + /* Compare crc result with a magic number. */ + return (calc_crc32 == magic_number) ? 1 : 0; +} + +/* Compare current hash with hash from file byte by byte. */ +int CheckFilehash(void) +{ + unsigned int k; + int offset = sizeof(retain_info.retain_size); + + rewind(retain_buffer); + fseek(retain_buffer, offset , SEEK_SET); + + uint32_t size; + fread(&size, sizeof(size), 1, retain_buffer); + if (size != retain_info.hash_size) + return 0; + + for(k = 0; k < retain_info.hash_size; k++){ + uint8_t file_digit; + fread(&file_digit, sizeof(file_digit), 1, retain_buffer); + if (file_digit != *(retain_info.hash+k)) + return 0; + } + + return 1; +} + +void InitRetain(void) +{ + unsigned int i; + + /* Get retain size in bytes */ + retain_info.retain_size = GetRetainSize(); + + /* Hash stored in retain file as array of char in hex digits + (that's why we divide strlen in two). */ + retain_info.hash_size = PLC_ID ? strlen(PLC_ID)/2 : 0; + //retain_info.hash_size = 0; + retain_info.hash = malloc(retain_info.hash_size); + + /* Transform hash string into byte sequence. */ + for (i = 0; i < retain_info.hash_size; i++) { + int byte = 0; + sscanf((PLC_ID + i*2), "%02X", &byte); + retain_info.hash[i] = byte; + } + + /* Calc header offset. */ + retain_info.header_offset = sizeof(retain_info.retain_size) + \ + sizeof(retain_info.hash_size) + \ + retain_info.hash_size; + + /* Set header CRC initial state. */ + retain_info.header_crc = 0; + + /* Calc crc for header. */ + retain_info.header_crc = GenerateCRC32Sum( + &retain_info.retain_size, + sizeof(retain_info.retain_size), + retain_info.header_crc); + + retain_info.header_crc = GenerateCRC32Sum( + &retain_info.hash_size, + sizeof(retain_info.hash_size), + retain_info.header_crc); + + retain_info.header_crc = GenerateCRC32Sum( + retain_info.hash, + retain_info.hash_size, + retain_info.header_crc); +} + +void CleanupRetain(void) +{ + /* Free hash memory. */ + free(retain_info.hash); +} + +int CheckRetainFile(const char * file) +{ + retain_buffer = fopen(file, "rb"); + if (retain_buffer) { + /* Check CRC32 and hash. */ + if (CheckFileCRC(retain_buffer)) + if (CheckFilehash()) + return 1; + fclose(retain_buffer); + retain_buffer = NULL; + } + return 0; +} + +int CheckRetainBuffer(void) +{ + retain_buffer = NULL; + if (!retain_info.retain_size) + return 1; + + /* Check latest retain file. */ + if (CheckRetainFile(rb_file)) + return 1; + + /* Check if we have backup. */ + if (CheckRetainFile(rb_file_bckp)) + return 1; + + /* We don't have any valid retain buffer - nothing to remind. */ + return 0; +} + +#ifndef FILE_RETAIN_SAVE_PERIOD_S +#define FILE_RETAIN_SAVE_PERIOD_S 1.0 +#endif + +static double CalcDiffSeconds(IEC_TIME* t1, IEC_TIME *t2) +{ + IEC_TIME dt ={ + t1->tv_sec - t2->tv_sec, + t1->tv_nsec - t2->tv_nsec + }; + + if ((dt.tv_nsec < -1000000000) || ((dt.tv_sec > 0) && (dt.tv_nsec < 0))){ + dt.tv_sec--; + dt.tv_nsec += 1000000000; + } + if ((dt.tv_nsec > +1000000000) || ((dt.tv_sec < 0) && (dt.tv_nsec > 0))){ + dt.tv_sec++; + dt.tv_nsec -= 1000000000; + } + return dt.tv_sec + 1e-9*dt.tv_nsec; +} + + +int RetainSaveNeeded(void) +{ + int ret = 0; + static IEC_TIME last_save; + IEC_TIME now; + double diff_s; + + /* no retain */ + if (!retain_info.retain_size) + return 0; + + /* periodic retain flush to avoid high I/O load */ + PLC_GetTime(&now); + + diff_s = CalcDiffSeconds(&now, &last_save); + + if ((diff_s > FILE_RETAIN_SAVE_PERIOD_S) || ForceSaveRetainReq()) { + ret = 1; + last_save = now; + } + return ret; +} + +void ValidateRetainBuffer(void) +{ + if (!retain_buffer) + return; + + /* Add retain data CRC to the end of buffer file. */ + fseek(retain_buffer, 0, SEEK_END); + fwrite(&retain_crc, sizeof(retain_crc), 1, retain_buffer); + + /* Sync file buffer and close file. */ +#ifdef __WIN32 + fflush(retain_buffer); +#else + fsync(fileno(retain_buffer)); +#endif + + fclose(retain_buffer); + retain_buffer = NULL; +} + +void InValidateRetainBuffer(void) +{ + if (!RetainSaveNeeded()) + return; + + /* Rename old retain file into *.bak if it exists. */ + rename(rb_file, rb_file_bckp); + + /* Set file CRC initial value. */ + retain_crc = retain_info.header_crc; + + /* Create new retain file. */ + retain_buffer = fopen(rb_file, "wb+"); + if (!retain_buffer) { + fprintf(stderr, "Failed to create retain file : %s\n", rb_file); + return; + } + + /* Write header to the new file. */ + fwrite(&retain_info.retain_size, + sizeof(retain_info.retain_size), 1, retain_buffer); + fwrite(&retain_info.hash_size, + sizeof(retain_info.hash_size), 1, retain_buffer); + fwrite(retain_info.hash , + sizeof(char), retain_info.hash_size, retain_buffer); +} + +void Retain(unsigned int offset, unsigned int count, void *p) +{ + if (!retain_buffer) + return; + + /* Generate CRC 32 for each data block. */ + retain_crc = GenerateCRC32Sum(p, count, retain_crc); + + /* Save current var in file. */ + fseek(retain_buffer, retain_info.header_offset+offset, SEEK_SET); + fwrite(p, count, 1, retain_buffer); +} + +void Remind(unsigned int offset, unsigned int count, void *p) +{ + /* Remind variable from file. */ + fseek(retain_buffer, retain_info.header_offset+offset, SEEK_SET); + fread((void *)p, count, 1, retain_buffer); +} +#endif // !HAVE_RETAIN +/** + * Tail of code common to all C targets + **/ + +/** + * LOGGING + **/ +#ifndef TARGET_LOGGING_DISABLE + +#ifndef LOG_BUFFER_SIZE +#define LOG_BUFFER_SIZE (1<<14) /*16Ko*/ +#endif +#ifndef LOG_BUFFER_ATTRS +#define LOG_BUFFER_ATTRS +#endif + +#define LOG_BUFFER_MASK (LOG_BUFFER_SIZE-1) + +static char LogBuff[LOG_LEVELS][LOG_BUFFER_SIZE] LOG_BUFFER_ATTRS; +static void inline copy_to_log(uint8_t level, uint32_t buffpos, void* buf, uint32_t size){ + if(buffpos + size < LOG_BUFFER_SIZE){ + memcpy(&LogBuff[level][buffpos], buf, size); + }else{ + uint32_t remaining = LOG_BUFFER_SIZE - buffpos; + memcpy(&LogBuff[level][buffpos], buf, remaining); + memcpy(LogBuff[level], (char*)buf + remaining, size - remaining); + } +} +static void inline copy_from_log(uint8_t level, uint32_t buffpos, void* buf, uint32_t size){ + if(buffpos + size < LOG_BUFFER_SIZE){ + memcpy(buf, &LogBuff[level][buffpos], size); + }else{ + uint32_t remaining = LOG_BUFFER_SIZE - buffpos; + memcpy(buf, &LogBuff[level][buffpos], remaining); + memcpy((char*)buf + remaining, LogBuff[level], size - remaining); + } +} + +/* Log buffer structure + + |<-Tail1.msgsize->|<-sizeof(mTail)->|<--Tail2.msgsize-->|<-sizeof(mTail)->|... + | Message1 Body | Tail1 | Message2 Body | Tail2 | + +*/ +typedef struct { + uint32_t msgidx; + uint32_t msgsize; + unsigned long tick; + IEC_TIME time; +} mTail; + +/* Log cursor : 64b + |63 ... 32|31 ... 0| + | Message | Buffer | + | counter | Index | */ +static uint64_t LogCursor[LOG_LEVELS] LOG_BUFFER_ATTRS = {0x0,0x0,0x0,0x0}; + +void ResetLogCount(void) { + uint8_t level; + for(level=0;level> 32); + new_cursor = ((uint64_t)(tail.msgidx + 1)<<32) + | (uint64_t)((buffpos + size + sizeof(mTail)) & LOG_BUFFER_MASK); + }while(AtomicCompareExchange64( + (long long*)&LogCursor[level], + (long long)old_cursor, + (long long)new_cursor)!=(long long)old_cursor); + + copy_to_log(level, buffpos, buf, size); + copy_to_log(level, (buffpos + size) & LOG_BUFFER_MASK, &tail, sizeof(mTail)); + + return 1; /* Success */ + }else{ + char mstr[] = "Logging error : message too big"; + LogMessage(LOG_CRITICAL, mstr, sizeof(mstr)); + } + return 0; +} + +uint32_t GetLogCount(uint8_t level){ + return (uint64_t)LogCursor[level] >> 32; +} + +/* Return message size and content */ +uint32_t GetLogMessage(uint8_t level, uint32_t msgidx, char* buf, uint32_t max_size, uint32_t* tick, uint32_t* tv_sec, uint32_t* tv_nsec){ + uint64_t cursor = LogCursor[level]; + if(cursor){ + /* seach cursor */ + uint32_t stailpos = (uint32_t)cursor; + uint32_t smsgidx; + mTail tail; + tail.msgidx = cursor >> 32; + tail.msgsize = 0; + + /* Message search loop */ + do { + smsgidx = tail.msgidx; + stailpos = (stailpos - sizeof(mTail) - tail.msgsize ) & LOG_BUFFER_MASK; + copy_from_log(level, stailpos, &tail, sizeof(mTail)); + }while((tail.msgidx == smsgidx - 1) && (tail.msgidx > msgidx)); + + if(tail.msgidx == msgidx){ + uint32_t sbuffpos = (stailpos - tail.msgsize ) & LOG_BUFFER_MASK; + uint32_t totalsize = tail.msgsize; + *tick = tail.tick; + *tv_sec = tail.time.tv_sec; + *tv_nsec = tail.time.tv_nsec; + copy_from_log(level, sbuffpos, buf, + totalsize > max_size ? max_size : totalsize); + return totalsize; + } + } + return 0; +} + +#endif + +#ifndef TARGET_EXT_SYNC_DISABLE + +#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 unsigned long last_tick = 0; + +/* + * Called on each external periodic sync event + * make PLC tick synchronous with external sync + * ratio defines when PLC tick occurs between two 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 / common_ticktime__)) > 0){ + FreqCorr = (Tsync % common_ticktime__); /* to be divided by Nticks */ + }else{ + FreqCorr = Tsync - (common_ticktime__ % 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 - (common_ticktime__ + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */ + Tcorr = common_ticktime__ + (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 = common_ticktime__ + FreqCorr / Nticks; + }else{ + PeriodicTcorr = Tcorr; + } + }else if(__tick > last_tick){ + last_tick = __tick; + PhaseCorr = elapsed - (Tsync*sync_align_ratio/100); + PeriodicTcorr = Tcorr = common_ticktime__ + PhaseCorr + FreqCorr; + }else{ + /*PLC did not run meanwhile. Nothing to do*/ + return; + } + /* DO ALIGNEMENT */ + PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr); + } + } +} + +#endif diff --git a/motor/build/plc_main.o b/motor/build/plc_main.o new file mode 100644 index 0000000..73cddaf Binary files /dev/null and b/motor/build/plc_main.o differ diff --git a/motor/plc.xml b/motor/plc.xml new file mode 100644 index 0000000..8287da0 --- /dev/null +++ b/motor/plc.xml @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + START + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + STOP + + + + + + + + + + + + + + RUNNING + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + DELAY + + + + + + + + + + + + + + + + + +