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This commit is contained in:
Tiago Batista Cardoso
2025-11-14 11:13:23 +01:00
commit de544a9632
21 changed files with 2089 additions and 0 deletions
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1
README.md Normal file
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:P

4
motor/beremiz.xml Normal file
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<?xml version='1.0' encoding='utf-8'?>
<BeremizRoot xmlns:xsd="http://www.w3.org/2001/XMLSchema" URI_location="LOCAL://">
<TargetType/>
</BeremizRoot>

29
motor/build/Config0.c Normal file
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/*******************************************/
/* 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*/

2
motor/build/Config0.h Normal file
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#include "beremiz.h"

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0
motor/build/LOCATED_VARIABLES.h Normal file
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74
motor/build/POUS.c Normal file
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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__()

50
motor/build/POUS.h Normal file
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#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

37
motor/build/Res0.c Normal file
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/*******************************************/
/* 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);
}
}

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30
motor/build/VARIABLES.csv Normal file
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// 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
1 // Programs
2 0;CONFIG0.RES0.INSTANCE0;MOTOR;
3 // Variables
4 0;FB;CONFIG0.RES0.INSTANCE0;CONFIG0.RES0.INSTANCE0;MOTOR;
5 1;VAR;CONFIG0.RES0.INSTANCE0.START;CONFIG0.RES0.INSTANCE0.START;BOOL;
6 2;VAR;CONFIG0.RES0.INSTANCE0.STOP;CONFIG0.RES0.INSTANCE0.STOP;BOOL;
7 3;VAR;CONFIG0.RES0.INSTANCE0.DELAY;CONFIG0.RES0.INSTANCE0.DELAY;TIME;
8 4;VAR;CONFIG0.RES0.INSTANCE0.RUNNING;CONFIG0.RES0.INSTANCE0.RUNNING;BOOL;
9 5;FB;CONFIG0.RES0.INSTANCE0.RS0;CONFIG0.RES0.INSTANCE0.RS0;RS;
10 6;VAR;CONFIG0.RES0.INSTANCE0.RS0.EN;CONFIG0.RES0.INSTANCE0.RS0.EN;BOOL;
11 7;VAR;CONFIG0.RES0.INSTANCE0.RS0.ENO;CONFIG0.RES0.INSTANCE0.RS0.ENO;BOOL;
12 8;VAR;CONFIG0.RES0.INSTANCE0.RS0.S;CONFIG0.RES0.INSTANCE0.RS0.S;BOOL;
13 9;VAR;CONFIG0.RES0.INSTANCE0.RS0.R1;CONFIG0.RES0.INSTANCE0.RS0.R1;BOOL;
14 10;VAR;CONFIG0.RES0.INSTANCE0.RS0.Q1;CONFIG0.RES0.INSTANCE0.RS0.Q1;BOOL;
15 11;FB;CONFIG0.RES0.INSTANCE0.TON0;CONFIG0.RES0.INSTANCE0.TON0;TON;
16 12;VAR;CONFIG0.RES0.INSTANCE0.TON0.EN;CONFIG0.RES0.INSTANCE0.TON0.EN;BOOL;
17 13;VAR;CONFIG0.RES0.INSTANCE0.TON0.ENO;CONFIG0.RES0.INSTANCE0.TON0.ENO;BOOL;
18 14;VAR;CONFIG0.RES0.INSTANCE0.TON0.IN;CONFIG0.RES0.INSTANCE0.TON0.IN;BOOL;
19 15;VAR;CONFIG0.RES0.INSTANCE0.TON0.PT;CONFIG0.RES0.INSTANCE0.TON0.PT;TIME;
20 16;VAR;CONFIG0.RES0.INSTANCE0.TON0.Q;CONFIG0.RES0.INSTANCE0.TON0.Q;BOOL;
21 17;VAR;CONFIG0.RES0.INSTANCE0.TON0.ET;CONFIG0.RES0.INSTANCE0.TON0.ET;TIME;
22 18;VAR;CONFIG0.RES0.INSTANCE0.TON0.STATE;CONFIG0.RES0.INSTANCE0.TON0.STATE;SINT;
23 19;VAR;CONFIG0.RES0.INSTANCE0.TON0.PREV_IN;CONFIG0.RES0.INSTANCE0.TON0.PREV_IN;BOOL;
24 20;VAR;CONFIG0.RES0.INSTANCE0.TON0.CURRENT_TIME;CONFIG0.RES0.INSTANCE0.TON0.CURRENT_TIME;TIME;
25 21;VAR;CONFIG0.RES0.INSTANCE0.TON0.START_TIME;CONFIG0.RES0.INSTANCE0.TON0.START_TIME;TIME;
26 // Ticktime
27 20000000

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motor/build/beremiz.h Normal file
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#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

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motor/build/generated_plc.st Normal file
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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

1
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533fc3297d0bbb235fea6b21736971d0

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motor/build/plc.st Normal file
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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

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motor/build/plc_debugger.c Normal file
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/*
* 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 <string.h>
#include <stdio.h>
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

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/**
* Head of code common to all C targets
**/
#include "beremiz.h"
#include <string.h>
/*
* 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 <stdio.h>
#include <sys/timeb.h>
#include <time.h>
#include <windows.h>
#include <locale.h>
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 <surkov.sv@summatechnology.ru>
Copyright (C) 2018: Andrey Skvortsov <andrej.skvortzov@gmail.com>
*/
#ifndef HAVE_RETAIN
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#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<LOG_LEVELS;level++){
LogCursor[level] = 0;
}
}
/* Store one log message of give size */
int LogMessage(uint8_t level, char* buf, uint32_t size){
if(size < LOG_BUFFER_SIZE - sizeof(mTail)){
uint32_t buffpos;
uint64_t new_cursor, old_cursor;
mTail tail;
tail.msgsize = size;
tail.tick = __tick;
PLC_GetTime(&tail.time);
/* We cannot increment both msg index and string pointer
in a single atomic operation but we can detect having been interrupted.
So we can try with atomic compare and swap in a loop until operation
succeeds non interrupted */
do{
old_cursor = LogCursor[level];
buffpos = (uint32_t)old_cursor;
tail.msgidx = (old_cursor >> 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

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motor/plc.xml Normal file
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<?xml version='1.0' encoding='utf-8'?>
<project xmlns="http://www.plcopen.org/xml/tc6_0201" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:ns1="http://www.plcopen.org/xml/tc6_0201">
<fileHeader companyName="Unknown" productName="Unnamed" productVersion="1" creationDateTime="2025-11-14T09:46:22"/>
<contentHeader name="Unnamed" modificationDateTime="2025-11-14T10:16:40">
<coordinateInfo>
<fbd>
<scaling x="10" y="10"/>
</fbd>
<ld>
<scaling x="10" y="10"/>
</ld>
<sfc>
<scaling x="10" y="10"/>
</sfc>
</coordinateInfo>
</contentHeader>
<types>
<dataTypes/>
<pous>
<pou name="motor" pouType="program">
<interface>
<localVars>
<variable name="START">
<type>
<BOOL/>
</type>
</variable>
<variable name="STOP">
<type>
<BOOL/>
</type>
</variable>
<variable name="DELAY">
<type>
<TIME/>
</type>
<initialValue>
<simpleValue value="T#100ms"/>
</initialValue>
</variable>
<variable name="RUNNING">
<type>
<BOOL/>
</type>
</variable>
<variable name="RS0">
<type>
<derived name="RS"/>
</type>
</variable>
<variable name="TON0">
<type>
<derived name="TON"/>
</type>
</variable>
</localVars>
</interface>
<body>
<LD>
<leftPowerRail localId="1" width="10" height="140">
<position x="180" y="100"/>
<connectionPointOut formalParameter="">
<relPosition x="10" y="20"/>
</connectionPointOut>
<connectionPointOut formalParameter="">
<relPosition x="10" y="120"/>
</connectionPointOut>
</leftPowerRail>
<contact localId="2" negated="false" width="21" height="20">
<position x="250" y="110"/>
<connectionPointIn>
<relPosition x="0" y="10"/>
<connection refLocalId="1">
<position x="250" y="120"/>
<position x="190" y="120"/>
</connection>
</connectionPointIn>
<connectionPointOut>
<relPosition x="21" y="10"/>
</connectionPointOut>
<variable>START</variable>
</contact>
<block localId="4" typeName="RS" instanceName="RS0" width="50" height="60">
<position x="390" y="90"/>
<inputVariables>
<variable formalParameter="S">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="8" formalParameter="Q">
<position x="390" y="120"/>
<position x="350" y="120"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="R1">
<connectionPointIn>
<relPosition x="0" y="50"/>
<connection refLocalId="5">
<position x="390" y="140"/>
<position x="370" y="140"/>
<position x="370" y="210"/>
<position x="271" y="210"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Q1">
<connectionPointOut>
<relPosition x="50" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<contact localId="5" negated="false" width="21" height="20">
<position x="250" y="200"/>
<connectionPointIn>
<relPosition x="0" y="10"/>
<connection refLocalId="1">
<position x="250" y="210"/>
<position x="220" y="210"/>
<position x="220" y="220"/>
<position x="190" y="220"/>
</connection>
</connectionPointIn>
<connectionPointOut>
<relPosition x="21" y="10"/>
</connectionPointOut>
<variable>STOP</variable>
</contact>
<coil localId="6" negated="false" width="21" height="20">
<position x="470" y="110"/>
<connectionPointIn>
<relPosition x="0" y="10"/>
<connection refLocalId="4" formalParameter="Q1">
<position x="470" y="120"/>
<position x="440" y="120"/>
</connection>
</connectionPointIn>
<connectionPointOut>
<relPosition x="21" y="10"/>
</connectionPointOut>
<variable>RUNNING</variable>
</coil>
<rightPowerRail localId="7" width="10" height="80">
<position x="540" y="100"/>
<connectionPointIn>
<relPosition x="0" y="20"/>
<connection refLocalId="6">
<position x="540" y="120"/>
<position x="490" y="120"/>
</connection>
</connectionPointIn>
<connectionPointIn>
<relPosition x="0" y="60"/>
</connectionPointIn>
</rightPowerRail>
<block localId="8" typeName="TON" instanceName="TON0" width="50" height="70">
<position x="300" y="90"/>
<inputVariables>
<variable formalParameter="IN">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="2">
<position x="300" y="120"/>
<position x="271" y="120"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="PT">
<connectionPointIn>
<relPosition x="0" y="60"/>
<connection refLocalId="9">
<position x="300" y="150"/>
<position x="280" y="150"/>
<position x="280" y="160"/>
<position x="260" y="160"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Q">
<connectionPointOut>
<relPosition x="50" y="30"/>
</connectionPointOut>
</variable>
<variable formalParameter="ET">
<connectionPointOut>
<relPosition x="50" y="60"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="9" width="60" height="30" negated="false">
<position x="200" y="140"/>
<connectionPointOut>
<relPosition x="60" y="20"/>
</connectionPointOut>
<expression>DELAY</expression>
</inVariable>
</LD>
</body>
</pou>
</pous>
</types>
<instances>
<configurations>
<configuration name="Config0">
<resource name="Res0">
<task name="task0" priority="0" interval="T#20ms">
<pouInstance name="instance0" typeName="motor"/>
</task>
</resource>
</configuration>
</configurations>
</instances>
</project>