/*

* Prototypes for function provided by arch-specific code (main)

* concatained after this template

** /

/*

* Functions and variables provied by generated C softPLC

**/

extern int common_ticktime__;

/*

* Functions and variables provied by plc.c

**/

void run(long int tv_sec, long int tv_nsec);

#define maxval(a,b) ((a>b)?a:b)

#include "iec_types.h"

/*#include "stdio.h" /* For debug */

/*

* Functions and variables provied by generated C softPLC

**/

void config_run__(int tick);

void config_init__(void);

void __init_debug(void);

void __cleanup_debug(void);

/*

* Functions and variables to export to generated C softPLC and plugins

**/

IEC_TIME __CURRENT_TIME;

IEC_BOOL __DEBUG;

int __tick = -1;

static int init_level = 0;

/*

* Prototypes of functions exported by plugins

**/

%(calls_prototypes)s

/*

* Retrieve input variables, run PLC and publish output variables

**/

void __run()

{

__tick++;

%(retrieve_calls)s

/*__retrieve_debug();*/

config_run__(__tick);

__publish_debug();

%(publish_calls)s

}

/*

* Initialize variables according to PLC's defalut values,

* and then init plugins with that values

**/

int __init(int argc,char **argv)

{

int res;

config_init__();

__init_debug();

%(init_calls)s

return 0;

}

/*

* Calls plugin cleanup proc.

**/

void __cleanup()

{

%(cleanup_calls)s

__cleanup_debug();

}

void PLC_GetTime(IEC_TIME *CURRENT_TIME);

void PLC_SetTimer(long long next, long long period);

#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 int last_tick = 0;

static long long Ttick = 0;

#define mod %%

/*

* Call this on each 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 / Ttick)) > 0){

FreqCorr = (Tsync mod Ttick); /* to be divided by Nticks */

}else{

FreqCorr = Tsync - (Ttick mod 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 - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */

Tcorr = Ttick + (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 = Ttick + FreqCorr / Nticks;

}else{

PeriodicTcorr = Tcorr;

}

}else if(__tick > last_tick){

last_tick = __tick;

PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);

PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr;

}else{

/*PLC did not run meanwhile. Nothing to do*/

return;

}

/* DO ALIGNEMENT */

PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);

}

}

}