beremiz

Make online debug optional

2019-01-06, Andrey Skvortsov
eba2bbb2dd9a
Make online debug optional

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


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

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

TARGET_LOGGING_DISABLE - disables logging functionality from runtime and PLC program

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

By default all these options are off.

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

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

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

extern void __run(void);
int main(void)
{
for(;;) {
__run();
// sleep common_ticktime__ ns
// add common_ticktime__ ns to __CURRENT_TIME
}
return 0;
}
[------------------------------------------------]
/*
Template C code used to produce target Ethercat C CIA402 code
Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
Distributed under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
See COPYING file for copyrights details.
*/
#include "ecrt.h"
#include "beremiz.h"
#include "iec_types_all.h"
#include "accessor.h"
#include "POUS.h"
/* From CiA402, page 27
Table 30 - State coding
Statusword | PDS FSA state
xxxx xxxx x0xx 0000 | Not ready to switch on
xxxx xxxx x1xx 0000 | Switch on disabled
xxxx xxxx x01x 0001 | Ready to switch on
xxxx xxxx x01x 0011 | Switched on
xxxx xxxx x01x 0111 | Operation enabled
xxxx xxxx x00x 0111 | Quick stop active
xxxx xxxx x0xx 1111 | Fault reaction active
xxxx xxxx x0xx 1000 | Fault
*/
#define FSAFromStatusWord(SW) (SW & 0x006f)
#define NotReadyToSwitchOn 0b00000000 FSA_sep 0b00100000
#define SwitchOnDisabled 0b01000000 FSA_sep 0b01100000
#define ReadyToSwitchOn 0b00100001
#define SwitchedOn 0b00100011
#define OperationEnabled 0b00100111
#define QuickStopActive 0b00000111
#define FaultReactionActive 0b00001111 FSA_sep 0b00101111
#define Fault 0b00001000 FSA_sep 0b00101000
// SatusWord bits :
#define SW_ReadyToSwitchOn 0x0001
#define SW_SwitchedOn 0x0002
#define SW_OperationEnabled 0x0004
#define SW_Fault 0x0008
#define SW_VoltageEnabled 0x0010
#define SW_QuickStop 0x0020
#define SW_SwitchOnDisabled 0x0040
#define SW_Warning 0x0080
#define SW_Remote 0x0200
#define SW_TargetReached 0x0400
#define SW_InternalLimitActive 0x0800
// ControlWord bits :
#define SwitchOn 0x0001
#define EnableVoltage 0x0002
#define QuickStop 0x0004
#define EnableOperation 0x0008
#define FaultReset 0x0080
#define Halt 0x0100
IEC_INT beremiz__IW%(location_str)s = %(slave_pos)s;
IEC_INT *__IW%(location_str)s = &beremiz__IW%(location_str)s;
IEC_INT beremiz__IW%(location_str)s_402;
IEC_INT *__IW%(location_str)s_402 = &beremiz__IW%(location_str)s_402;
%(MCL_headers)s
static IEC_BOOL __FirstTick = 1;
typedef struct {
%(entry_variables)s
axis_s* axis;
} __CIA402Node;
#define AxsPub __CIA402Node_%(location_str)s
static __CIA402Node AxsPub;
%(extern_located_variables_declaration)s
%(fieldbus_interface_declaration)s
int __init_%(location_str)s()
{
__FirstTick = 1;
%(init_entry_variables)s
*(AxsPub.ModesOfOperation) = 0x08;
return 0;
}
void __cleanup_%(location_str)s()
{
}
void __retrieve_%(location_str)s()
{
if (__FirstTick) {
*__IW%(location_str)s_402 = __MK_Alloc_AXIS_REF();
AxsPub.axis =
__MK_GetPublic_AXIS_REF(*__IW%(location_str)s_402);
AxsPub.axis->NetworkPosition = beremiz__IW%(location_str)s;
%(init_axis_params)s
%(fieldbus_interface_definition)s
__FirstTick = 0;
}
// Default variables retrieve
AxsPub.axis->CommunicationReady =
*(AxsPub.StatusWord) != 0;
#define FSA_sep || FSA ==
{
uint16_t FSA = FSAFromStatusWord(*(AxsPub.StatusWord));
AxsPub.axis->ReadyForPowerOn = FSA == ReadyToSwitchOn;
AxsPub.axis->PowerFeedback = FSA == OperationEnabled;
}
#undef FSA_sep
AxsPub.axis->ActualRawPosition = *(AxsPub.ActualPosition);
AxsPub.axis->ActualRawVelocity = *(AxsPub.ActualVelocity);
AxsPub.axis->ActualRawTorque = *(AxsPub.ActualTorque);
// Extra variables retrieve
%(extra_variables_retrieve)s
}
void __publish_%(location_str)s()
{
IEC_BOOL power =
((*(AxsPub.StatusWord) & SW_VoltageEnabled) != 0)
&& AxsPub.axis->Power;
uint16_t CW = *(AxsPub.ControlWord);
#define FSA_sep : case
// CIA402 node state transition computation
switch (FSAFromStatusWord(*(AxsPub.StatusWord))) {
case SwitchOnDisabled :
CW &= ~(SwitchOn | FaultReset);
CW |= EnableVoltage | QuickStop;
break;
case ReadyToSwitchOn :
case OperationEnabled :
if (!power) {
CW &= ~(FaultReset | EnableOperation);
CW |= SwitchOn | EnableVoltage | QuickStop;
break;
}
case SwitchedOn :
if (power) {
CW &= ~(FaultReset);
CW |= SwitchOn | EnableVoltage | QuickStop | EnableOperation;
}
break;
case Fault :
/* TODO reset fault only when MC_Reset */
CW &= ~(SwitchOn | EnableVoltage | QuickStop | EnableOperation);
CW |= FaultReset;
break;
default:
break;
}
#undef FSA_sep
*(AxsPub.ControlWord) = CW;
// CIA402 node modes of operation computation according to axis motion mode
switch (AxsPub.axis->AxisMotionMode) {
case mc_mode_cst:
*(AxsPub.ModesOfOperation) = 0x0a;
break;
case mc_mode_csv:
*(AxsPub.ModesOfOperation) = 0x09;
break;
default:
*(AxsPub.ModesOfOperation) = 0x08;
break;
}
// Default variables publish
*(AxsPub.TargetPosition) =
AxsPub.axis->RawPositionSetPoint;
*(AxsPub.TargetVelocity) =
AxsPub.axis->RawVelocitySetPoint;
*(AxsPub.TargetTorque) =
AxsPub.axis->RawTorqueSetPoint;
// Extra variables publish
%(extra_variables_publish)s
}