beremiz

Adding support for setting TargetPosition only if PositionSetPoint value from MCL is valid

2012-02-23, laurent
7c31fab22c74
Parents 1d113faf4433
Children d54036f70390
Adding support for setting TargetPosition only if PositionSetPoint value from MCL is valid
2 files changed, 16 insertions(+), 7 deletions(-)
  • +6 -1
    etherlab/plc_ds402node.c
  • +10 -6
    etherlab/plc_etherlab.c
    • --- a/etherlab/plc_ds402node.c Thu Feb 23 15:48:19 2012 +0100
    +++ b/etherlab/plc_ds402node.c Thu Feb 23 23:34:40 2012 +0100
    @@ -131,5 +131,10 @@
    break;
    }
    - *(__DS402Node_%(location)s.TargetPosition) = (IEC_DINT)(__DS402Node_%(location)s.axis->PositionSetPoint * __DS402Node_%(location)s.axis->RatioNumerator / __DS402Node_%(location)s.axis->RatioDenominator);
    + if (__DS402Node_%(location)s.axis->CSP && *(__DS402Node_%(location)s.ModesOfOperationDisplay) == 0x08) {
    + *(__DS402Node_%(location)s.TargetPosition) = (IEC_DINT)(__DS402Node_%(location)s.axis->PositionSetPoint * __DS402Node_%(location)s.axis->RatioNumerator / __DS402Node_%(location)s.axis->RatioDenominator);
    + }
    + else {
    + *(__DS402Node_%(location)s.TargetPosition) = *(__DS402Node_%(location)s.ActualPosition);
    + }
    }
    --- a/etherlab/plc_etherlab.c Thu Feb 23 15:48:19 2012 +0100
    +++ b/etherlab/plc_etherlab.c Thu Feb 23 23:34:40 2012 +0100
    @@ -16,6 +16,8 @@
    #include "iec_std_lib.h"
    #endif
    +extern unsigned long long common_ticktime__;
    +
    // declaration of interface variables
    %(located_variables_declaration)s
    @@ -70,6 +72,8 @@
    return -1;
    }
    + ecrt_master_set_send_interval(master, common_ticktime__);
    +
    %(slaves_initialization)s
    sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);
    @@ -111,16 +115,16 @@
    void __retrieve_%(location)s(void)
    {
    + // send process data
    + ecrt_rtdm_domain_queque(rt_fd);
    + ecrt_rtdm_master_send(rt_fd);
    +
    + rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
    +
    // receive ethercat
    ecrt_rtdm_master_recieve(rt_fd);
    ecrt_rtdm_domain_process(rt_fd);
    - rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
    -
    - // send process data
    - ecrt_rtdm_domain_queque(rt_fd);
    - ecrt_rtdm_master_send(rt_fd);
    -
    %(retrieve_variables)s
    }