--- a/ProjectController.py Fri Mar 15 00:38:53 2013 +0100
+++ b/ProjectController.py Fri Mar 15 17:47:53 2013 +0900
@@ -777,7 +777,7 @@
- def Generate_plc_common_main(self):+ def Generate_plc_main(self): Use confnodes layout given in LocationCFilesAndCFLAGS to
generate glue code that dispatch calls to all confnodes
@@ -789,7 +789,7 @@
# Generate main, based on template
if not self.BeremizRoot.getDisable_Extensions():
- plc_main_code = targets.GetCode("plc_common_main") % {+ plc_main_code = targets.GetCode("plc_main_head") % { "calls_prototypes":"\n".join([(
"int __init_%(s)s(int argc,char **argv);\n"+
"void __cleanup_%(s)s(void);\n"+
@@ -809,7 +809,7 @@
"__cleanup_%s();"%locstrs[i-1] for i in xrange(len(locstrs), 0, -1)])
- plc_main_code = targets.GetCode("plc_common_main") % {+ plc_main_code = targets.GetCode("plc_main_head") % { @@ -817,6 +817,7 @@
plc_main_code += targets.GetTargetCode(self.GetTarget().getcontent()["name"])
+ plc_main_code += targets.GetCode("plc_main_tail") @@ -897,7 +898,7 @@
(self.Generate_plc_debugger, "plc_debugger.c", "Debugger"),
# init/cleanup/retrieve/publish, run and align code
- (self.Generate_plc_common_main,"plc_common_main.c","Common runtime")]:+ (self.Generate_plc_main,"plc_main.c","Common runtime")]: --- a/targets/Linux/plc_Linux_main.c Fri Mar 15 00:38:53 2013 +0100
+++ b/targets/Linux/plc_Linux_main.c Fri Mar 15 17:47:53 2013 +0900
@@ -11,7 +11,6 @@
-extern unsigned long long common_ticktime__; long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
@@ -97,8 +96,6 @@
setlocale(LC_NUMERIC, "C");
- /* Define Ttick to 1ms if common_ticktime not defined */- Ttick = common_ticktime__?common_ticktime__:1000000;--- a/targets/Win32/plc_Win32_main.c Fri Mar 15 00:38:53 2013 +0100
+++ b/targets/Win32/plc_Win32_main.c Fri Mar 15 17:47:53 2013 +0900
@@ -8,8 +8,6 @@
-/* provided by POUS.C */-extern unsigned long long common_ticktime__; long AtomicCompareExchange(long* atomicvar, long compared, long exchange)
@@ -77,8 +75,6 @@
unsigned long thread_id = 0;
setlocale(LC_NUMERIC, "C");
- /* Define Ttick to 1ms if common_ticktime not defined */- Ttick = common_ticktime__?common_ticktime__:1000000; InitializeCriticalSection(&Atomic64CS);
--- a/targets/Xenomai/plc_Xenomai_main.c Fri Mar 15 00:38:53 2013 +0100
+++ b/targets/Xenomai/plc_Xenomai_main.c Fri Mar 15 17:47:53 2013 +0900
@@ -38,8 +38,6 @@
#define PYTHON_PIPE_MINOR 3
-/* provided by POUS.C */-extern unsigned long common_ticktime__; long AtomicCompareExchange(long* atomicvar,long compared, long exchange)
@@ -170,9 +168,6 @@
/* no memory swapping for that process */
mlockall(MCL_CURRENT | MCL_FUTURE);
- /* Define Ttick to 1ms if common_ticktime not defined */- Ttick = common_ticktime__?common_ticktime__:1000000; /*** RT Pipes creation and opening ***/
--- a/targets/plc_common_main.c Fri Mar 15 00:38:53 2013 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,173 +0,0 @@
- * Code common to all C targets- * 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-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;-unsigned long __tick = 0;- * 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- if (greatest_tick_count__)- __tick %%= greatest_tick_count__;- /*__retrieve_debug();*/- * Initialize variables according to PLC's default values,- * and then init plugins with that values-int __init(int argc,char **argv)- * Calls plugin cleanup proc.-void PLC_GetTime(IEC_TIME *CURRENT_TIME);-void PLC_SetTimer(unsigned long long next, unsigned long long period);-#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 unsigned long last_tick = 0;-static long long Ttick = 0;- * 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)- calibration_count = NOT_CALIBRATED;- if(calibration_count == NOT_CALIBRATED)- /* Calibration start, get time*/- PLC_GetTime(&cal_begin);- }else{ /* do alignment (if possible) */- if(calibration_count >= 0){- /* End of calibration */- /*adjust 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 */- 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) */- long long PeriodicTcorr;- elapsed = (now.tv_sec - __CURRENT_TIME.tv_sec) * 1000000000 + now.tv_nsec - __CURRENT_TIME.tv_nsec;- PhaseCorr = elapsed - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */- Tcorr = Ttick + (PhaseCorr + FreqCorr) / Nticks;- /* When Sync source period is near Tick time */- /* PhaseCorr may not be applied to Periodic time given to timer */- PeriodicTcorr = Ttick + FreqCorr / Nticks;- }else if(__tick > last_tick){- PhaseCorr = elapsed - (Tsync*sync_align_ratio/100);- PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr;- /*PLC did not run meanwhile. Nothing to do*/- PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr);- * Prototypes for function provided by arch-specific code (main)- * is concatained hereafter--- a/targets/plc_debug.c Fri Mar 15 00:38:53 2013 +0100
+++ b/targets/plc_debug.c Fri Mar 15 17:47:53 2013 +0900
@@ -304,128 +304,3 @@
-#define LOG_BUFFER_SIZE (1<<14) /*16Ko*/-#define LOG_BUFFER_MASK (LOG_BUFFER_SIZE-1)-static char LogBuff[LOG_LEVELS][LOG_BUFFER_SIZE];-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);- uint32_t remaining = LOG_BUFFER_SIZE - buffpos - 1; - memcpy(&LogBuff[level][buffpos], buf, remaining);- memcpy(LogBuff[level], buf + remaining, size - remaining);-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);- uint32_t remaining = LOG_BUFFER_SIZE - buffpos; - memcpy(buf, &LogBuff[level][buffpos], remaining);- memcpy(buf + remaining, LogBuff[level], size - remaining);- |<-Tail1.msgsize->|<-sizeof(mTail)->|<--Tail2.msgsize-->|<-sizeof(mTail)->|...- | Message1 Body | Tail1 | Message2 Body | Tail2 |-static uint64_t LogCursor[LOG_LEVELS] = {0x0,0x0,0x0,0x0};-/* Store one log message of give size */-int LogMessage(uint8_t level, uint8_t* buf, uint32_t size){- if(size < LOG_BUFFER_SIZE - sizeof(mTail)){- uint64_t new_cursor, old_cursor;- 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 */- 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)new_cursor)!=old_cursor);- copy_to_log(level, buffpos, buf, size);- copy_to_log(level, (buffpos + size) & LOG_BUFFER_MASK, &tail, sizeof(mTail));- return 1; /* Success */- uint8_t mstr[] = "Logging error : message too big";- LogMessage(LOG_CRITICAL, mstr, sizeof(mstr));-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];- uint32_t stailpos = (uint32_t)cursor; - tail.msgidx = cursor >> 32;- /* Message search loop */- 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;- *tv_sec = tail.time.tv_sec; - *tv_nsec = tail.time.tv_nsec; - copy_from_log(level, sbuffpos, buf, - totalsize > max_size ? max_size : totalsize);--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/plc_main_head.c Fri Mar 15 17:47:53 2013 +0900
@@ -0,0 +1,96 @@
+ * Head of code common to all C targets + * 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 +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; +unsigned long __tick = 0; + * Variable generated by C softPLC and plugins +extern unsigned long greatest_tick_count__; +/* Tick time provided by POUS.C */ +extern unsigned long long common_ticktime__; +/* Effective tick time with 1ms default value */ +static long long Ttick = 1000000; +/* 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 + if (greatest_tick_count__) + __tick %%= greatest_tick_count__; + /*__retrieve_debug();*/ + * Initialize variables according to PLC's default values, + * and then init plugins with that values +int __init(int argc,char **argv) + Ttick = common_ticktime__; + * Calls plugin cleanup proc. +void PLC_GetTime(IEC_TIME *CURRENT_TIME); +void PLC_SetTimer(unsigned long long next, unsigned long long period); --- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/plc_main_tail.c Fri Mar 15 17:47:53 2013 +0900
@@ -0,0 +1,220 @@
+ * Tail of code common to all C targets +#define LOG_BUFFER_SIZE (1<<14) /*16Ko*/ +#ifndef LOG_BUFFER_ATTRS +#define LOG_BUFFER_ATTRS +#define LOG_BUFFER_MASK (LOG_BUFFER_SIZE-1) +static char LogBuff[LOG_LEVELS][LOG_BUFFER_SIZE] LOG_BUFFER_ATTRS; +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); + uint32_t remaining = LOG_BUFFER_SIZE - buffpos - 1; + memcpy(&LogBuff[level][buffpos], buf, remaining); + memcpy(LogBuff[level], buf + remaining, size - remaining); +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); + uint32_t remaining = LOG_BUFFER_SIZE - buffpos; + memcpy(buf, &LogBuff[level][buffpos], remaining); + memcpy(buf + remaining, LogBuff[level], size - remaining); + |<-Tail1.msgsize->|<-sizeof(mTail)->|<--Tail2.msgsize-->|<-sizeof(mTail)->|... + | Message1 Body | Tail1 | Message2 Body | Tail2 | +static uint64_t LogCursor[LOG_LEVELS] = {0x0,0x0,0x0,0x0}; +/* Store one log message of give size */ +int LogMessage(uint8_t level, uint8_t* buf, uint32_t size){ + if(size < LOG_BUFFER_SIZE - sizeof(mTail)){ + uint64_t new_cursor, old_cursor; + 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 */ + 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)new_cursor)!=old_cursor); + copy_to_log(level, buffpos, buf, size); + copy_to_log(level, (buffpos + size) & LOG_BUFFER_MASK, &tail, sizeof(mTail)); + return 1; /* Success */ + uint8_t mstr[] = "Logging error : message too big"; + LogMessage(LOG_CRITICAL, mstr, sizeof(mstr)); +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]; + uint32_t stailpos = (uint32_t)cursor; + tail.msgidx = cursor >> 32; + /* Message search loop */ + 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; + *tv_sec = tail.time.tv_sec; + *tv_nsec = tail.time.tv_nsec; + copy_from_log(level, sbuffpos, buf, + totalsize > max_size ? max_size : totalsize); +#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 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 : 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) + calibration_count = NOT_CALIBRATED; + if(calibration_count == NOT_CALIBRATED) + /* Calibration start, get time*/ + PLC_GetTime(&cal_begin); + }else{ /* do alignment (if possible) */ + if(calibration_count >= 0){ + /* End of calibration */ + /*adjust 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 % Ttick); /* to be divided by Nticks */ + FreqCorr = Tsync - (Ttick % 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) */ + long long PeriodicTcorr; + elapsed = (now.tv_sec - __CURRENT_TIME.tv_sec) * 1000000000 + now.tv_nsec - __CURRENT_TIME.tv_nsec; + PhaseCorr = elapsed - (Ttick + FreqCorr/Nticks)*sync_align_ratio/100; /* to be divided by Nticks */ + Tcorr = Ttick + (PhaseCorr + FreqCorr) / Nticks; + /* When Sync source period is near Tick time */ + /* PhaseCorr may not be applied to Periodic time given to timer */ + PeriodicTcorr = Ttick + FreqCorr / Nticks; + }else if(__tick > last_tick){ + PhaseCorr = elapsed - (Tsync*sync_align_ratio/100); + PeriodicTcorr = Tcorr = Ttick + PhaseCorr + FreqCorr; + /*PLC did not run meanwhile. Nothing to do*/ + PLC_SetTimer(Tcorr - elapsed, PeriodicTcorr); 