Compare commits
4 Commits
S7PLCFW_1_
...
S7PLCFW_1_
| Author | SHA1 | Date | |
|---|---|---|---|
| a5ed2fd234 | |||
| f9b9b5192f | |||
| 4f4d43032d | |||
| 382c7d4184 |
110
devS7plcFW.c
110
devS7plcFW.c
@ -1,8 +1,8 @@
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/* $Author: anicic $ */
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/* $Date: 2010/09/22 13:44:37 $ */
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/* $Id: devS7plcFW.c,v 1.1 2010/09/22 13:44:37 anicic Exp $ */
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/* $Date: 2012/03/06 10:53:08 $ */
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/* $Id: devS7plcFW.c,v 1.2 2012/03/06 10:53:08 anicic Exp $ */
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/* $Name: $ */
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/* $Revision: 1.1 $ */
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/* $Revision: 1.2 $ */
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#include <stdlib.h>
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#include <ctype.h>
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@ -46,10 +46,20 @@
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#endif
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/* suppress compiler warning concerning long long with __extension__ */
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#ifndef __GNUC__
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#if (!defined __GNUC__) || (__GNUC__ < 2) || (__GNUC__ == 2 && __GNUC_MINOR__ < 8)
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#define __extension__
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#endif
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#ifndef epicsUInt64
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#if (LONG_MAX > 2147483647L)
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#define epicsUInt64 unsigned long
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#define CONV64 "%016lx"
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#else
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#define epicsUInt64 unsigned long long
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#define CONV64 "%016llx"
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#endif
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#endif
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#define S7MEM_TIME 100
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typedef struct { /* Private structure to save IO arguments */
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@ -63,7 +73,7 @@ typedef struct { /* Private structure to save IO arguments */
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} S7memPrivate_t;
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static char cvsid_devS7plcFW[] =
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"$Id: devS7plcFW.c,v 1.1 2010/09/22 13:44:37 anicic Exp $";
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"$Id: devS7plcFW.c,v 1.2 2012/03/06 10:53:08 anicic Exp $";
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STATIC long s7plcFWReport();
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@ -1686,8 +1696,8 @@ STATIC long s7plcFWReadAi(aiRecord *record)
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epicsUInt16 uval16;
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epicsInt32 sval32;
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epicsUInt32 uval32;
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epicsFloat32 val32;
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epicsFloat64 val64;
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union {epicsFloat32 f; epicsUInt32 i; } val32;
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__extension__ union {epicsFloat64 f; epicsUInt64 i; } val64;
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if (!priv)
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{
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@ -1744,15 +1754,15 @@ STATIC long s7plcFWReadAi(aiRecord *record)
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status = s7plcFWRead(priv->station, priv->offs,
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4, &val32);
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s7plcFWDebugLog(3, "ai %s: read 32bit %04x = %g\n",
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record->name, *(unsigned int*) &val32, val32);
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val64 = val32;
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record->name, val32.i, val32.f);
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val64.f = val32.f;
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floatval = TRUE;
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break;
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case epicsFloat64T:
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status = s7plcFWRead(priv->station, priv->offs,
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8, &val64);
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__extension__ s7plcFWDebugLog(3, "ai %s: read 64bit %08Lx = %g\n",
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record->name, *(long long*) &val64, val64);
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record->name, val64.i, val64.f);
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floatval = TRUE;
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break;
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default:
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@ -1777,14 +1787,14 @@ STATIC long s7plcFWReadAi(aiRecord *record)
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if (floatval)
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{
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/* emulate scaling */
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if (record->aslo != 0.0) val64 *= record->aslo;
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val64 += record->aoff;
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if (record->aslo != 0.0) val64.f *= record->aslo;
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val64.f += record->aoff;
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if (record->udf)
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record->val = val64;
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record->val = val64.f;
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else
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/* emulate smoothing */
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record->val = record->val * record->smoo +
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val64 * (1.0 - record->smoo);
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val64.f * (1.0 - record->smoo);
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record->udf = FALSE;
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return 2;
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}
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@ -1858,8 +1868,8 @@ STATIC long s7plcFWWriteAo(aoRecord *record)
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epicsUInt8 rval8;
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epicsUInt16 rval16;
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epicsUInt32 rval32;
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epicsFloat32 val32;
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epicsFloat64 val64;
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union {epicsFloat32 f; epicsUInt32 i; } val32;
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__extension__ union {epicsFloat64 f; epicsUInt64 i; } val64;
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if (!priv)
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{
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@ -1926,21 +1936,21 @@ STATIC long s7plcFWWriteAo(aoRecord *record)
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break;
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case epicsFloat32T:
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/* emulate scaling */
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val32 = record->oval - record->aoff;
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if (record->aslo != 0) val32 /= record->aslo;
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val32.f = record->oval - record->aoff;
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if (record->aslo != 0) val32.f /= record->aslo;
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s7plcFWDebugLog(2, "ao %s: write 32bit %08x\n",
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record->name, *(epicsInt32*)&val32);
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s7plcFWDebugLog(2, "ao %s: write 32bit %08x = %g\n",
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record->name, val32.i, val32.f);
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status = s7plcFWWrite(priv->station, priv->offs,
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4, &val32);
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break;
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case epicsFloat64T:
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/* emulate scaling */
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val64 = record->oval - record->aoff;
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if (record->aslo != 0) val64 /= record->aslo;
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val64.f = record->oval - record->aoff;
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if (record->aslo != 0) val64.f /= record->aslo;
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__extension__ s7plcFWDebugLog(2, "ao %s: write 64bit %016Lx\n",
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record->name, *(long long*)&val64);
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__extension__ s7plcFWDebugLog(2, "ao %s: write 64bit " CONV64 " = %g\n",
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record->name, val64.i, val64.f);
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status = s7plcFWWrite(priv->station, priv->offs,
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8, &val64);
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break;
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@ -2413,8 +2423,8 @@ STATIC long s7plcFWWriteCalcout(calcoutRecord *record)
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epicsInt8 sval8;
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epicsInt16 sval16;
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epicsInt32 sval32;
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epicsFloat32 val32;
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epicsFloat64 val64;
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union {epicsFloat32 f; epicsUInt32 i; } val32;
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__extension__ union {epicsFloat64 f; epicsUInt64 i; } val64;
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if (!priv)
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{
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@ -2424,73 +2434,73 @@ STATIC long s7plcFWWriteCalcout(calcoutRecord *record)
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return -1;
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}
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assert(priv->station);
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val64 = record->oval;
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val64.f = record->oval;
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switch (priv->dtype)
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{
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case epicsInt8T:
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sval8 = val64;
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if (val64 > priv->hwHigh) sval8 = priv->hwHigh;
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if (val64 < priv->hwLow) sval8 = priv->hwLow;
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sval8 = val64.f;
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if (val64.f > priv->hwHigh) sval8 = priv->hwHigh;
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if (val64.f < priv->hwLow) sval8 = priv->hwLow;
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s7plcFWDebugLog(2, "calcout %s: write 8bit %02x\n",
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record->name, sval8 & 0xff);
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status = s7plcFWWrite(priv->station, priv->offs,
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1, &sval8);
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break;
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case epicsUInt8T:
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uval8 = val64;
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if (val64 > priv->hwHigh) uval8 = priv->hwHigh;
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if (val64 < priv->hwLow) uval8 = priv->hwLow;
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uval8 = val64.f;
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if (val64.f > priv->hwHigh) uval8 = priv->hwHigh;
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if (val64.f < priv->hwLow) uval8 = priv->hwLow;
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s7plcFWDebugLog(2, "calcout %s: write 8bit %02x\n",
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record->name, uval8 & 0xff);
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status = s7plcFWWrite(priv->station, priv->offs,
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1, &uval8);
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break;
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case epicsInt16T:
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sval16 = val64;
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if (val64 > priv->hwHigh) sval16 = priv->hwHigh;
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if (val64 < priv->hwLow) sval16 = priv->hwLow;
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sval16 = val64.f;
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if (val64.f > priv->hwHigh) sval16 = priv->hwHigh;
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if (val64.f < priv->hwLow) sval16 = priv->hwLow;
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s7plcFWDebugLog(2, "calcout %s: write 16bit %04x\n",
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record->name, sval16 & 0xffff);
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status = s7plcFWWrite(priv->station, priv->offs,
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2, &sval16);
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break;
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case epicsUInt16T:
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uval16 = val64;
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if (val64 > priv->hwHigh) uval16 = priv->hwHigh;
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if (val64 < priv->hwLow) uval16 = priv->hwLow;
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uval16 = val64.f;
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if (val64.f > priv->hwHigh) uval16 = priv->hwHigh;
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if (val64.f < priv->hwLow) uval16 = priv->hwLow;
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s7plcFWDebugLog(2, "calcout %s: write 16bit %04x\n",
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record->name, uval16 & 0xffff);
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status = s7plcFWWrite(priv->station, priv->offs,
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2, &uval16);
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break;
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case epicsInt32T:
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sval32 = val64;
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if (val64 > priv->hwHigh) sval32 = priv->hwHigh;
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if (val64 < priv->hwLow) sval32 = priv->hwLow;
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sval32 = val64.f;
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if (val64.f > priv->hwHigh) sval32 = priv->hwHigh;
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if (val64.f < priv->hwLow) sval32 = priv->hwLow;
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s7plcFWDebugLog(2, "calcout %s: write 32bit %08x\n",
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record->name, sval32);
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status = s7plcFWWrite(priv->station, priv->offs,
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4, &sval32);
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break;
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case epicsUInt32T:
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uval32 = val64;
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if (val64 > priv->hwHigh) uval32 = priv->hwHigh;
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if (val64 < priv->hwLow) uval32 = priv->hwLow;
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uval32 = val64.f;
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if (val64.f > priv->hwHigh) uval32 = priv->hwHigh;
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if (val64.f < priv->hwLow) uval32 = priv->hwLow;
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s7plcFWDebugLog(2, "calcout %s: write 32bit %08x\n",
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record->name, uval32);
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status = s7plcFWWrite(priv->station, priv->offs,
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4, &uval32);
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break;
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case epicsFloat32T:
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val32 = val64;
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s7plcFWDebugLog(2, "calcout %s: write 32bit %08x\n",
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record->name, *(epicsInt32*)&val32);
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val32.f = val64.f;
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s7plcFWDebugLog(2, "calcout %s: write 32bit %08x = %g\n",
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record->name, val32.i, val32.f);
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status = s7plcFWWrite(priv->station, priv->offs,
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4, &val32);
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break;
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case epicsFloat64T:
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__extension__ s7plcFWDebugLog(2, "calcout %s: write 64bit %016Lx\n",
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record->name, *(long long*)&val64);
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__extension__ s7plcFWDebugLog(2, "calcout %s: write 64bit " CONV64 " = %g\n",
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record->name, val64.i, val64.f);
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status = s7plcFWWrite(priv->station, priv->offs,
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8, &val64);
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break;
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53
drvS7plcFW.c
53
drvS7plcFW.c
@ -1,7 +1,7 @@
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/* $Date: 2010/09/22 13:44:37 $ */
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/* $Id: drvS7plcFW.c,v 1.1 2010/09/22 13:44:37 anicic Exp $ */
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/* $Date: 2012/12/05 08:49:08 $ */
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/* $Id: drvS7plcFW.c,v 1.4 2012/12/05 08:49:08 anicic Exp $ */
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/* $Name: $ */
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/* $Revision: 1.1 $ */
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/* $Revision: 1.4 $ */
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/*
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* NOTE: s7plcFWwriteThread -is not used for writting (we write direct),
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@ -19,14 +19,20 @@
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#ifdef __vxworks
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#if defined(vxWorks) || defined(__vxworks)
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#include <sockLib.h>
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#include <taskLib.h>
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#include <selectLib.h>
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#include <taskHookLib.h>
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#define in_addr_t unsigned long
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#else
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#include <fcntl.h>
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#endif
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#ifdef __rtems__
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#include <sys/select.h>
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#endif
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#include <drvSup.h>
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#include <devLib.h>
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#include <epicsVersion.h>
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@ -57,12 +63,13 @@
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#include <endian.h>
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#endif
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#define STACK_SIZE 20000 /* io thread stack size */
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/* #define STACK_SIZE 20000 */ /* io thread stack size */
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#define STACK_SIZE epicsThreadGetStackSize(epicsThreadStackBig)
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#define CONNECT_TIMEOUT 5.0 /* connect timeout [s] */
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#define RECONNECT_DELAY 10.0 /* delay before reconnect [s] */
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static char cvsid[] __attribute__((unused)) =
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"$Id: drvS7plcFW.c,v 1.1 2010/09/22 13:44:37 anicic Exp $";
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"$Id: drvS7plcFW.c,v 1.4 2012/12/05 08:49:08 anicic Exp $";
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STATIC long s7plcFWIoReport(int level);
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STATIC long s7plcFWInit();
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@ -180,9 +187,9 @@ STATIC long s7plcFWIoReport(int level)
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"ioc:motorola <-> plc:intel" : "no (both motorola)"
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#endif
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);
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printf(" receive timeout %g sec\n", station->recvTimeout);
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printf(" receive delay %g sec\n", station->recvDelay);
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printf(" outIOint delay %g sec\n", station->outIOintDelay);
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printf(" receive timeout %d ms\n", (int)(station->recvTimeout * 1000.0));
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printf(" receive delay %d ms\n", (int)(station->recvDelay * 1000.0));
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printf(" outIOint delay %d ms\n", (int)(station->outIOintDelay * 1000.0));
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}
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}
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return 0;
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@ -446,8 +453,8 @@ STATIC void s7plcFWMain ()
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}
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s7plcFWDebugLog(1, "s7plcFWMain %s: Connect to %s:%d on fetch socket %d\n", station->name, station->serverIP, station->fetchPort, station->fetchSocket);
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if (s7plcFWEstablishConnection(station, FOR_FETCH) < 0) {
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s7plcFWDebugLog(1, "s7plcFWMain %s: connect(%d, %s:%d) failed for fetch: %s. Retry in %g seconds\n",
|
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station->name, station->fetchSocket, station->serverIP, station->fetchPort, strerror(errno), (double)RECONNECT_DELAY);
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s7plcFWDebugLog(1, "s7plcFWMain %s: connect(%d, %s:%d) failed for fetch: %s. Retry in %d ms\n",
|
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station->name, station->fetchSocket, station->serverIP, station->fetchPort, strerror(errno), (int)(RECONNECT_DELAY * 1000.0));
|
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if (close(station->fetchSocket) && errno != ENOTCONN) {
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s7plcFWDebugLog(1, "s7plcFWMain %s: close(%d) failed for fetch (ignored): %s\n", station->name, station->fetchSocket, strerror(errno));
|
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}
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@ -470,8 +477,8 @@ STATIC void s7plcFWMain ()
|
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}
|
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s7plcFWDebugLog(1, "s7plcFWMain %s: Connect to %s:%d on write socket %d\n", station->name, station->serverIP, station->writePort, station->writeSocket);
|
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if (s7plcFWEstablishConnection(station, FOR_WRITE) < 0) {
|
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s7plcFWDebugLog(1, "s7plcFWMain %s: connect(%d, %s:%d) failed for write: %s. Retry in %g seconds\n",
|
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station->name, station->writeSocket, station->serverIP, station->writePort, strerror(errno), (double)RECONNECT_DELAY);
|
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s7plcFWDebugLog(1, "s7plcFWMain %s: connect(%d, %s:%d) failed for write: %s. Retry in %d ms\n",
|
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station->name, station->writeSocket, station->serverIP, station->writePort, strerror(errno), (int)(RECONNECT_DELAY * 1000.0));
|
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if (close(station->writeSocket) && errno != ENOTCONN) {
|
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s7plcFWDebugLog(1, "s7plcFWMain %s: close(%d) failed for write (ignored): %s\n", station->name, station->writeSocket, strerror(errno));
|
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}
|
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@ -623,7 +630,7 @@ STATIC int s7plcFWdoFetch(s7plcFWStation *station, int org, int db, int offs, in
|
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req[0xd] = s7len % 0x100;
|
||||
|
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epicsMutexMustLock(station->fetchIo);
|
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status = write(station->fetchSocket, req, 16);
|
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status = write(station->fetchSocket, (void *) req, 16);
|
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epicsMutexUnlock(station->fetchIo);
|
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if (status != 16) {
|
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s7plcFWDebugLog(3, "s7plcFWdoFetch: write 16 byte header failed, returned status = %d, errno = %d\n", status, errno);
|
||||
@ -637,7 +644,7 @@ STATIC int s7plcFWdoFetch(s7plcFWStation *station, int org, int db, int offs, in
|
||||
}
|
||||
|
||||
epicsMutexMustLock(station->fetchIo);
|
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status = read(station->fetchSocket, ack, 16);
|
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status = read(station->fetchSocket, (void *) ack, 16);
|
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epicsMutexUnlock(station->fetchIo);
|
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if(status < 16) {
|
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s7plcFWDebugLog(3, "s7plcFWdoFetch: Got too few bytes (%d) ACK from PLC!\n", status);
|
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@ -653,7 +660,7 @@ STATIC int s7plcFWdoFetch(s7plcFWStation *station, int org, int db, int offs, in
|
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input = 0;
|
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while (input < size) {
|
||||
|
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s7plcFWDebugLog(3, "s7plcFWdoFetch: %s: waiting for input for %g seconds\n", station->name, station->recvTimeout);
|
||||
s7plcFWDebugLog(3, "s7plcFWdoFetch: %s: waiting for input for %d ms\n", station->name, (int)(station->recvTimeout * 1000.0));
|
||||
status = s7plcFWWaitForInput(station, FOR_FETCH, station->recvTimeout);
|
||||
if (status <= 0) {
|
||||
s7plcFWDebugLog(0, "s7plcFWdoFetch: %s: s7plcFWWaitForInput(%d, ..., %d, 0) failed\n", station->name, station->fetchSocket, size - input);
|
||||
@ -701,7 +708,7 @@ STATIC int s7plcFWdoWrite(s7plcFWStation *station, char *data, int offs, int len
|
||||
req[0xd] = s7len % 0x100;
|
||||
|
||||
epicsMutexMustLock(station->writeIo);
|
||||
status = write(station->writeSocket, req, 16);
|
||||
status = write(station->writeSocket, (void *) req, 16);
|
||||
dstatus = write(station->writeSocket, data, len);
|
||||
epicsMutexUnlock(station->writeIo);
|
||||
|
||||
@ -724,7 +731,7 @@ STATIC int s7plcFWdoWrite(s7plcFWStation *station, char *data, int offs, int len
|
||||
}
|
||||
|
||||
epicsMutexMustLock(station->writeIo);
|
||||
if((status = read(station->writeSocket, ack, 16)) < 16) {
|
||||
if((status = read(station->writeSocket, (void *) ack, 16)) < 16) {
|
||||
s7plcFWDebugLog(3, "Got too few bytes (%d) ACK from PLC!\n", status);
|
||||
/* printf("AD84: s7plcFWdoWrite: read too few bytes (%d) ACK from PLC!\n", status); */
|
||||
epicsMutexUnlock(station->writeIo);
|
||||
@ -905,12 +912,12 @@ STATIC int s7plcFWWaitForInput(s7plcFWStation* station, int which, double timeou
|
||||
errno = 0;
|
||||
while ((iSelect=select(socket+1, &socklist, 0, 0, &to)) < 0) {
|
||||
if (errno != EINTR) {
|
||||
s7plcFWDebugLog(0, "s7plcFWWaitForInput %s: select(%d, %f sec) failed: %s\n", station->name, socket, timeout, strerror(errno));
|
||||
s7plcFWDebugLog(0, "s7plcFWWaitForInput %s: select(%d, %d ms) failed: %s\n", station->name, socket, (int)(timeout * 1000.0), strerror(errno));
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
if (iSelect==0 && timeout > 0) { /* timed out */
|
||||
s7plcFWDebugLog(0, "s7plcFWWaitForInput %s: select(%d, %f sec) timed out\n", station->name, socket, timeout);
|
||||
s7plcFWDebugLog(0, "s7plcFWWaitForInput %s: select(%d, %d ms) timed out\n", station->name, socket, (int)(timeout * 1000.0));
|
||||
errno = ETIMEDOUT;
|
||||
}
|
||||
return iSelect;
|
||||
@ -949,7 +956,7 @@ STATIC int s7plcFWEstablishConnection(s7plcFWStation* station, int which)
|
||||
to.tv_usec=(int)(CONNECT_TIMEOUT-to.tv_sec)*1000000;
|
||||
#ifdef __vxworks
|
||||
if (connectWithTimeout(socket, (struct sockaddr *) &serverAddr, sizeof (serverAddr), &to) < 0) {
|
||||
s7plcFWDebugLog(0, "s7plcFWEstablishConnection %s: connectWithTimeout(%d,...,%g sec) failed: %s\n", station->name, socket, CONNECT_TIMEOUT, strerror(errno));
|
||||
s7plcFWDebugLog(0, "s7plcFWEstablishConnection %s: connectWithTimeout(%d,...,%d ms) failed: %s\n", station->name, socket, (int)(CONNECT_TIMEOUT * 1000.0), strerror(errno));
|
||||
return -1;
|
||||
}
|
||||
#else
|
||||
@ -975,12 +982,12 @@ STATIC int s7plcFWEstablishConnection(s7plcFWStation* station, int which)
|
||||
/* wait for connection */
|
||||
while ((status = select(socket+1, NULL, &fdset, NULL, &to)) < 0) {
|
||||
if (errno != EINTR) {
|
||||
s7plcFWDebugLog(0, "s7plcFWEstablishConnection %s: select(%d, %f sec) failed: %s\n", station->name, socket, CONNECT_TIMEOUT, strerror(errno));
|
||||
s7plcFWDebugLog(0, "s7plcFWEstablishConnection %s: select(%d, %d ms) failed: %s\n", station->name, socket, (int)(CONNECT_TIMEOUT * 1000.0), strerror(errno));
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
if (status == 0) {
|
||||
s7plcFWDebugLog(0, "s7plcFWEstablishConnection %s: select(%d, %f sec) timed out\n", station->name, socket, CONNECT_TIMEOUT);
|
||||
s7plcFWDebugLog(0, "s7plcFWEstablishConnection %s: select(%d, %d ms) timed out\n", station->name, socket, (int)(CONNECT_TIMEOUT * 1000.0));
|
||||
errno = ETIMEDOUT;
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -54,6 +54,7 @@ Besides the
|
||||
<li>new communication protocol (FETCH/WRITE)</li>
|
||||
<li>the modified <code>s7plcFWConfigure</code> function</li>
|
||||
<li>additional support for write-connection-status (see <a href="#stat"> <code>"s7plcFW stat2"</code> </a>)</li>
|
||||
<li>when using bi and bo bits 0-7 and 8-15 are swapped (i.e. for bit 3 use 3+8=11, or for bit 13 use 13-8=5)</li>
|
||||
</ol>
|
||||
there should be no other differences.
|
||||
<br><br>
|
||||
|
||||
Reference in New Issue
Block a user