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Commit 677a962d authored by claes's avatar claes
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New io design

parent 8219a622
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Inline Side-by-side
Showing with 724 additions and 105 deletions
src/lib/rt/src/os_linux/rt_io_m_pb_dp_slave.c
View file @ 677a962d
......@@ -25,6 +25,7 @@
#include "rt_errh.h"
#include "co_cdh.h"
#include "rt_io_profiboard.h"
#include "rt_pb_msg.h"
/*----------------------------------------------------------------------------*\
......@@ -47,8 +48,10 @@ static pwr_tStatus IoRackInit (
pwr_sClass_Pb_Ao *aop;
pwr_sClass_Pb_Ii *iip;
pwr_sClass_Pb_Io *iop;
pwr_sClass_Pb_Module *mp;
char name[196];
pwr_tStatus sts;
pwr_tCid cid;
sts = gdh_ObjidToName(rp->Objid, (char *) &name, sizeof(name), cdh_mNName);
errh_Info( "Init of Profibus DP Slave and modules %s", name);
......@@ -68,7 +71,10 @@ static pwr_tStatus IoRackInit (
local_card->input_area = (void *) &(op->Inputs);
local_card->output_area = (void *) &(op->Outputs);
switch (cardp->Class) {
cid = cardp->Class;
while ( ODD( gdh_GetSuperClass( cid, &cid, cardp->Objid))) ;
switch (cid) {
case pwr_cClass_Pb_Di:
dip = (pwr_sClass_Pb_Di *) cardp->op;
......@@ -117,6 +123,14 @@ static pwr_tStatus IoRackInit (
output_counter += iop->BytesOfOutput;
iop->Status = PB_MODULE_STATE_OPERATE;
break;
case pwr_cClass_Pb_Module:
mp = (pwr_sClass_Pb_Module *) cardp->op;
// iop->OffsetOutputs = output_counter;
// iop->BytesOfOutput = iop->NumberOfChannels * iop->BytesPerChannel;
// output_counter += iop->BytesOfOutput;
mp->Status = PB__SUCCESS;
break;
}
op->NumberModules++;
......
src/lib/rt/src/os_linux/rt_io_m_pb_module.c
View file @ 677a962d
/* rt_io_m_pb_ai.c
/* rt_io_m_pb_module.c
PROVIEW/R */
#pragma pack(1)
......@@ -23,9 +23,90 @@
#include "rt_io_msg.h"
#include "rt_errh.h"
#include "rt_io_profiboard.h"
#include "rt_pb_msg.h"
pwr_tInt32 GetChanSize(pwr_eDataRepEnum rep)
{
switch (rep) {
case pwr_eDataRepEnum_Int64:
case pwr_eDataRepEnum_UInt64:
case pwr_eDataRepEnum_Float64:
return 8;
break;
case pwr_eDataRepEnum_Int32:
case pwr_eDataRepEnum_UInt32:
case pwr_eDataRepEnum_Float32:
return 4;
break;
case pwr_eDataRepEnum_Int16:
case pwr_eDataRepEnum_UInt16:
return 2;
break;
default:
return 1;
break;
}
}
/*----------------------------------------------------------------------------*\
Convert ai from raw float value to signal value and actual value
\*----------------------------------------------------------------------------*/
void PbConvertAi ( io_tCtx ctx,
pwr_tFloat32 f_raw,
pwr_sClass_ChanAi *chan_ai,
pwr_sClass_Ai *sig_ai,
io_sChannel *chanp)
{
pwr_tFloat32 sigvalue;
pwr_tFloat32 actvalue;
pwr_tFloat32 *polycoef_p;
int i;
sigvalue = chan_ai->SigValPolyCoef0 + chan_ai->SigValPolyCoef1 * f_raw;
switch (chan_ai->SensorPolyType)
{
case 0:
actvalue = sigvalue;
break;
case 1:
actvalue = chan_ai->SensorPolyCoef0 + chan_ai->SensorPolyCoef1 * f_raw;
break;
case 2:
polycoef_p = &chan_ai->SensorPolyCoef2;
actvalue = 0;
for ( i = 0; i < 3; i++)
{
actvalue = sigvalue * actvalue + *polycoef_p;
polycoef_p--;
}
break;
case 3:
actvalue = chan_ai->SensorPolyCoef0 + chan_ai->SensorPolyCoef1 * sigvalue;
if ( actvalue >= 0)
actvalue = chan_ai->SensorPolyCoef2 * sqrt(actvalue);
else
actvalue = 0;
break;
case 4:
actvalue = chan_ai->SensorPolyCoef0 + chan_ai->SensorPolyCoef1 * sigvalue;
if ( actvalue >= 0)
actvalue = chan_ai->SensorPolyCoef2 * sqrt(actvalue);
else
actvalue = -chan_ai->SensorPolyCoef2 * sqrt(-actvalue);
break;
}
if (sig_ai->FilterType == 1 && sig_ai->FilterAttribute[0] > 0 && sig_ai->FilterAttribute[0] > ctx->ScanTime) {
actvalue = *(sig_ai->ActualValue) + ctx->ScanTime / sig_ai->FilterAttribute[0] * (actvalue - *(sig_ai->ActualValue));
}
sig_ai->SigValue = sigvalue;
*(pwr_tFloat32 *) chanp->vbp = actvalue;
return;
}
/*----------------------------------------------------------------------------*\
Init method for the Pb module
\*----------------------------------------------------------------------------*/
......@@ -36,7 +117,106 @@ static pwr_tStatus IoCardInit (
io_sCard *cp
)
{
io_sCardLocal *local;
pwr_sClass_Pb_Module *op;
int i, input_count, output_count, chan_size, bit_pos;
io_sChannel *chanp;
pwr_sClass_ChanDi *chan_di;
pwr_sClass_ChanAi *chan_ai;
pwr_sClass_ChanAit *chan_ait;
pwr_sClass_ChanIi *chan_ii;
pwr_sClass_ChanDo *chan_do;
pwr_sClass_ChanAo *chan_ao;
pwr_sClass_ChanIo *chan_io;
op = (pwr_sClass_Pb_Module *) cp->op;
local = (io_sCardLocal *) cp->Local;
if (op->Status == PB__SUCCESS) {
input_count = 0;
output_count = 0;
bit_pos = 0;
for (i=0; i<cp->ChanListSize; i++) {
chanp = &cp->chanlist[i];
switch (chanp->ChanClass) {
/*
case pwr_cClass_ChanDi:
printf("Di channel found in %s\n", cp->Name);
chan_di = (pwr_sClass_ChanDi *) chanp->cop;
chanp->offset = byte_count;
chan_size = GetChanSize(chan_di->Representation);
chanp->mask = 1<<bit_pos;
bit_pos++;
if (bit_pos >= 8) {
byte_count++;
bit_pos = 0;
}
break;
*/
case pwr_cClass_ChanAi:
// printf("Ai channel found in %s\n", cp->Name);
chan_ai = (pwr_sClass_ChanAi *) chanp->cop;
chanp->offset = input_count;
chan_size = GetChanSize(chan_ai->Representation);
chanp->size = chan_size;
chanp->mask = 0;
input_count += chan_size;
io_AiRangeToCoef(chanp);
break;
case pwr_cClass_ChanAit:
// printf("Ait channel found in %s\n", cp->Name);
chan_ait = (pwr_sClass_ChanAit *) chanp->cop;
chanp->offset = input_count;
chan_size = GetChanSize(chan_ait->Representation);
chanp->size = chan_size;
chanp->mask = 0;
input_count += chan_size;
io_AiRangeToCoef(chanp);
break;
case pwr_cClass_ChanIi:
// printf("Ii channel found in %s\n", cp->Name);
chan_ii = (pwr_sClass_ChanIi *) chanp->cop;
chanp->offset = input_count;
chan_size = GetChanSize(chan_ii->Representation);
chanp->size = chan_size;
chanp->mask = 0;
input_count += chan_size;
break;
case pwr_cClass_ChanAo:
// printf("Ao channel found in %s\n", cp->Name);
chan_ao = (pwr_sClass_ChanAo *) chanp->cop;
chanp->offset = output_count;
chan_size = GetChanSize(chan_ao->Representation);
chanp->size = chan_size;
chanp->mask = 0;
output_count += chan_size;
io_AoRangeToCoef(chanp);
break;
case pwr_cClass_ChanIo:
// printf("Io channel found in %s\n", cp->Name);
chan_io = (pwr_sClass_ChanIo *) chanp->cop;
chanp->offset = output_count;
chan_size = GetChanSize(chan_io->Representation);
chanp->size = chan_size;
chanp->mask = 0;
output_count += chan_size;
break;
}
}
for (i=0; i<IO_MAXCHAN; i++) {
local->scancount[i] = 0;
}
}
else {
errh_Info( "Error initializing Pb module %s", cp->Name );
op->Status = PB__INITFAIL;
}
printf("Method Pb_Module-IoCardInit\n");
printf("Module size: input %d, output %d\n", input_count, output_count);
return IO__SUCCESS;
}
......@@ -51,7 +231,158 @@ static pwr_tStatus IoCardRead (
io_sCard *cp
)
{
printf("Method Pb_Module-IoCardRead\n");
io_sCardLocal *local;
pwr_sClass_Pb_Module *op;
io_sChannel *chanp;
// pwr_sClass_ChanDi *chan_di;
pwr_sClass_ChanAi *chan_ai;
pwr_sClass_Ai *sig_ai;
// pwr_sClass_ChanAit *chan_ait;
pwr_sClass_ChanIi *chan_ii;
pwr_sClass_Ii *sig_ii;
pwr_sClass_Pb_DP_Slave *slave;
pwr_tUInt8 udata8 = 0;
pwr_tUInt16 udata16 = 0;
pwr_tUInt32 udata32 = 0;
pwr_tInt8 data8 = 0;
pwr_tInt16 data16 = 0;
pwr_tInt32 data32 = 0;
pwr_tFloat32 f_raw = 0.0;
int i;
op = (pwr_sClass_Pb_Module *) cp->op;
local = (io_sCardLocal *) cp->Local;
slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
if (slave->Status == PB_SLAVE_STATE_NOTINIT) {
op->Status = PB__INITFAIL;
}
else if (slave->Status == PB_SLAVE_STATE_STOPPED) {
op->Status = PB__NOCONN;
}
else if (slave->Status == PB_SLAVE_STATE_OPERATE) {
op->Status = PB__NORMAL;
}
if (slave->DisableSlave == 1) {
op->Status = PB__DISABLED;
}
else {
for (i=0; i<cp->ChanListSize; i++) {
chanp = &cp->chanlist[i];
switch (chanp->ChanClass) {
case pwr_cClass_ChanDi:
break;
// Channel type is Ai (analog input)
case pwr_cClass_ChanAi:
chan_ai = (pwr_sClass_ChanAi *) chanp->cop;
sig_ai = (pwr_sClass_Ai *) chanp->sop;
if (chan_ai && sig_ai && chan_ai->ConversionOn) {
if (chan_ai->CalculateNewCoef) io_AiRangeToCoef(chanp);
switch (chan_ai->Representation) {
case pwr_eDataRepEnum_Int8:
memcpy(&data8, local->input_area + cp->offset + chanp->offset, 1);
f_raw = (float) data8;
break;
case pwr_eDataRepEnum_UInt8:
memcpy(&udata8, local->input_area + cp->offset + chanp->offset, 1);
f_raw = (float) udata8;
break;
case pwr_eDataRepEnum_Int16:
memcpy(&data16, local->input_area + cp->offset + chanp->offset, 2);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data16 = swap16(data16);
f_raw = (float) data16;
break;
case pwr_eDataRepEnum_UInt16:
memcpy(&udata16, local->input_area + cp->offset + chanp->offset, 2);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data16 = swap16(udata16);
f_raw = (float) udata16;
break;
case pwr_eDataRepEnum_Int32:
memcpy(&data32, local->input_area + cp->offset + chanp->offset, 4);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data32 = swap32(data32);
f_raw = (float) data32;
break;
case pwr_eDataRepEnum_UInt32:
memcpy(&udata32, local->input_area + cp->offset + chanp->offset, 4);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) udata32 = swap32(udata32);
f_raw = (float) udata32;
break;
}
sig_ai->RawValue = 0;
PbConvertAi(ctx, f_raw, chan_ai, sig_ai, chanp);
}
break;
// Channel type is Ait (analog input with table conversion)
case pwr_cClass_ChanAit:
break;
// Channel type is Ii (integer input)
case pwr_cClass_ChanIi:
chan_ii = (pwr_sClass_ChanIi *) chanp->cop;
sig_ii = (pwr_sClass_Ii *) chanp->sop;
if (chan_ii && sig_ii /* && chan_ii->ConversionOn */) {
switch (chan_ii->Representation) {
case pwr_eDataRepEnum_Int8:
memcpy(&data8, local->input_area + cp->offset + chanp->offset, 1);
*(pwr_tInt32 *) chanp->vbp = (pwr_tInt32) data8;
break;
case pwr_eDataRepEnum_UInt8:
memcpy(&udata8, local->input_area + cp->offset + chanp->offset, 1);
*(pwr_tInt32 *) chanp->vbp = (pwr_tInt32) udata8;
break;
case pwr_eDataRepEnum_Int16:
memcpy(&data16, local->input_area + cp->offset + chanp->offset, 2);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data16 = swap16(data16);
*(pwr_tInt32 *) chanp->vbp = (pwr_tInt32) data16;
break;
case pwr_eDataRepEnum_UInt16:
memcpy(&udata16, local->input_area + cp->offset + chanp->offset, 2);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) udata16 = swap16(udata16);
*(pwr_tInt32 *) chanp->vbp = (pwr_tInt32) udata16;
break;
case pwr_eDataRepEnum_Int32:
memcpy(&data32, local->input_area + cp->offset + chanp->offset, 4);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data32 = swap32(data32);
*(pwr_tInt32 *) chanp->vbp = data32;
break;
case pwr_eDataRepEnum_UInt32:
memcpy(&udata32, local->input_area + cp->offset + chanp->offset, 4);
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) udata32 = swap32(udata32);
*(pwr_tInt32 *) chanp->vbp = (pwr_tInt32) udata32;
break;
}
}
break;
}
}
}
// printf("Method Pb_Module-IoCardRead\n");
return IO__SUCCESS;
}
......@@ -66,7 +397,184 @@ static pwr_tStatus IoCardWrite (
io_sCard *cp
)
{
printf("Method Pb_Module-IoCardWrite\n");
io_sCardLocal *local;
pwr_sClass_Pb_Module *op;
io_sChannel *chanp;
// pwr_sClass_ChanDo *chan_do;
// pwr_sClass_Do *sig_do;
pwr_sClass_ChanAo *chan_ao;
pwr_sClass_Ao *sig_ao;
pwr_sClass_ChanIo *chan_io;
pwr_sClass_Io *sig_io;
pwr_sClass_Pb_DP_Slave *slave;
pwr_tUInt8 udata8 = 0;
pwr_tUInt16 udata16 = 0;
pwr_tUInt32 udata32 = 0;
pwr_tInt8 data8 = 0;
pwr_tInt16 data16 = 0;
pwr_tInt32 data32 = 0;
pwr_tFloat32 value, rawvalue;
int fixout;
int i;
op = (pwr_sClass_Pb_Module *) cp->op;
local = (io_sCardLocal *) cp->Local;
slave = (pwr_sClass_Pb_DP_Slave *) rp->op;
if (slave->Status == PB_SLAVE_STATE_NOTINIT) {
op->Status = PB__INITFAIL;
}
else if (slave->Status == PB_SLAVE_STATE_STOPPED) {
op->Status = PB__NOCONN;
}
else if (slave->Status == PB_SLAVE_STATE_OPERATE) {
op->Status = PB__NORMAL;
}
if (slave->DisableSlave == 1) {
op->Status = PB__DISABLED;
}
else {
fixout = ctx->Node->EmergBreakTrue && ctx->Node->EmergBreakSelect == FIXOUT;
for (i=0; i<cp->ChanListSize; i++) {
chanp = &cp->chanlist[i];
switch (chanp->ChanClass) {
case pwr_cClass_ChanDo:
break;
// Channel type is Ao (analog output)
case pwr_cClass_ChanAo:
chan_ao = (pwr_sClass_ChanAo *) chanp->cop;
sig_ao = (pwr_sClass_Ao *) chanp->sop;
if (chan_ao && sig_ao) {
if (fixout)
value = chan_ao->FixedOutValue;
else if (chan_ao->TestOn)
value = chan_ao->TestValue;
else
value = *(pwr_tFloat32 *) chanp->vbp;
if (chan_ao->CalculateNewCoef) io_AoRangeToCoef(chanp);
if (value > chan_ao->ActValRangeHigh)
value = chan_ao->ActValRangeHigh;
else if ( value < chan_ao->ActValRangeLow)
value = chan_ao->ActValRangeLow;
rawvalue = chan_ao->OutPolyCoef1 * value + chan_ao->OutPolyCoef0;
if ( rawvalue > 0)
rawvalue = rawvalue + 0.5;
else
rawvalue = rawvalue - 0.5;
sig_ao->RawValue = 0;
sig_ao->SigValue = chan_ao->SigValPolyCoef1 * value + chan_ao->SigValPolyCoef0;
switch (chan_ao->Representation) {
case pwr_eDataRepEnum_Int8:
data8 = (pwr_tInt8) rawvalue;
memcpy(local->output_area + cp->offset + chanp->offset, &data8, 1);
break;
case pwr_eDataRepEnum_UInt8:
udata8 = (pwr_tUInt8) rawvalue;
memcpy(local->output_area + cp->offset + chanp->offset, &udata8, 1);
break;
case pwr_eDataRepEnum_Int16:
data16 = (pwr_tInt16) rawvalue;
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data16 = swap16(data16);
memcpy(local->output_area + cp->offset + chanp->offset, &data16, 2);
break;
case pwr_eDataRepEnum_UInt16:
udata16 = (pwr_tUInt16) rawvalue;
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) udata16 = swap16(udata16);
memcpy(local->output_area + cp->offset + chanp->offset, &udata16, 2);
break;
case pwr_eDataRepEnum_Int32:
data32 = (pwr_tInt32) rawvalue;
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data32 = swap32(data32);
memcpy(local->output_area + cp->offset + chanp->offset, &data32, 4);
break;
case pwr_eDataRepEnum_UInt32:
udata32 = (pwr_tUInt32) rawvalue;
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) udata32 = swap32(udata32);
memcpy(local->output_area + cp->offset + chanp->offset, &udata32, 4);
break;
}
}
break;
// Channel type is Io (integer output)
case pwr_cClass_ChanIo:
chan_io = (pwr_sClass_ChanIo *) chanp->cop;
sig_io = (pwr_sClass_Io *) chanp->sop;
if (chan_io && sig_io) {
if (fixout)
data32 = (pwr_tInt32) chan_io->FixedOutValue;
else if (chan_io->TestOn)
data32 = (pwr_tInt32) chan_io->TestValue;
else
data32 = *(pwr_tInt32 *) chanp->vbp;
switch (chan_io->Representation) {
case pwr_eDataRepEnum_Int8:
data8 = (pwr_tInt8) data32;
memcpy(local->output_area + cp->offset + chanp->offset, &data8, 1);
break;
case pwr_eDataRepEnum_UInt8:
udata8 = (pwr_tUInt8) data32;
memcpy(local->output_area + cp->offset + chanp->offset, &udata8, 1);
break;
case pwr_eDataRepEnum_Int16:
data16 = (pwr_tInt16) data32;
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data16 = swap16(data16);
memcpy(local->output_area + cp->offset + chanp->offset, &data16, 2);
break;
case pwr_eDataRepEnum_UInt16:
udata16 = (pwr_tUInt16) data32;
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) udata16 = swap16(udata16);
memcpy(local->output_area + cp->offset + chanp->offset, &udata16, 2);
break;
case pwr_eDataRepEnum_Int32:
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) data32 = swap32(data32);
memcpy(local->output_area + cp->offset + chanp->offset, &data32, 4);
break;
case pwr_eDataRepEnum_UInt32:
udata32 = (pwr_tUInt32) data32;
if (slave->ByteOrdering == pwr_eByteOrdering_BigEndian) udata32 = swap32(udata32);
memcpy(local->output_area + cp->offset + chanp->offset, &udata32, 4);
break;
}
}
break;
}
}
}
// printf("Method Pb_Module-IoCardWrite\n");
return IO__SUCCESS;
}
......@@ -81,6 +589,11 @@ static pwr_tStatus IoCardClose (
io_sCard *cp
)
{
io_sCardLocal *local;
local = cp->Local;
free ((char *) local);
printf("Method Pb_Module-IoCardClose\n");
return IO__SUCCESS;
}
......
src/lib/rt/src/os_linux/rt_io_m_ssab_aiup.c
View file @ 677a962d
......@@ -113,7 +113,8 @@ static pwr_tStatus IoCardInit (
chanp = cp->chanlist;
for ( i = 0; i < cp->ChanListSize; i++)
{
AiRangeToCoef( chanp);
if ( chanp->sop)
AiRangeToCoef( chanp);
chanp++;
}
......@@ -168,7 +169,7 @@ static pwr_tStatus IoCardRead (
chanp = &cp->chanlist[0];
for ( i = 0; i < cp->ChanListSize; i++)
{
if ( !chanp->cop)
if ( !chanp->cop || !chanp->sop)
{
chanp++;
continue;
......
src/lib/rt/src/os_linux/rt_io_m_ssab_aoup.c
View file @ 677a962d
......@@ -125,7 +125,8 @@ static pwr_tStatus IoCardInit (
chanp = cp->chanlist;
for ( i = 0; i < cp->ChanListSize; i++)
{
AoRangeToCoef( chanp);
if ( chanp->sop)
AoRangeToCoef( chanp);
chanp++;
}
......@@ -186,7 +187,7 @@ static pwr_tStatus IoCardWrite (
chanp = &cp->chanlist[0];
for ( i = 0; i < cp->ChanListSize; i++)
{
if ( !chanp->cop)
if ( !chanp->cop || !chanp->sop)
{
chanp++;
continue;
......
src/lib/rt/src/os_linux/rt_io_m_ssab_co.c
View file @ 677a962d
......@@ -78,7 +78,7 @@ static pwr_tStatus IoCardInit (
/* Configure card */
for ( i = 0; i < op->MaxNoOfCounters; i++)
{
if ( !cp->chanlist[i].cop)
if ( !cp->chanlist[i].cop || !cp->chanlist[i].sop)
continue;
wr_data_p = (pwr_tUInt32 *) &wr_data;
......@@ -182,7 +182,7 @@ static pwr_tStatus IoCardRead (
for ( i = 0; i < op->MaxNoOfCounters; i++)
{
if ( !cp->chanlist[i].cop)
if ( !cp->chanlist[i].cop || !cp->chanlist[i].sop)
continue;
if ( op->ConvMask & (1 << i))
......
src/lib/rt/src/os_linux/rt_io_pb_locals.h
View file @ 677a962d
#define IO_MAXCHAN 32
#define IO_MAXCHAN 96
#define PB_MODULE_STATE_NOTINIT 0
#define PB_MODULE_STATE_OPERATE 1
......
src/lib/rt/src/rt_io_base.c
View file @ 677a962d
......@@ -121,10 +121,13 @@ static pwr_tStatus io_replace_symbol( pwr_sAttrRef *chan, pwr_sAttrRef *sig)
pwr_tStatus sts;
pwr_sAttrRef connect;
pwr_tCid cid;
char *s;
sts = gdh_ObjidToName( sig->Objid, name, sizeof(name),
sts = gdh_AttrrefToName( sig, name, sizeof(name),
cdh_mName_volumeStrict);
if ( EVEN(sts)) return sts;
if ( (s = strrchr( name, '.')))
*s = 0;
strcat( name, ".IoConnect");
sts = gdh_GetObjectInfo( name, &connect, sizeof(connect));
if ( EVEN(sts)) return sts;
......@@ -147,6 +150,80 @@ static pwr_tStatus io_replace_symbol( pwr_sAttrRef *chan, pwr_sAttrRef *sig)
return IO__SUCCESS;
}
int io_connect_status( pwr_sAttrRef *sig_aref, pwr_sAttrRef *chan_aref)
{
pwr_sAttrRef status_aref;
pwr_sAttrRef ioconnect_aref;
static pwr_sAttrRef last_ioconnect = {{0,0},0,0,0,{0}};
pwr_sAttrRef iostatus_aref;
pwr_sAttrRef card_aref;
pwr_tStatus sts;
pwr_tStatus *status_p;
pwr_tStatus *iostatus_p;
pwr_tAName sname;
char *s;
int found;
if ( chan_aref->Offset == 0 || sig_aref->Offset == 0)
return 0;
/* Find content of IoConnect attribute in the signal object */
sts = gdh_AttrrefToName( sig_aref, sname, sizeof(sname),
cdh_mName_volumeStrict);
if ( EVEN(sts)) return 0;
found = 0;
for (;;) {
s = strrchr( sname, '.');
if ( !s)
break;
*s = 0;
strcat( sname, ".IoConnect");
sts = gdh_NameToAttrref( pwr_cNObjid, sname, &ioconnect_aref);
if ( ODD(sts)) {
if ( cdh_ArefIsEqual( &ioconnect_aref, &last_ioconnect))
return 1;
found = 1;
*s = 0;
strcat( sname, ".IoStatus");
sts = gdh_NameToAttrref( pwr_cNObjid, sname, &iostatus_aref);
if (EVEN(sts)) return 0;
break;
}
*s = 0;
}
if ( !found)
return 0;
/* Get the Status attribute in the connected module */
sts = gdh_GetObjectInfoAttrref( &ioconnect_aref, &card_aref, sizeof(card_aref));
if ( EVEN(sts)) return 0;
sts = gdh_AttrrefToName( &card_aref, sname, sizeof(sname),
cdh_mName_volumeStrict);
if ( EVEN(sts)) return 0;
strcat( sname, ".Status");
sts = gdh_NameToAttrref( pwr_cNObjid, sname, &status_aref);
if ( EVEN(sts)) return 0;
/* Store status pointer in IoStatus */
sts = gdh_AttrRefToPointer( &iostatus_aref, (void **)&iostatus_p);
if ( EVEN(sts)) return 0;
sts = gdh_AttrRefToPointer( &status_aref, (void **)&status_p);
if ( EVEN(sts)) return 0;
gdh_StoreRtdbPointer( iostatus_p, status_p);
last_ioconnect = ioconnect_aref;
return 1;
}
/*----------------------------------------------------------------------------*\
Initialization of ai signals and channels.
......@@ -215,6 +292,7 @@ pwr_tStatus io_init_ai_signals(
gdh_StoreRtdbPointer( (pwr_tUInt32 *)&iarea_op->Value[sig_count], &sig_op->InitialValue);
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Ai, &sig_aref, &sig_aref);
......@@ -293,6 +371,7 @@ pwr_tStatus io_init_ao_signals(
gdh_StoreRtdbPointer( (pwr_tUInt32 *)&iarea_op->Value[sig_count], &sig_op->InitialValue);
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Ao, &sig_aref, &sig_aref);
......@@ -370,6 +449,7 @@ pwr_tStatus io_init_di_signals(
gdh_StoreRtdbPointer( (pwr_tUInt32 *)&iarea_op->Value[sig_count], &sig_op->InitialValue);
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Di, &sig_aref, &sig_aref);
......@@ -449,6 +529,7 @@ pwr_tStatus io_init_do_signals(
gdh_StoreRtdbPointer( (pwr_tUInt32 *)&iarea_op->Value[sig_count], &sig_op->InitialValue);
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Do, &sig_aref, &sig_aref);
......@@ -485,6 +566,8 @@ pwr_tStatus io_init_do_signals(
}
gdh_StoreRtdbPointer( (pwr_tUInt32 *) &sig_op->ActualValue, &area_op->Value[sig_count]);
sig_op->ValueIndex = sig_count;
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Po, &sig_aref, &sig_aref);
......@@ -561,6 +644,7 @@ pwr_tStatus io_init_co_signals(
gdh_StoreRtdbPointer( (pwr_tUInt32 *) &sig_op->RawValue, &area_op->Value[sig_count]);
gdh_StoreRtdbPointer( (pwr_tUInt32 *) &sig_op->AbsValue, &abs_area_op->Value[sig_count]);
sig_op->ValueIndex = sig_count;
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Co, &sig_aref, &sig_aref);
......@@ -777,6 +861,7 @@ pwr_tStatus io_init_ii_signals(
gdh_StoreRtdbPointer( (pwr_tUInt32 *)&iarea_op->Value[sig_count], &sig_op->InitialValue);
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Ii, &sig_aref, &sig_aref);
......@@ -856,6 +941,7 @@ pwr_tStatus io_init_io_signals(
gdh_StoreRtdbPointer( (pwr_tUInt32 *)&iarea_op->Value[sig_count], &sig_op->InitialValue);
io_connect_status( &sig_aref, &sig_op->SigChanCon);
sig_count++;
sts = gdh_GetNextAttrRef( pwr_cClass_Io, &sig_aref, &sig_aref);
......@@ -1588,6 +1674,7 @@ static pwr_tStatus io_init_card(
int chan_cnt = 0;
int i, j;
int elem;
int sig_found;
sts = gdh_GetObjectBodyDef( cp->Class, &bd, &rows, pwr_cNObjid);
if ( EVEN(sts)) return sts;
......@@ -1668,19 +1755,19 @@ static pwr_tStatus io_init_card(
chan_cnt++;
/* Find signal */
if ( cdh_ObjidIsNull( sigchancon.Objid)) {
/* Not connected */
continue;
sig_found = 0;
if ( cdh_ObjidIsNotNull( sigchancon.Objid)) {
sts = gdh_GetAttrRefTid( &sigchancon, &sigclass);
if ( ODD(sts)) {
sts = gdh_DLRefObjectInfoAttrref( &sigchancon, (void *) &sig_op, &sigdlid);
if ( ODD(sts))
sig_found = 1;
}
}
if ( !sig_found) {
sig_op = 0;
sigdlid = pwr_cNDlid;
}
sts = gdh_GetAttrRefTid( &sigchancon, &sigclass);
if ( EVEN(sts))
continue;
sts = gdh_DLRefObjectInfoAttrref( &sigchancon, (void *) &sig_op, &sigdlid);
if ( EVEN(sts))
continue;
/* Insert */
if ( elem > 1)
sprintf( attrname, "%s.%s[%d]", cname, bd[i].attrName, j);
......@@ -1697,47 +1784,50 @@ static pwr_tStatus io_init_card(
chanp->SigAref = sigchancon;
chanp->ChanClass = bd[i].attr->Param.TypeRef;
chanp->SigClass = sigclass;
switch( sigclass) {
case pwr_cClass_Di:
chanp->vbp = gdh_TranslateRtdbPointer(
if ( sig_found) {
switch( sigclass) {
case pwr_cClass_Di:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Di *)sig_op)->ActualValue);
break;
case pwr_cClass_Do:
chanp->vbp = gdh_TranslateRtdbPointer(
break;
case pwr_cClass_Do:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Do *)sig_op)->ActualValue);
break;
case pwr_cClass_Po:
chanp->vbp = gdh_TranslateRtdbPointer(
break;
case pwr_cClass_Po:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Po *)sig_op)->ActualValue);
break;
case pwr_cClass_Ai:
chanp->vbp = gdh_TranslateRtdbPointer(
break;
case pwr_cClass_Ai:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Ai *)sig_op)->ActualValue);
break;
case pwr_cClass_Ao:
chanp->vbp = gdh_TranslateRtdbPointer(
break;
case pwr_cClass_Ao:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Ao *)sig_op)->ActualValue);
break;
case pwr_cClass_Ii:
chanp->vbp = gdh_TranslateRtdbPointer(
break;
case pwr_cClass_Ii:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Ii *)sig_op)->ActualValue);
break;
case pwr_cClass_Io:
chanp->vbp = gdh_TranslateRtdbPointer(
break;
case pwr_cClass_Io:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Io *)sig_op)->ActualValue);
break;
case pwr_cClass_Co:
chanp->vbp = gdh_TranslateRtdbPointer(
break;
case pwr_cClass_Co:
chanp->vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Co *)sig_op)->RawValue);
chanp->abs_vbp = gdh_TranslateRtdbPointer(
chanp->abs_vbp = gdh_TranslateRtdbPointer(
(pwr_tUInt32) ((pwr_sClass_Co *)sig_op)->AbsValue);
break;
default:
errh_Error(
"IO init error: unknown signal class card %, chan nr %d",
cp->Name, number);
sts = gdh_DLUnrefObjectInfo( sigdlid);
memset( chanp, 0, sizeof(*chanp));
break;
default:
errh_Error(
"IO init error: unknown signal class card %, chan nr %d",
cp->Name, number);
sts = gdh_DLUnrefObjectInfo( sigdlid);
sig_op = 0;
sigdlid = pwr_cNDlid;
}
}
}
}
......@@ -2029,103 +2119,103 @@ void io_DiUnpackWord(
if ( mask == IO_CONVMASK_ALL)
{
/* No conversion test */
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 1) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 2) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 4) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 8) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 16) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 32) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 64) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 128) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 256) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 512) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 1024) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 2048) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 4096) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 8192) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 16384) != 0);
chanp++;
if ( chanp->cop)
if ( chanp->cop && chanp->sop)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 32768) != 0);
chanp++;
}
else
{
if ( chanp->cop && mask & 1)
if ( chanp->cop && chanp->sop && mask & 1)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 1) != 0);
chanp++;
if ( chanp->cop && mask & 2)
if ( chanp->cop && chanp->sop && mask & 2)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 2) != 0);
chanp++;
if ( chanp->cop && mask & 4)
if ( chanp->cop && chanp->sop && mask & 4)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 4) != 0);
chanp++;
if ( chanp->cop && mask & 8)
if ( chanp->cop && chanp->sop && mask & 8)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 8) != 0);
chanp++;
if ( chanp->cop && mask & 16)
if ( chanp->cop && chanp->sop && mask & 16)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 16) != 0);
chanp++;
if ( chanp->cop && mask & 32)
if ( chanp->cop && chanp->sop && mask & 32)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 32) != 0);
chanp++;
if ( chanp->cop && mask & 64)
if ( chanp->cop && chanp->sop && mask & 64)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 64) != 0);
chanp++;
if ( chanp->cop && mask & 128)
if ( chanp->cop && chanp->sop && mask & 128)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 128) != 0);
chanp++;
if ( chanp->cop && mask & 256)
if ( chanp->cop && chanp->sop && mask & 256)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 256) != 0);
chanp++;
if ( chanp->cop && mask & 512)
if ( chanp->cop && chanp->sop && mask & 512)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 512) != 0);
chanp++;
if ( chanp->cop && mask & 1024)
if ( chanp->cop && chanp->sop && mask & 1024)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 1024) != 0);
chanp++;
if ( chanp->cop && mask & 2048)
if ( chanp->cop && chanp->sop && mask & 2048)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 2048) != 0);
chanp++;
if ( chanp->cop && mask & 4096)
if ( chanp->cop && chanp->sop && mask & 4096)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 4096) != 0);
chanp++;
if ( chanp->cop && mask & 8192)
if ( chanp->cop && chanp->sop && mask & 8192)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 8192) != 0);
chanp++;
if ( chanp->cop && mask & 16384)
if ( chanp->cop && chanp->sop && mask & 16384)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 16384) != 0);
chanp++;
if ( chanp->cop && mask & 32768)
if ( chanp->cop && chanp->sop && mask & 32768)
* (pwr_tUInt16 *) (chanp->vbp) = ((data & 32768) != 0);
chanp++;
}
......@@ -2147,52 +2237,52 @@ void io_DoPackWord(
chanp = &cp->chanlist[16];
*data = 0;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 1;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 2;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 4;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 8;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 16;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 32;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 64;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 128;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 256;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 512;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 1024;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 2048;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 4096;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 8192;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 16384;
chanp++;
if ( chanp->cop && * (pwr_tUInt16 *) (chanp->vbp))
if ( chanp->cop && chanp->sop && * (pwr_tUInt16 *) (chanp->vbp))
*data |= 32768;
chanp++;
}
......
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