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Fix indentation - convert tabs to spaces

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This commit is contained in:
Autonomy Server
2024-10-08 17:06:04 -04:00
parent 8fc7292f30
commit 9696ba8363
19 changed files with 3865 additions and 3865 deletions
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webserver/core/enip.cpp
+393 -393
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File diff suppressed because it is too large Load Diff
webserver/core/enipStruct.h
+56 -56
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@@ -52,75 +52,75 @@ struct enip_data_Unknown
struct enip_data_Unconnected
{
unsigned char *interface_handle;//[4]
unsigned char *interface_handle;//[4]
unsigned char *timeout;//[2]
unsigned char *item_count;//[2]
unsigned char *item1_id;//[2]
unsigned char *item1_length;//[2]
unsigned char *item2_id;//[2]
unsigned char *item2_length;//[2]
unsigned char *service;//[1] 0x4b (Request)
unsigned char *request_pathSize;//[1]
unsigned char *request_path;//[4]
unsigned char *requestor_idLength;//[1]
unsigned char *vendor_id;//[2]
unsigned char *serial_number;//[4]
unsigned char *data;
unsigned char *item1_id;//[2]
unsigned char *item1_length;//[2]
unsigned char *item2_id;//[2]
unsigned char *item2_length;//[2]
unsigned char *service;//[1] 0x4b (Request)
unsigned char *request_pathSize;//[1]
unsigned char *request_path;//[4]
unsigned char *requestor_idLength;//[1]
unsigned char *vendor_id;//[2]
unsigned char *serial_number;//[4]
unsigned char *data;
};
struct enip_data_Connected
{
unsigned char *interface_handle;//[4]
unsigned char *interface_handle;//[4]
unsigned char *timeout;//[2]
unsigned char *item_count;//[2]
unsigned char *item1_id;//[2]
unsigned char *item1_length;//[2]
unsigned char *item2_id;//[2]
unsigned char *item2_length;//[2]
unsigned char *service;//[1] 0x4b (Request)
unsigned char *request_pathSize;//[1] -----------size in words
unsigned char *request_path;//[4]
unsigned char *actual_timeout;//[2]
unsigned char *o2t_netConnectID;//[4]
unsigned char *t2o_netConnectID;//[4]
unsigned char *connect_serialNo;//[2]
unsigned char *orig_vendorNo;//[2]
unsigned char *orig_serialNo;//[4]
unsigned char *timeout_multiplier;//[1]
unsigned char *reserved;//[3]
unsigned char *o2t_rpi;//[4]
unsigned char *o2t_netConnectParam;//[2]
unsigned char *t2o_rpi;//[4]
unsigned char *t2o_netConnectParam;//[2]
unsigned char *transport_trigger;//[1]
unsigned char *connection_pathSize;//[1] ----- size in words
unsigned char *connection_path;//[?]
unsigned char *item1_id;//[2]
unsigned char *item1_length;//[2]
unsigned char *item2_id;//[2]
unsigned char *item2_length;//[2]
unsigned char *service;//[1] 0x4b (Request)
unsigned char *request_pathSize;//[1] -----------size in words
unsigned char *request_path;//[4]
unsigned char *actual_timeout;//[2]
unsigned char *o2t_netConnectID;//[4]
unsigned char *t2o_netConnectID;//[4]
unsigned char *connect_serialNo;//[2]
unsigned char *orig_vendorNo;//[2]
unsigned char *orig_serialNo;//[4]
unsigned char *timeout_multiplier;//[1]
unsigned char *reserved;//[3]
unsigned char *o2t_rpi;//[4]
unsigned char *o2t_netConnectParam;//[2]
unsigned char *t2o_rpi;//[4]
unsigned char *t2o_netConnectParam;//[2]
unsigned char *transport_trigger;//[1]
unsigned char *connection_pathSize;//[1] ----- size in words
unsigned char *connection_path;//[?]
};
struct enip_data_Connected_0x70
{
unsigned char *interface_handle;//[4]
unsigned char *interface_handle;//[4]
unsigned char *timeout;//[2]
unsigned char *item_count;//[2]
unsigned char *item1_id;//[2] --- 0x a1 00
unsigned char *item1_length;//[2] --- 0x 04 00
unsigned char *connection_id;//[4]
unsigned char *item2_id;//[2] --- 0x b1 00
unsigned char *item2_length;//[2] length in bytes after this byte
unsigned char *sequence_count;//[2]
unsigned char *service;//[1] --- 0x4b
unsigned char *request_pathSize;//[1] --- 0x 20 67 24 01
unsigned char *request_path;//[4]
unsigned char *requestor_id;//[7]
unsigned char *pcccData;//[?]
unsigned char *item1_id;//[2] --- 0x a1 00
unsigned char *item1_length;//[2] --- 0x 04 00
unsigned char *connection_id;//[4]
unsigned char *item2_id;//[2] --- 0x b1 00
unsigned char *item2_length;//[2] length in bytes after this byte
unsigned char *sequence_count;//[2]
unsigned char *service;//[1] --- 0x4b
unsigned char *request_pathSize;//[1] --- 0x 20 67 24 01
unsigned char *request_path;//[4]
unsigned char *requestor_id;//[7]
unsigned char *pcccData;//[?]
};
webserver/core/hardware_layers/PiPLC.cpp
+52 -52
View File
@@ -80,41 +80,41 @@ int analogOutBufferPinMask[MAX_ANALOG_OUT] = { 18, 19 };
//-----------------------------------------------------------------------------
void initializeHardware()
{
gpioInitialise();
//piHiPri(99);
gpioInitialise();
//piHiPri(99);
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
{
gpioSetMode(inBufferPinMask[i], PI_INPUT);
gpioSetPullUpDown(inBufferPinMask[i], PI_PUD_UP); //pull up enabled
}
}
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
{
gpioSetMode(inBufferPinMask[i], PI_INPUT);
gpioSetPullUpDown(inBufferPinMask[i], PI_PUD_UP); //pull up enabled
}
}
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
gpioSetMode(outBufferPinMask[i], PI_OUTPUT);
}
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
gpioSetMode(outBufferPinMask[i], PI_OUTPUT);
}
//set PWM pins as output
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), analogOutBufferPinMask[i])){
gpioSetMode(analogOutBufferPinMask[i], PI_ALT5);
gpioSetPWMrange(analogOutBufferPinMask[i], 1024);
}
}
//set PWM pins as output
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), analogOutBufferPinMask[i])){
gpioSetMode(analogOutBufferPinMask[i], PI_ALT5);
gpioSetPWMrange(analogOutBufferPinMask[i], 1024);
}
}
// Modbus
rpi_modbus_rts_pin = MODBUS_RTS;
// Modbus
rpi_modbus_rts_pin = MODBUS_RTS;
// I²C?
// I²C?
// 1-Wire?
// 1-Wire?
}
//-----------------------------------------------------------------------------
@@ -123,7 +123,7 @@ void initializeHardware()
//-----------------------------------------------------------------------------
void finalizeHardware()
{
gpioTerminate();
gpioTerminate();
}
//-----------------------------------------------------------------------------
@@ -133,16 +133,16 @@ void finalizeHardware()
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = !gpioRead(inBufferPinMask[i]);
}
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = !gpioRead(inBufferPinMask[i]);
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
//-----------------------------------------------------------------------------
@@ -152,21 +152,21 @@ void updateBuffersIn()
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
if (bool_output[i/8][i%8] != NULL) gpioWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
if (bool_output[i/8][i%8] != NULL) gpioWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//ANALOG OUT (PWM)
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) gpioPWM(analogOutBufferPinMask[i], (*int_output[i] / 64));
}
//ANALOG OUT (PWM)
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) gpioPWM(analogOutBufferPinMask[i], (*int_output[i] / 64));
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
webserver/core/hardware_layers/blank.cpp
+16 -16
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@@ -56,19 +56,19 @@ void finalizeHardware()
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
/*********READING AND WRITING TO I/O**************
/*********READING AND WRITING TO I/O**************
*bool_input[0][0] = read_digital_input(0);
write_digital_output(0, *bool_output[0][0]);
*bool_input[0][0] = read_digital_input(0);
write_digital_output(0, *bool_output[0][0]);
*int_input[0] = read_analog_input(0);
write_analog_output(0, *int_output[0]);
*int_input[0] = read_analog_input(0);
write_analog_output(0, *int_output[0]);
**************************************************/
**************************************************/
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
//-----------------------------------------------------------------------------
@@ -78,18 +78,18 @@ void updateBuffersIn()
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
/*********READING AND WRITING TO I/O**************
/*********READING AND WRITING TO I/O**************
*bool_input[0][0] = read_digital_input(0);
write_digital_output(0, *bool_output[0][0]);
*bool_input[0][0] = read_digital_input(0);
write_digital_output(0, *bool_output[0][0]);
*int_input[0] = read_analog_input(0);
write_analog_output(0, *int_output[0]);
*int_input[0] = read_analog_input(0);
write_analog_output(0, *int_output[0]);
**************************************************/
**************************************************/
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
webserver/core/hardware_layers/fischertechnik.cpp
+145 -145
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File diff suppressed because it is too large Load Diff
webserver/core/hardware_layers/neuron.cpp
+4 -4
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@@ -303,7 +303,7 @@ void finalizeHardware()
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
/* read digital inputs */
int i = 0;
@@ -330,7 +330,7 @@ void updateBuffersIn()
i++;
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
//-----------------------------------------------------------------------------
@@ -340,7 +340,7 @@ void updateBuffersIn()
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
/* write digital outputs */
int i = 0;
@@ -377,6 +377,6 @@ void updateBuffersOut()
i++;
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
webserver/core/hardware_layers/opi_zero2.cpp
+46 -46
View File
@@ -67,33 +67,33 @@ int analogOutBufferPinMask[MAX_ANALOG_OUT] = { 3, 4 };
//-----------------------------------------------------------------------------
void initializeHardware()
{
// Init
wiringPiSetup();
// Init
wiringPiSetup();
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
{
pinMode(inBufferPinMask[i], INPUT);
}
}
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
{
pinMode(inBufferPinMask[i], INPUT);
}
}
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
pinMode(outBufferPinMask[i], OUTPUT);
}
// pwmSetRange(1024);
// pwmSetClock(1);
// //set PWM pins as output
// for (int i = 0; i < MAX_ANALOG_OUT; i++)
// {
// if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), analogOutBufferPinMask[i])) {
// pinMode(analogOutBufferPinMask[i], PWM_OUTPUT);
// }
// }
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
pinMode(outBufferPinMask[i], OUTPUT);
}
// pwmSetRange(1024);
// pwmSetClock(1);
// //set PWM pins as output
// for (int i = 0; i < MAX_ANALOG_OUT; i++)
// {
// if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), analogOutBufferPinMask[i])) {
// pinMode(analogOutBufferPinMask[i], PWM_OUTPUT);
// }
// }
}
@@ -112,16 +112,16 @@ void finalizeHardware()
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = digitalRead(inBufferPinMask[i]);
}
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = digitalRead(inBufferPinMask[i]);
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
//-----------------------------------------------------------------------------
@@ -131,21 +131,21 @@ void updateBuffersIn()
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
if (bool_output[i/8][i%8] != NULL) digitalWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//ANALOG OUT (PWM)
// for (int i = 0; i < MAX_ANALOG_OUT; i++)
// {
// if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
if (bool_output[i/8][i%8] != NULL) digitalWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//ANALOG OUT (PWM)
// for (int i = 0; i < MAX_ANALOG_OUT; i++)
// {
// if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
// if (int_output[i] != NULL) pwmWrite(analogOutBufferPinMask[i], (*int_output[i] / 64));
// }
// }
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
webserver/core/hardware_layers/pixtend.cpp
+548 -548
View File
File diff suppressed because it is too large Load Diff
webserver/core/hardware_layers/pixtend2l.cpp
+191 -191
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File diff suppressed because it is too large Load Diff
webserver/core/hardware_layers/pixtend2s.cpp
+33 -33
View File
@@ -187,33 +187,33 @@ int Spi_AutoModeDAC(struct pixtOutDAC *OutputDataDAC) {
int Spi_Set_Aout(int channel, uint16_t value)
{
unsigned char spi_output[2];
int spi_device = 1;
int len = 2;
uint16_t tmp;
unsigned char spi_output[2];
int spi_device = 1;
int len = 2;
uint16_t tmp;
spi_output[0] = 0b00010000;
spi_output[0] = 0b00010000;
if(channel)
{
spi_output[0] = spi_output[0] | 0b10000000;
}
if(value > 1023)
{
value=1023;
}
if(channel)
{
spi_output[0] = spi_output[0] | 0b10000000;
}
if(value > 1023)
{
value=1023;
}
tmp = value & 0b1111000000;
tmp = tmp >> 6;
spi_output[0]=spi_output[0] | tmp;
tmp = value & 0b1111000000;
tmp = tmp >> 6;
spi_output[0]=spi_output[0] | tmp;
tmp = value & 0b0000111111;
tmp = tmp << 2;
spi_output[1]=tmp;
tmp = value & 0b0000111111;
tmp = tmp << 2;
spi_output[1]=tmp;
wiringPiSPIDataRW(spi_device, spi_output, len);
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
return 0;
}
int Spi_AutoModeV2S(struct pixtOutV2S *OutputData, struct pixtInV2S *InputData)
@@ -557,9 +557,9 @@ void finalizeHardware()
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
//lock mutexes
pthread_mutex_lock(&bufferLock);
pthread_mutex_lock(&localBufferLock);
//lock mutexes
pthread_mutex_lock(&bufferLock);
pthread_mutex_lock(&localBufferLock);
//DIGITAL INPUT
for (int i = 0; i < MAX_DIG_IN; i++)
@@ -641,9 +641,9 @@ void updateBuffersIn()
}
//unlock mutexes
pthread_mutex_unlock(&localBufferLock);
pthread_mutex_unlock(&bufferLock);
//unlock mutexes
pthread_mutex_unlock(&localBufferLock);
pthread_mutex_unlock(&bufferLock);
}
//-----------------------------------------------------------------------------
@@ -653,9 +653,9 @@ void updateBuffersIn()
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
//lock mutexes
pthread_mutex_lock(&bufferLock);
pthread_mutex_lock(&localBufferLock);
//lock mutexes
pthread_mutex_lock(&bufferLock);
pthread_mutex_lock(&localBufferLock);
//DIGITAL OUTPUT
for (int i = 0; i < MAX_DIG_OUT; i++)
@@ -726,7 +726,7 @@ void updateBuffersOut()
// PWM1BL - PWM1BH
if (byte_output[7] != NULL) OutputData.byPWM1B = *byte_output[7];
//unlock mutexes
pthread_mutex_unlock(&localBufferLock);
pthread_mutex_unlock(&bufferLock);
//unlock mutexes
pthread_mutex_unlock(&localBufferLock);
pthread_mutex_unlock(&bufferLock);
}
webserver/core/hardware_layers/raspberrypi.cpp
+51 -51
View File
@@ -67,37 +67,37 @@ int analogOutBufferPinMask[MAX_ANALOG_OUT] = { 18 };
//-----------------------------------------------------------------------------
void initializeHardware()
{
gpioInitialise();
//piHiPri(99);
gpioInitialise();
//piHiPri(99);
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
{
gpioSetMode(inBufferPinMask[i], PI_INPUT);
if (i != 0 && i != 1) //pull down can't be enabled on the first two pins
{
gpioSetPullUpDown(inBufferPinMask[i], PI_PUD_DOWN); //pull down enabled
}
}
}
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
{
gpioSetMode(inBufferPinMask[i], PI_INPUT);
if (i != 0 && i != 1) //pull down can't be enabled on the first two pins
{
gpioSetPullUpDown(inBufferPinMask[i], PI_PUD_DOWN); //pull down enabled
}
}
}
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
gpioSetMode(outBufferPinMask[i], PI_OUTPUT);
}
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
gpioSetMode(outBufferPinMask[i], PI_OUTPUT);
}
//set PWM pins as output
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), analogOutBufferPinMask[i])) {
gpioSetMode(analogOutBufferPinMask[i], PI_ALT5);
gpioSetPWMrange(analogOutBufferPinMask[i], 1024);
}
}
//set PWM pins as output
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), analogOutBufferPinMask[i])) {
gpioSetMode(analogOutBufferPinMask[i], PI_ALT5);
gpioSetPWMrange(analogOutBufferPinMask[i], 1024);
}
}
}
//-----------------------------------------------------------------------------
@@ -106,7 +106,7 @@ void initializeHardware()
//-----------------------------------------------------------------------------
void finalizeHardware()
{
gpioTerminate();
gpioTerminate();
}
//-----------------------------------------------------------------------------
@@ -116,16 +116,16 @@ void finalizeHardware()
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = gpioRead(inBufferPinMask[i]);
}
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), inBufferPinMask[i]))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = gpioRead(inBufferPinMask[i]);
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
//-----------------------------------------------------------------------------
@@ -135,21 +135,21 @@ void updateBuffersIn()
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
if (bool_output[i/8][i%8] != NULL) gpioWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), outBufferPinMask[i]))
if (bool_output[i/8][i%8] != NULL) gpioWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//ANALOG OUT (PWM)
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) gpioPWM(analogOutBufferPinMask[i], (*int_output[i] / 64));
}
//ANALOG OUT (PWM)
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) gpioPWM(analogOutBufferPinMask[i], (*int_output[i] / 64));
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
webserver/core/hardware_layers/raspberrypi_old.cpp
+48 -48
View File
@@ -68,35 +68,35 @@ int analogOutBufferPinMask[MAX_ANALOG_OUT] = { 1 };
//-----------------------------------------------------------------------------
void initializeHardware()
{
wiringPiSetup();
//piHiPri(99);
wiringPiSetup();
//piHiPri(99);
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
{
pinMode(inBufferPinMask[i], INPUT);
if (i != 0 && i != 1) //pull down can't be enabled on the first two pins
{
pullUpDnControl(inBufferPinMask[i], PUD_DOWN); //pull down enabled
}
}
}
//set pins as input
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
{
pinMode(inBufferPinMask[i], INPUT);
if (i != 0 && i != 1) //pull down can't be enabled on the first two pins
{
pullUpDnControl(inBufferPinMask[i], PUD_DOWN); //pull down enabled
}
}
}
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
pinMode(outBufferPinMask[i], OUTPUT);
}
//set pins as output
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
pinMode(outBufferPinMask[i], OUTPUT);
}
//set PWM pins as output
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
pinMode(analogOutBufferPinMask[i], PWM_OUTPUT);
}
//set PWM pins as output
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
pinMode(analogOutBufferPinMask[i], PWM_OUTPUT);
}
}
//-----------------------------------------------------------------------------
@@ -114,16 +114,16 @@ void finalizeHardware()
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = digitalRead(inBufferPinMask[i]);
}
//INPUT
for (int i = 0; i < MAX_INPUT; i++)
{
if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = digitalRead(inBufferPinMask[i]);
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
//-----------------------------------------------------------------------------
@@ -133,21 +133,21 @@ void updateBuffersIn()
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
if (bool_output[i/8][i%8] != NULL) digitalWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//OUTPUT
for (int i = 0; i < MAX_OUTPUT; i++)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
if (bool_output[i/8][i%8] != NULL) digitalWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
}
//ANALOG OUT (PWM)
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) pwmWrite(analogOutBufferPinMask[i], (*int_output[i] / 64));
}
//ANALOG OUT (PWM)
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) pwmWrite(analogOutBufferPinMask[i], (*int_output[i] / 64));
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
}
webserver/core/hardware_layers/sequent.cpp
+1046 -1046
View File
File diff suppressed because it is too large Load Diff
webserver/core/hardware_layers/simulink.cpp
+79 -79
View File
File diff suppressed because it is too large Load Diff
webserver/core/hardware_layers/unipi.cpp
+114 -114
View File
File diff suppressed because it is too large Load Diff
webserver/core/main.cpp
+60 -60
View File
@@ -74,10 +74,10 @@ void sleep_until(struct timespec *ts, long long delay)
//-----------------------------------------------------------------------------
void sleepms(int milliseconds)
{
struct timespec ts;
ts.tv_sec = milliseconds / 1000;
ts.tv_nsec = (milliseconds % 1000) * 1000000;
nanosleep(&ts, NULL);
struct timespec ts;
ts.tv_sec = milliseconds / 1000;
ts.tv_nsec = (milliseconds % 1000) * 1000000;
nanosleep(&ts, NULL);
}
/**
@@ -304,25 +304,25 @@ int main(int argc,char **argv)
}
#endif
// Define the start, end, cycle time and latency time variables
struct timespec cycle_start, cycle_end, cycle_time;
struct timespec timer_start, timer_end, sleep_latency;
// Define the start, end, cycle time and latency time variables
struct timespec cycle_start, cycle_end, cycle_time;
struct timespec timer_start, timer_end, sleep_latency;
//gets the starting point for the clock
printf("Getting current time\n");
clock_gettime(CLOCK_MONOTONIC, &timer_start);
//gets the starting point for the clock
printf("Getting current time\n");
clock_gettime(CLOCK_MONOTONIC, &timer_start);
//======================================================
// MAIN LOOP
//======================================================
while(run_openplc)
{
// Get the start time for the running cycle
clock_gettime(CLOCK_MONOTONIC, &cycle_start);
//======================================================
// MAIN LOOP
//======================================================
while(run_openplc)
{
// Get the start time for the running cycle
clock_gettime(CLOCK_MONOTONIC, &cycle_start);
//make sure the buffer pointers are correct and
//attached to the user variables
glueVars();
//make sure the buffer pointers are correct and
//attached to the user variables
glueVars();
#ifdef _ethercat_src
boolvar_call_back bool_input_callback = bool_input_call_back;
@@ -337,9 +337,9 @@ int main(int argc,char **argv)
int64var_call_back lint_output_callback = lint_output_call_back;
#endif
updateBuffersIn(); //read input image
updateBuffersIn(); //read input image
pthread_mutex_lock(&bufferLock); //lock mutex
pthread_mutex_lock(&bufferLock); //lock mutex
#ifdef _ethercat_src
@@ -358,55 +358,55 @@ int main(int argc,char **argv)
break;
}
#endif
updateCustomIn();
updateCustomIn();
updateBuffersIn_MB(); //update input image table with data from slave devices
handleSpecialFunctions();
config_run__(__tick++); // execute plc program logic
updateCustomOut();
config_run__(__tick++); // execute plc program logic
updateCustomOut();
updateBuffersOut_MB(); //update slave devices with data from the output image table
pthread_mutex_unlock(&bufferLock); //unlock mutex
pthread_mutex_unlock(&bufferLock); //unlock mutex
updateBuffersOut(); //write output image
updateBuffersOut(); //write output image
updateTime();
updateTime();
// Get the end time for the running cycle
clock_gettime(CLOCK_MONOTONIC, &cycle_end);
// Compute the time usage in one cycle and do max/min/total comparison/recording
timespec_diff(&cycle_end, &cycle_start, &cycle_time);
if (cycle_time.tv_nsec > cycle_max)
cycle_max = cycle_time.tv_nsec;
if (cycle_time.tv_nsec < cycle_min)
cycle_min = cycle_time.tv_nsec;
cycle_total = cycle_total + cycle_time.tv_nsec;
// Get the end time for the running cycle
clock_gettime(CLOCK_MONOTONIC, &cycle_end);
// Compute the time usage in one cycle and do max/min/total comparison/recording
timespec_diff(&cycle_end, &cycle_start, &cycle_time);
if (cycle_time.tv_nsec > cycle_max)
cycle_max = cycle_time.tv_nsec;
if (cycle_time.tv_nsec < cycle_min)
cycle_min = cycle_time.tv_nsec;
cycle_total = cycle_total + cycle_time.tv_nsec;
sleep_until(&timer_start, common_ticktime__);
sleep_until(&timer_start, common_ticktime__);
// Get the sleep end point which is also the start time/point of the next cycle
clock_gettime(CLOCK_MONOTONIC, &timer_end);
// Compute the time latency of the next cycle(caused by sleep) and do max/min/total comparison/recording
timespec_diff(&timer_end, &timer_start, &sleep_latency);
if (sleep_latency.tv_nsec > latency_max)
latency_max = sleep_latency.tv_nsec;
if (sleep_latency.tv_nsec < latency_min)
latency_min = sleep_latency.tv_nsec;
latency_total = latency_total + sleep_latency.tv_nsec;
// Get the sleep end point which is also the start time/point of the next cycle
clock_gettime(CLOCK_MONOTONIC, &timer_end);
// Compute the time latency of the next cycle(caused by sleep) and do max/min/total comparison/recording
timespec_diff(&timer_end, &timer_start, &sleep_latency);
if (sleep_latency.tv_nsec > latency_max)
latency_max = sleep_latency.tv_nsec;
if (sleep_latency.tv_nsec < latency_min)
latency_min = sleep_latency.tv_nsec;
latency_total = latency_total + sleep_latency.tv_nsec;
// Store the cycle_time/sleep_latency in microsecond, so it can be displayed in the webpage
RecordCycletimeLatency((long)cycle_time.tv_nsec / 1000, (long)sleep_latency.tv_nsec / 1000);
}
// Store the cycle_time/sleep_latency in microsecond, so it can be displayed in the webpage
RecordCycletimeLatency((long)cycle_time.tv_nsec / 1000, (long)sleep_latency.tv_nsec / 1000);
}
// Compute/print the max/min/avg cycle time and latency
cycle_avg = (long)cycle_total / __tick;
latency_avg = (long)latency_total / __tick;
printf("###Summary: The maximum/minimum/average cycle time in microsecond is %ld/%ld/%ld\n",
cycle_max / 1000, cycle_min / 1000, cycle_avg / 1000);
printf("###Summary: The maximum/minimum/average latency in microsecond is %ld/%ld/%ld\n",
latency_max / 1000, latency_min / 1000, latency_avg / 1000);
// Compute/print the max/min/avg cycle time and latency
cycle_avg = (long)cycle_total / __tick;
latency_avg = (long)latency_total / __tick;
printf("###Summary: The maximum/minimum/average cycle time in microsecond is %ld/%ld/%ld\n",
cycle_max / 1000, cycle_min / 1000, cycle_avg / 1000);
printf("###Summary: The maximum/minimum/average latency in microsecond is %ld/%ld/%ld\n",
latency_max / 1000, latency_min / 1000, latency_avg / 1000);
//======================================================
// SHUTTING DOWN OPENPLC RUNTIME
//======================================================
// SHUTTING DOWN OPENPLC RUNTIME
//======================================================
pthread_join(interactive_thread, NULL);
#ifdef _ethercat_src
ethercat_terminate_src();
@@ -415,7 +415,7 @@ int main(int argc,char **argv)
disableOutputs();
updateCustomOut();
updateBuffersOut();
finalizeHardware();
finalizeHardware();
printf("Shutting down OpenPLC Runtime...\n");
exit(0);
}
webserver/core/modbus.cpp
+589 -589
View File
File diff suppressed because it is too large Load Diff
webserver/core/pccc.cpp
+375 -375
View File
File diff suppressed because it is too large Load Diff
webserver/core/persistent_storage.cpp
+19 -19
View File
@@ -44,23 +44,23 @@ void startPstorage()
sleepms(100);
char log_msg[1000];
struct persistentBufferCell
{
IEC_INT int_cell;
IEC_DINT dint_cell;
IEC_LINT lint_cell;
};
struct persistentBufferCell
{
IEC_INT int_cell;
IEC_DINT dint_cell;
IEC_LINT lint_cell;
};
persistentBufferCell persistentBuffer[BUFFER_SIZE];
persistentBufferCell persistentBuffer[BUFFER_SIZE];
//Read initial buffers into persistent struct
pthread_mutex_lock(&bufferLock); //lock mutex
for (int i = 0; i < BUFFER_SIZE; i++)
{
if (int_memory[i] != NULL) persistentBuffer[i].int_cell = *int_memory[i];
if (dint_memory[i] != NULL) persistentBuffer[i].dint_cell = *dint_memory[i];
if (lint_memory[i] != NULL) persistentBuffer[i].lint_cell = *lint_memory[i];
if (dint_memory[i] != NULL) persistentBuffer[i].dint_cell = *dint_memory[i];
if (lint_memory[i] != NULL) persistentBuffer[i].lint_cell = *lint_memory[i];
}
pthread_mutex_unlock(&bufferLock); //unlock mutex
@@ -165,14 +165,14 @@ int readPersistentStorage()
return 0;
}
struct persistentBufferCell
{
IEC_INT int_cell;
IEC_DINT dint_cell;
IEC_LINT lint_cell;
};
struct persistentBufferCell
{
IEC_INT int_cell;
IEC_DINT dint_cell;
IEC_LINT lint_cell;
};
persistentBufferCell persistentBuffer[BUFFER_SIZE];
persistentBufferCell persistentBuffer[BUFFER_SIZE];
if (fread(persistentBuffer, sizeof(persistentBufferCell), BUFFER_SIZE, fd) < BUFFER_SIZE)
{
@@ -190,8 +190,8 @@ int readPersistentStorage()
for (int i = 0; i < BUFFER_SIZE; i++)
{
if (int_memory[i] != NULL) *int_memory[i] = persistentBuffer[i].int_cell;
if (dint_memory[i] != NULL) *dint_memory[i] = persistentBuffer[i].dint_cell;
if (lint_memory[i] != NULL) *lint_memory[i] = persistentBuffer[i].lint_cell;
if (dint_memory[i] != NULL) *dint_memory[i] = persistentBuffer[i].dint_cell;
if (lint_memory[i] != NULL) *lint_memory[i] = persistentBuffer[i].lint_cell;
}
pthread_mutex_unlock(&bufferLock); //unlock mutex