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OpenPLC_v3/webserver/core/hardware_layers/pixtend.cpp

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//-----------------------------------------------------------------------------
// Copyright 2016 Thiago Alves
//
// Based on original piXtend library created by Nils Mensing
// and Christian Strobel from Qube Solutions UG
// For more information about PiXtend(R) and this program,
// see <http://www.pixtend.de> or <http://www.pixtend.com>
//
// This file is part of the OpenPLC Software Stack.
//
// OpenPLC is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// OpenPLC is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with OpenPLC. If not, see <http://www.gnu.org/licenses/>.
//------
//
// This file is the hardware layer for the OpenPLC. If you change the platform
// where it is running, you may only need to change this file. All the I/O
// related stuff is here. Basically it provides functions to read and write
// to the OpenPLC internal buffers in order to update I/O state.
// Thiago Alves, Dec 2015
//-----------------------------------------------------------------------------
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <linux/types.h>
#include <inttypes.h>
#include <wiringPi.h>
#include <softPwm.h>
#include <wiringPiSPI.h>
#include <wiringSerial.h>
#include <pthread.h>
#include <string.h>
#include "ladder.h"
#include "custom_layer.h"
#if !defined(ARRAY_SIZE)
#define ARRAY_SIZE(x) (sizeof((x)) / sizeof((x)[0]))
#endif
#define MAX_DIG_IN 8
#define MAX_DIG_OUT 10
#define MAX_ANALOG_IN 4
#define MAX_ANALOG_OUT 4
#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
#define bitSet(value, bit) ((value) |= (1UL << (bit)))
#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
//-----------------------------------------------------------------------------
// Helper function - Makes the running thread sleep for the ammount of time
// in milliseconds
//-----------------------------------------------------------------------------
void sleep_ms(int milliseconds)
{
struct timespec ts;
ts.tv_sec = milliseconds / 1000;
ts.tv_nsec = (milliseconds % 1000) * 1000000;
nanosleep(&ts, NULL);
}
//STRUCTURES AND METHODS DECLARATIONS FROM PIXTEND
struct pixtOut {
uint8_t byDigOut;
uint8_t byRelayOut;
uint8_t byGpioOut;
uint16_t wPwm0;
uint16_t wPwm1;
uint8_t byPwm0Ctrl0;
uint8_t byPwm0Ctrl1;
uint8_t byPwm0Ctrl2;
uint8_t byGpioCtrl;
uint8_t byUcCtrl;
uint8_t byAiCtrl0;
uint8_t byAiCtrl1;
uint8_t byPiStatus;
uint8_t byAux0;
};
struct pixtOutDAC {
uint16_t wAOut0;
uint16_t wAOut1;
};
struct pixtIn {
uint8_t byDigIn;
uint16_t wAi0;
uint16_t wAi1;
uint16_t wAi2;
uint16_t wAi3;
uint8_t byGpioIn;
uint16_t wTemp0;
uint16_t wTemp1;
uint16_t wTemp2;
uint16_t wTemp3;
uint16_t wHumid0;
uint16_t wHumid1;
uint16_t wHumid2;
uint16_t wHumid3;
uint8_t byUcVersionL;
uint8_t byUcVersionH;
uint8_t byUcStatus;
float rAi0;
float rAi1;
float rAi2;
float rAi3;
float rTemp0;
float rTemp1;
float rTemp2;
float rTemp3;
float rHumid0;
float rHumid1;
float rHumid2;
float rHumid3;
};
uint16_t crc16_calc(uint16_t crc, uint8_t data);
int Spi_AutoMode(struct pixtOut *OutputData, struct pixtIn *InputData);
int Spi_AutoModeDAC(struct pixtOutDAC *OutputDataDAC);
int Spi_Set_Dout(int value);
uint8_t Spi_Get_Dout();
int Spi_Get_Din();
uint16_t Spi_Get_Ain(int Idx);
int Spi_Set_Aout(int channel, uint16_t value);
int Spi_Set_Relays(int value);
uint8_t Spi_Get_Relays();
uint16_t Spi_Get_Temp(int Idx);
uint16_t Spi_Get_Hum(int Idx);
int Spi_Set_Servo(int channel, int value);
int Spi_Set_Pwm(int channel, uint16_t value);
int Spi_Set_PwmControl(int value0, int value1, int value2);
int Spi_Set_GpioControl(int value);
int Spi_Set_UcControl(int value);
int Spi_Set_AiControl(int value0, int value1);
int Spi_Set_RaspStat(int value);
int Spi_Setup(int spi_device);
int Spi_uC_Reset();
int Spi_Get_uC_Status();
uint16_t Spi_Get_uC_Version();
int Change_Gpio_Mode(char pin, char mode);
int Change_Serial_Mode(uint8_t mode);
int Spi_Set_Gpio(int value);
int Spi_Get_Gpio();
//IMPLEMENTATION OF PIXTEND LIBRARY
static uint8_t byAux0;
static uint8_t byInitFlag = 0;
uint16_t crc16_calc(uint16_t crc, uint8_t data)
{
int i;
crc ^= data;
for (i = 0; i < 8; ++i)
{
if (crc & 1)
{
crc = (crc >> 1) ^ 0xA001;
}
else
{
crc = (crc >> 1);
}
}
return crc;
}
int Spi_AutoModeDAC(struct pixtOutDAC *OutputDataDAC) {
Spi_Set_Aout(0, OutputDataDAC->wAOut0);
Spi_Set_Aout(1, OutputDataDAC->wAOut1);
return 0;
}
int Spi_AutoMode(struct pixtOut *OutputData, struct pixtIn *InputData)
{
uint16_t crcSum;
uint16_t crcSumRx;
int i;
unsigned char spi_output[34];
int spi_device = 0;
int len = 34;
spi_output[0] = 128;
spi_output[1] = 255;
spi_output[2] = OutputData->byDigOut;
spi_output[3] = OutputData->byRelayOut;
spi_output[4] = OutputData->byGpioOut;
spi_output[5] = (uint8_t)(OutputData->wPwm0 & 0xFF);
spi_output[6] = (uint8_t)((OutputData->wPwm0>>8) & 0xFF);
spi_output[7] = (uint8_t)(OutputData->wPwm1 & 0xFF);
spi_output[8] = (uint8_t)((OutputData->wPwm1>>8) & 0xFF);
spi_output[9] = OutputData->byPwm0Ctrl0;
spi_output[10] = OutputData->byPwm0Ctrl1;
spi_output[11] = OutputData->byPwm0Ctrl2;
spi_output[12] = OutputData->byGpioCtrl;
spi_output[13] = OutputData->byUcCtrl;
spi_output[14] = OutputData->byAiCtrl0;
spi_output[15] = OutputData->byAiCtrl1;
spi_output[16] = OutputData->byPiStatus;
byAux0 = OutputData->byAux0;
//Calculate CRC16 Transmit Checksum
crcSum = 0xFFFF;
for (i=2; i <= 30; i++)
{
crcSum = crc16_calc(crcSum, spi_output[i]);
}
spi_output[31]=crcSum & 0xFF; //CRC Low Byte
spi_output[32]=crcSum >> 8; //CRC High Byte
spi_output[33] = 128; //Termination
//Initialise SPI Data Transfer with OutputData
wiringPiSPIDataRW(spi_device, spi_output, len);
//spi_output now contains all returned data, assign values to InputData
InputData->byDigIn =spi_output[2];
InputData->wAi0 = (uint16_t)(spi_output[4]<<8)|(spi_output[3]);
InputData->wAi1 = (uint16_t)(spi_output[6]<<8)|(spi_output[5]);
InputData->wAi2 = (uint16_t)(spi_output[8]<<8)|(spi_output[7]);
InputData->wAi3 = (uint16_t)(spi_output[10]<<8)|(spi_output[9]);
InputData->byGpioIn = spi_output[11];
InputData->wTemp0 = (uint16_t)(spi_output[13]<<8)|(spi_output[12]);
InputData->wTemp1 = (uint16_t)(spi_output[15]<<8)|(spi_output[14]);
InputData->wTemp2 = (uint16_t)(spi_output[17]<<8)|(spi_output[16]);
InputData->wTemp3 = (uint16_t)(spi_output[19]<<8)|(spi_output[18]);
InputData->wHumid0 = (uint16_t)(spi_output[21]<<8)|(spi_output[20]);
InputData->wHumid1 = (uint16_t)(spi_output[23]<<8)|(spi_output[22]);
InputData->wHumid2 = (uint16_t)(spi_output[25]<<8)|(spi_output[24]);
InputData->wHumid3 = (uint16_t)(spi_output[27]<<8)|(spi_output[26]);
InputData->byUcVersionL = spi_output[28];
InputData->byUcVersionH = spi_output[29];
InputData->byUcStatus = spi_output[30];
if (byAux0 & (0b00000001)) {
InputData->rAi0 = (float)(InputData->wAi0) * (10.0 / 1024);
}
else {
InputData->rAi0 = (float)(InputData->wAi0) * (5.0 / 1024);
}
if (byAux0 & (0b00000010)) {
InputData->rAi1 = (float)(InputData->wAi1) * (10.0 / 1024);
}
else {
InputData->rAi1 = (float)(InputData->wAi1) * (5.0 / 1024);
}
InputData->rAi2 = (float)(InputData->wAi2) * 0.024194115990990990990990990991;
InputData->rAi3 = (float)(InputData->wAi3) * 0.024194115990990990990990990991;
InputData->rTemp0 = (float)(InputData->wTemp0) / 10.0;
InputData->rTemp1 = (float)(InputData->wTemp1) / 10.0;
InputData->rTemp2 = (float)(InputData->wTemp2) / 10.0;
InputData->rTemp3 = (float)(InputData->wTemp3) / 10.0;
InputData->rHumid0 = (float)(InputData->wHumid0) / 10.0;
InputData->rHumid1 = (float)(InputData->wHumid1) / 10.0;
InputData->rHumid2 = (float)(InputData->wHumid2) / 10.0;
InputData->rHumid3 = (float)(InputData->wHumid3) / 10.0;
//Calculate CRC16 Receive Checksum
crcSum = 0xFFFF;
for (i=2; i <= 30; i++)
{
crcSum = crc16_calc(crcSum, spi_output[i]);
}
crcSumRx = (spi_output[32]<<8) + spi_output[31];
if (crcSumRx != crcSum)
return -1;
else
return 0;
}
int Spi_Set_Dout(int value)
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b00000001; // Command
spi_output[2] = value;
spi_output[3] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
uint8_t Spi_Get_Dout()
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b00010010; // Command 18
spi_output[2] = 0b10101010; // readback command
spi_output[3] = 0b10101010; // read value
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(10);
return spi_output[3];
}
int Spi_Get_Din()
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b00000010; // Command
spi_output[2] = 0b10101010; // readback command
spi_output[3] = 0b10101010; // read value
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(10);
return spi_output[3];
}
uint16_t Spi_Get_Ain(int Idx)
{
unsigned char spi_output[5];
int spi_device = 0;
int len = 5;
int i;
uint16_t high,low;
uint16_t output;
for(i=0;i<2;i++)
{
if(Idx==0)
spi_output[1]=0b00000011; // Command;
else if (Idx==1)
spi_output[1]=0b00000100; // Command;
else if (Idx==2)
spi_output[1]=0b00000101; // Command;
else
spi_output[1]=0b00000110; // Command;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[2] = 0b00000000; // readback command
spi_output[3] = 0b00000000; // read value low
spi_output[4] = 0b00000000; // read value high
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(100);
}
high = spi_output[3];
low = spi_output[4] << 8;
output = high | low;
return output;
}
int Spi_Set_Aout(int channel, uint16_t value)
{
unsigned char spi_output[2];
int spi_device = 1;
int len = 2;
uint16_t tmp;
spi_output[0] = 0b00010000;
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 & 0b0000111111;
tmp = tmp << 2;
spi_output[1]=tmp;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Set_Relays(int value)
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b00000111; // Command
spi_output[2] = value;
spi_output[3] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
uint8_t Spi_Get_Relays()
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b00010011; // Command 19
spi_output[2] = 0b10101010; // readback command
spi_output[3] = 0b10101010; // read value
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(10);
return spi_output[3];
}
uint16_t Spi_Get_Temp(int Idx)
{
unsigned char spi_output[5];
int spi_device = 0;
int len = 5;
int i;
uint16_t high,low;
uint16_t output;
for(i=0;i<2;i++)
{
if(Idx==0)
spi_output[1]=0b00001010; // Command;
else if (Idx==1)
spi_output[1]=0b00001011; // Command;
else if (Idx==2)
spi_output[1]=0b00001100; // Command;
else
spi_output[1]=0b00001101; // Command;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[2] = 0b00000000; // readback command
spi_output[3] = 0b00000000; // read value low
spi_output[4] = 0b00000000; // read value high
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(100);
}
high = spi_output[3];
low = spi_output[4] << 8;
output = high | low;
return output;
}
uint16_t Spi_Get_Hum(int Idx)
{
unsigned char spi_output[5];
int spi_device = 0;
int len = 5;
int i;
uint16_t high,low;
uint16_t output;
for(i=0;i<2;i++)
{
if(Idx==0)
spi_output[1]=0b00001110; // Command;
else if (Idx==1)
spi_output[1]=0b00001111; // Command;
else if (Idx==2)
spi_output[1]=0b00010000; // Command;
else
spi_output[1]=0b00010001; // Command;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[2] = 0b00000000; // readback command
spi_output[3] = 0b00000000; // read value low
spi_output[4] = 0b00000000; // read value high
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(100);
}
high = spi_output[3];
low = spi_output[4] << 8;
output = high | low;
return output;
}
int Spi_Set_Servo(int channel, int value)
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
if(channel>0)
{
spi_output[1] = 0b10000001; // Command
}
else
{
spi_output[1] = 0b10000000; // Command
}
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[2] = value;
spi_output[3] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Set_Pwm(int channel, uint16_t value)
{
unsigned char spi_output[5];
int spi_device = 0;
int len = 5;
if(channel>0)
{
spi_output[1] = 0b10000011; // Command
}
else
{
spi_output[1] = 0b10000010; // Command
}
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[2] = value & 0b0000000011111111;
spi_output[3] = (value & 0b1111111100000000) >> 8;
spi_output[4] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Set_PwmControl(int value0, int value1, int value2)
{
unsigned char spi_output[6];
int spi_device = 0;
int len = 6;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b10000100; // Command
spi_output[2] = value0;
spi_output[3] = value1;
spi_output[4] = value2;
spi_output[5] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Set_GpioControl(int value)
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b10000101; // Command
spi_output[2] = value;
spi_output[3] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Set_UcControl(int value)
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b10000110; // Command
spi_output[2] = value;
spi_output[3] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Set_AiControl(int value0, int value1)
{
unsigned char spi_output[5];
int spi_device = 0;
int len = 5;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b10000111; // Command
spi_output[2] = value0;
spi_output[3] = value1;
spi_output[4] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Set_RaspStat(int value)
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b10001000; // Command
spi_output[2] = value;
spi_output[3] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Setup(int spi_device)
{
int pin_Spi_enable = 5;
int Spi_frequence = 100000;
if(byInitFlag < 1)
{
wiringPiSetup();
byInitFlag = 1;
}
pinMode(pin_Spi_enable, OUTPUT);
digitalWrite(pin_Spi_enable,1);
wiringPiSPISetup(spi_device, Spi_frequence);
return 0;
}
int Spi_uC_Reset()
{
int pin_reset = 4;
wiringPiSetup();
pinMode(pin_reset, OUTPUT);
digitalWrite(pin_reset,1);
delay(1000);
digitalWrite(pin_reset,0);
return 0;
}
int Spi_Get_uC_Status()
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b10001010; // Command
spi_output[2] = 0b10101010; // readback command
spi_output[3] = 0b00000000; // read value
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(10);
return spi_output[3];
}
uint16_t Spi_Get_uC_Version()
{
unsigned char spi_output[5];
int spi_device = 0;
int len = 5;
int i;
uint16_t version;
uint16_t high, low;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b10001001; // Command;
spi_output[2] = 0b00000000; // readback command
spi_output[3] = 0b00000000; // read value low
spi_output[4] = 0b00000000; // read value high
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(100);
high = (uint16_t)(spi_output[4] << 8);
low = spi_output[3];
version = high | low;
return version;
}
int Change_Gpio_Mode(char pin, char mode)
{
wiringPiSetup();
if(mode==1)
{
pinMode(pin,OUTPUT);
}
else
{
pinMode(pin,INPUT);
}
return 0;
}
int Change_Serial_Mode(uint8_t mode)
{
int pin_serial = 1; //Pin 1 ^= GPIO18
wiringPiSetup();
pinMode(pin_serial, OUTPUT);
if(mode==1)
{
digitalWrite(pin_serial,1); //RS485
}
else
{
digitalWrite(pin_serial,0); //RS232
}
return 0;
}
int Spi_Set_Gpio(int value)
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b00001000; // Command
spi_output[2] = value;
spi_output[3] = 0b10101010;
wiringPiSPIDataRW(spi_device, spi_output, len);
return 0;
}
int Spi_Get_Gpio()
{
unsigned char spi_output[4];
int spi_device = 0;
int len = 4;
spi_output[0] = 0b10101010; // Handshake - begin
spi_output[1] = 0b00001001; // Command
spi_output[2] = 0b10101010; // readback command
spi_output[3] = 0b10101010; // read value
wiringPiSPIDataRW(spi_device, spi_output, len);
delay(10);
return spi_output[3];
}
pthread_mutex_t localBufferLock; //mutex for the internal ADC buffer
struct pixtIn InputData;
struct pixtOut OutputData;
struct pixtOutDAC OutputDataDAC;
void *updateLocalBuffers(void *args)
{
struct pixtIn InputData_thread;
struct pixtOut OutputData_thread;
struct pixtOutDAC OutputDataDAC_thread;
while(1)
{
pthread_mutex_lock(&localBufferLock);
memcpy(&OutputData_thread, &OutputData, sizeof(pixtOut));
memcpy(&OutputDataDAC_thread, &OutputDataDAC, sizeof(pixtOutDAC));
pthread_mutex_unlock(&localBufferLock);
//Exchange PiXtend Data
OutputData_thread.byUcCtrl = 16;
Spi_AutoMode(&OutputData_thread, &InputData_thread);
Spi_AutoModeDAC(&OutputDataDAC_thread);
pthread_mutex_lock(&localBufferLock);
memcpy(&InputData, &InputData_thread, sizeof(pixtIn));
pthread_mutex_unlock(&localBufferLock);
sleep_ms(10);
}
}
//-----------------------------------------------------------------------------
// This function is called by the main OpenPLC routine when it is initializing.
// Hardware initialization procedures should be here.
//-----------------------------------------------------------------------------
void initializeHardware()
{
Spi_Setup(0);
Spi_Setup(1);
pthread_t piXtend_thread;
pthread_create(&piXtend_thread, NULL, updateLocalBuffers, NULL);
}
//-----------------------------------------------------------------------------
// This function is called by the main OpenPLC routine when it is finalizing.
// Resource clearing procedures should be here.
//-----------------------------------------------------------------------------
void finalizeHardware()
{
}
//-----------------------------------------------------------------------------
// This function is called by the OpenPLC in a loop. Here the internal buffers
// must be updated to reflect the actual Input state. The mutex buffer_lock
// must be used to protect access to the buffers on a threaded environment.
//-----------------------------------------------------------------------------
void updateBuffersIn()
{
//lock mutexes
pthread_mutex_lock(&bufferLock);
pthread_mutex_lock(&localBufferLock);
//DIGITAL INPUT
for (int i = 0; i < MAX_DIG_IN; 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] = bitRead(InputData.byDigIn, i);
}
//ANALOG IN
uint16_t *analogInputs;
analogInputs = &InputData.wAi0;
for (int i = 0; i < MAX_ANALOG_IN; i++)
{
if (pinNotPresent(ignored_int_inputs, ARRAY_SIZE(ignored_int_inputs), i))
if (int_input[i] != NULL) *int_input[i] = analogInputs[i];
}
//unlock mutexes
pthread_mutex_unlock(&localBufferLock);
pthread_mutex_unlock(&bufferLock);
}
//-----------------------------------------------------------------------------
// This function is called by the OpenPLC in a loop. Here the internal buffers
// must be updated to reflect the actual Output state. The mutex buffer_lock
// must be used to protect access to the buffers on a threaded environment.
//-----------------------------------------------------------------------------
void updateBuffersOut()
{
//lock mutexes
pthread_mutex_lock(&bufferLock);
pthread_mutex_lock(&localBufferLock);
//DIGITAL OUTPUT
for (int i = 0; i < MAX_DIG_OUT; i++)
{
if (i < 6)
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
if (bool_output[i/8][i%8] != NULL) bitWrite(OutputData.byDigOut, i, *bool_output[i/8][i%8]);
}
else
{
if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
if (bool_output[i/8][i%8] != NULL) bitWrite(OutputData.byRelayOut, i-6, *bool_output[i/8][i%8]);
}
}
//ANALOG OUT
uint16_t *analogOutputs;
uint16_t *pwmOutputs;
analogOutputs = &OutputDataDAC.wAOut0;
pwmOutputs = &OutputData.wPwm0;
for (int i = 0; i < MAX_ANALOG_OUT; i++)
{
if (i < 2)
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) analogOutputs[i] = (*int_output[i] / 64);
}
else
{
if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
if (int_output[i] != NULL) pwmOutputs[i-2] = *int_output[i];
}
}
//unlock mutexes
pthread_mutex_unlock(&localBufferLock);
pthread_mutex_unlock(&bufferLock);
}
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