154 lines
5.5 KiB
C++
Executable File
154 lines
5.5 KiB
C++
Executable File
//-----------------------------------------------------------------------------
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// Copyright 2015 Thiago Alves
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//
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// Based on the LDmicro software by Jonathan Westhues
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// This file is part of the OpenPLC Software Stack.
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//
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// OpenPLC is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// OpenPLC is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with OpenPLC. If not, see <http://www.gnu.org/licenses/>.
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//------
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//
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// This file is the hardware layer for the OpenPLC. If you change the platform
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// where it is running, you may only need to change this file. All the I/O
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// related stuff is here. Basically it provides functions to read and write
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// to the OpenPLC internal buffers in order to update I/O state.
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// Thiago Alves, Dec 2015
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//-----------------------------------------------------------------------------
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <wiringPi.h>
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#include <wiringSerial.h>
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#include <pthread.h>
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#include "ladder.h"
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#include "custom_layer.h"
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#if !defined(ARRAY_SIZE)
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#define ARRAY_SIZE(x) (sizeof((x)) / sizeof((x)[0]))
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#endif
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#define MAX_INPUT 7
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#define MAX_OUTPUT 5
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#define MAX_ANALOG_OUT 1
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/********************I/O PINS CONFIGURATION*********************
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* A good source for RaspberryPi I/O pins information is:
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* http://pinout.xyz
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*
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* The buffers below works as an internal mask, so that the
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* OpenPLC can access each pin sequentially
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****************************************************************/
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//inBufferPinMask: pin mask for each input, which
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//means what pin is mapped to that OpenPLC input
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int inBufferPinMask[MAX_INPUT] = { 7, 0, 2, 3, 12, 13, 14 };
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//outBufferPinMask: pin mask for each output, which
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//means what pin is mapped to that OpenPLC output
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int outBufferPinMask[MAX_OUTPUT] = { 4, 5, 6, 10, 11 };
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//analogOutBufferPinMask: pin mask for the analog PWM
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//output of the RaspberryPi
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int analogOutBufferPinMask[MAX_ANALOG_OUT] = { 1 };
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//-----------------------------------------------------------------------------
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// This function is called by the main OpenPLC routine when it is initializing.
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// Hardware initialization procedures should be here.
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//-----------------------------------------------------------------------------
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void initializeHardware()
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{
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wiringPiSetup();
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//piHiPri(99);
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//set pins as input
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for (int i = 0; i < MAX_INPUT; i++)
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{
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if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
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{
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pinMode(inBufferPinMask[i], INPUT);
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if (i != 0 && i != 1) //pull down can't be enabled on the first two pins
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{
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pullUpDnControl(inBufferPinMask[i], PUD_DOWN); //pull down enabled
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}
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}
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}
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//set pins as output
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for (int i = 0; i < MAX_OUTPUT; i++)
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{
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if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
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pinMode(outBufferPinMask[i], OUTPUT);
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}
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//set PWM pins as output
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for (int i = 0; i < MAX_ANALOG_OUT; i++)
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{
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if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
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pinMode(analogOutBufferPinMask[i], PWM_OUTPUT);
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}
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}
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//-----------------------------------------------------------------------------
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// This function is called by the main OpenPLC routine when it is finalizing.
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// Resource clearing procedures should be here.
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//-----------------------------------------------------------------------------
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void finalizeHardware()
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{
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}
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//-----------------------------------------------------------------------------
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// This function is called by the OpenPLC in a loop. Here the internal buffers
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// must be updated to reflect the actual state of the input pins. The mutex buffer_lock
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// must be used to protect access to the buffers on a threaded environment.
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//-----------------------------------------------------------------------------
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void updateBuffersIn()
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{
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pthread_mutex_lock(&bufferLock); //lock mutex
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//INPUT
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for (int i = 0; i < MAX_INPUT; i++)
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{
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if (pinNotPresent(ignored_bool_inputs, ARRAY_SIZE(ignored_bool_inputs), i))
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if (bool_input[i/8][i%8] != NULL) *bool_input[i/8][i%8] = digitalRead(inBufferPinMask[i]);
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}
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pthread_mutex_unlock(&bufferLock); //unlock mutex
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}
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//-----------------------------------------------------------------------------
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// This function is called by the OpenPLC in a loop. Here the internal buffers
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// must be updated to reflect the actual state of the output pins. The mutex buffer_lock
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// must be used to protect access to the buffers on a threaded environment.
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//-----------------------------------------------------------------------------
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void updateBuffersOut()
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{
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pthread_mutex_lock(&bufferLock); //lock mutex
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//OUTPUT
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for (int i = 0; i < MAX_OUTPUT; i++)
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{
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if (pinNotPresent(ignored_bool_outputs, ARRAY_SIZE(ignored_bool_outputs), i))
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if (bool_output[i/8][i%8] != NULL) digitalWrite(outBufferPinMask[i], *bool_output[i/8][i%8]);
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}
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//ANALOG OUT (PWM)
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for (int i = 0; i < MAX_ANALOG_OUT; i++)
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{
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if (pinNotPresent(ignored_int_outputs, ARRAY_SIZE(ignored_int_outputs), i))
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if (int_output[i] != NULL) pwmWrite(analogOutBufferPinMask[i], (*int_output[i] / 64));
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}
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pthread_mutex_unlock(&bufferLock); //unlock mutex
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}
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