Initial

src/main.rs

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+use process_image as pi;
+
+use profirust::dp;
+use profirust::fdl;
+use profirust::phy;
+
+// Bus Parameters
+const MASTER_ADDRESS: u8 = 3;
+const BUS_DEVICE: &'static str = "/dev/ttyUSB0";
+const BAUDRATE: profirust::Baudrate = profirust::Baudrate::B500000;
+
+// Device Addresses
+const RIO_ADDRESS: u8 = 42;
+
+// Parameters
+const CYCLE_TIME: u64 = 5000;
+
+pi::process_image! {
+    struct Pii: 1024 {
+        pub bgb1: (X, 0, 0), // Left Limit Switch
+        pub bgb2: (X, 0, 1), // Right Limit Switch
+        pub bpb1: (X, 0, 2), // Pressure > 1.5 barg
+        pub want_run: (X, 0, 4), // Start/Stop Switch
+
+        pub connection_alive: (X, 64, 0),
+    }
+}
+
+pi::process_image! {
+    struct mut PiqMut: 1024 {
+        pub mbb1: (X, 0, 0), // Coil for turning cylinder to the left
+        pub mbb2: (X, 0, 1), // Coil for turning cylinder to the right
+        pub pza1_white: (X, 0, 2), // White status indicator light
+        pub pza1_blue: (X, 0, 3), // Blue status indicator light
+        pub pza1_orange: (X, 0, 4), // Orange status indicator light
+        pub pza1_alarm: (X, 0, 5), // Alarm buzzer
+
+        pub timer: (L, 104),
+        pub fault_time: (L, 112),
+        pub counter: (L, 120),
+        pub running: (X, 200, 0),
+        pub faulted: (X, 200, 1),
+        pub state: (X, 200, 2),
+    }
+}
+
+fn program(inp: Pii, mut out: PiqMut, now: profirust::time::Instant) {
+    let now = u64::try_from(now.total_millis()).unwrap();
+
+    let running = inp.want_run() && (*out.running() || inp.bpb1());
+    let mut faulted = *out.faulted() && running;
+    *out.pza1_orange() = faulted;
+    *out.pza1_blue() = !running && !faulted;
+    *out.pza1_white() = running && !faulted;
+    *out.pza1_alarm() = faulted && (now - *out.fault_time()) < 1000;
+
+    if running && !inp.connection_alive() {
+        faulted = true;
+    }
+
+    if running && !inp.bpb1() {
+        faulted = true;
+    }
+
+    if running && (inp.bgb1() | inp.bgb2()) {
+        faulted = true;
+    }
+
+    if !running || faulted {
+        *out.timer() = now;
+        *out.counter() = 0;
+    }
+    if (now - *out.timer()) > CYCLE_TIME && *out.state() {
+        *out.timer() = now;
+        *out.state() = false;
+        *out.counter() += 1;
+        log::info!("Load cycles: {}", *out.counter());
+    }
+    if (now - *out.timer()) > CYCLE_TIME && !*out.state() {
+        *out.timer() = now;
+        *out.state() = true;
+        *out.counter() += 1;
+        log::info!("Load cycles: {}", *out.counter());
+    }
+    let mbb1 = *out.state() && running && !faulted;
+    let mbb2 = !*out.state() && running && !faulted;
+
+    *out.mbb1() = mbb1;
+    *out.mbb2() = mbb2;
+
+    if !*out.faulted() && faulted {
+        *out.fault_time() = now;
+    }
+
+    *out.running() = running;
+    *out.faulted() = faulted;
+}
+
+fn main() {
+    env_logger::Builder::from_env(env_logger::Env::default().default_filter_or("info"))
+        .format_timestamp_micros()
+        .init();
+
+    let mut dp_master = dp::DpMaster::new(vec![]);
+
+    // Options generated by `gsdtool` using "B751_P39.GSD"
+    let options = profirust::dp::PeripheralOptions {
+        // "WAGO 750-303 (FW: 01 ... 06) PRO" by "WAGO Kontakttechnik GmbH"
+        ident_number: 0xb751,
+
+        // Global Parameters:
+        //   - Register-Interface.............: is not used
+        //   - RESET on terminalbus failure...: POWER ON RESET
+        //   - Terminalbus diagnostics........: disabled
+        //   - Evaluation of Clear_Data.......: enabled
+        //   - Diagnostics of binary modules..: is not mapped into PI
+        //   - Extended PI-Update.............: according to PI-Update
+        //   - Evaluation of complex modules..: process data only
+        //   - Data format....................: MOTOROLA
+        //   - Process image update...........: free running
+        //   - Response to PROFIBUS failure...: Output image is cleared
+        //   - Response to terminalbus failure: PROFIBUS communication stops
+        //   - Maximum length of diagnostics..: 16 Byte
+        //
+        // Selected Modules:
+        //   [0]   8 Bit binary inputs
+        //   [1]   8 Bit binary outputs
+        user_parameters: Some(&[
+            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x6b, 0x00, 0x10, 0x00, 0x0a,
+            0x00,
+        ]),
+        config: Some(&[0x10, 0x20]),
+
+        // Set max_tsdr depending on baudrate and assert
+        // that a supported baudrate is used.
+        max_tsdr: match BAUDRATE {
+            profirust::Baudrate::B9600 => 60,
+            profirust::Baudrate::B19200 => 60,
+            profirust::Baudrate::B93750 => 60,
+            profirust::Baudrate::B187500 => 60,
+            profirust::Baudrate::B500000 => 100,
+            profirust::Baudrate::B1500000 => 150,
+            profirust::Baudrate::B3000000 => 250,
+            profirust::Baudrate::B6000000 => 350,
+            profirust::Baudrate::B12000000 => 550,
+            b => panic!(
+                "Peripheral \"WAGO 750-303 (FW: 01 ... 06) PRO\" does not support baudrate {b:?}!"
+            ),
+        },
+
+        fail_safe: false,
+        ..Default::default()
+    };
+    let mut buffer_inputs = [0u8; 1];
+    let mut buffer_outputs = [0u8; 1];
+    let mut buffer_diagnostics = [0u8; 64];
+
+    let rio_handle = dp_master.add(
+        dp::Peripheral::new(
+            RIO_ADDRESS,
+            options,
+            &mut buffer_inputs,
+            &mut buffer_outputs,
+        )
+        .with_diag_buffer(&mut buffer_diagnostics),
+    );
+
+    let mut fdl_master = fdl::FdlMaster::new(
+        fdl::ParametersBuilder::new(MASTER_ADDRESS, BAUDRATE)
+            // We use a rather large T_slot time because USB-RS485 converters
+            // can induce large delays at times.
+            .slot_bits(2500)
+            .watchdog_timeout(profirust::time::Duration::from_secs(2))
+            .build_verified(&dp_master),
+    );
+    // We must not poll() too often or to little. T_slot / 2 seems to be a good compromise.
+    let sleep_time: std::time::Duration = (fdl_master.parameters().slot_time() / 2).into();
+
+    let mut phy = phy::LinuxRs485Phy::new(BUS_DEVICE, fdl_master.parameters().baudrate);
+
+    let start = profirust::time::Instant::now();
+    let mut pii = [0u8; 1024];
+    let mut piq = [0u8; 1024];
+
+    fdl_master.set_online();
+    dp_master.enter_operate();
+    loop {
+        let now = profirust::time::Instant::now();
+        let events = fdl_master.poll(now, &mut phy, &mut dp_master);
+
+        if events.cycle_completed {
+            let remoteio = dp_master.get_mut(rio_handle);
+            let rio_running = remoteio.is_running();
+            let rio_pii = remoteio.pi_i();
+            pii[0..rio_pii.len()].copy_from_slice(rio_pii);
+
+            *pi::tag_mut!(&mut pii, X, 64, 0) = rio_running;
+
+            program(Pii::from(&pii), PiqMut::from(&mut piq), now);
+
+            let remoteio = dp_master.get_mut(rio_handle);
+            let rio_piq = remoteio.pi_q_mut();
+            rio_piq.copy_from_slice(&piq[0..rio_piq.len()]);
+        }
+
+        std::thread::sleep(sleep_time);
+    }
+}