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.gitignore
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/target
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Cargo.lock
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Cargo.lock
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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|
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"tap",
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name = "test-jig-software"
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[dependencies]
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||||||
|
env_logger = "0.11.3"
|
||||||
|
log = "0.4.21"
|
||||||
|
process-image = "0.2.0"
|
||||||
|
profirust = { version = "0.2.0", default-features = false, features = ["phy-linux", "std"] }
|
||||||
208
src/main.rs
Normal file
208
src/main.rs
Normal file
|
|
@ -0,0 +1,208 @@
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Add table
Add a link
Reference in a new issue