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<?xml version="1.0" encoding="utf-8"?>---
FUNCTION_BLOCK PiFaceDigital EXTENDS spi
VAR_INPUT
byOut: BYTE;
END_VAR
VAR_OUTPUT
byIn: BYTE;
END_VAR
VAR
_byHardwareAddress: BYTE;
END_VAR
VAR_TEMP
i: INT;
k: INT;
END_VAR
SUPER^();
CASE _iState OF
0:
IF SUPER^.init() THEN
_iState := 1;
END_IF
1:
write8(_byHardwareAddress, IOCON, 8); //enable hardware addressing
write8(_byHardwareAddress, GPIOA, 0); //turn on port A
write8(_byHardwareAddress, IODIRA, 0); //set port A as an output
write8(_byHardwareAddress, IODIRB, 16#FF); // set port B as an input
write8(_byHardwareAddress, GPPUB, 16#FF); // turn on port B pullups
_iState := 10;
END_CASE
METHOD Initialize: UDINT
VAR_INPUT
wModuleType: UINT;
dwInstance: UDINT;
pConnector: pointer;
END_VAR
VAR
pParam: pointer;
udiResult: UDINT;
END_VAR
SUPER^.Initialize(wModuleType, dwInstance, pConnector);
pParam := ConfigGetParameter(_pConnector, 1);
IF pParam <> 0 THEN
_byHardwareAddress := IoStandard.ConfigGetParameterValueByte(pParam, ADR(udiResult));
END_IF
METHOD BeforeWriteOutputs: INT
VAR
i: USINT;
END_VAR
SUPER^.BeforeWriteOutputs();
IF _iState = 10 THEN
write8(_byHardwareAddress, GCL_PIFace.OUTPUT_PORT, byOut);
END_IF
METHOD AfterReadInputs: INT
VAR
aby: ARRAY [..] OF ;
END_VAR
SUPER^.AfterReadInputs();
IF _iState = 10 THEN
byIn := NOT read8(_byHardwareAddress, GCL_PIFace.INPUT_PORT);
END_IF
METHOD read8: BYTE
VAR_INPUT
byHardwareAddress: subrangeSigned;
byPort: BYTE;
END_VAR
VAR
abyTxBuffer: ARRAY [..] OF ;
abyRxBuffer: ARRAY [..] OF ;
END_VAR
abyTxBuffer[0] := 16#40 + SHL(byHardwareAddress, 1) + 1; //SPI_READ_CMD;
abyTxBuffer[1] := byPort;
abyTxBuffer[2] := 16#FF;
IF transfer(pabyTxBuffer:=ADR(abyTxBuffer) , pabyRxBuffer:=ADR(abyRxBuffer) , udiLen:=3 , uiDelayus:=5 ) THEN
read8 := abyRxBuffer[2];
ELSE
_iState := 1000;
END_IF
METHOD write8: BOOL
VAR_INPUT
byHardwareAddress: subrangeSigned;
byPort: BYTE;
byValue: BYTE;
END_VAR
VAR
abyTxBuffer: ARRAY [..] OF ;
abyRxBuffer: ARRAY [..] OF ;
END_VAR
abyTxBuffer[0] := 16#40 + SHL(byHardwareAddress, 1); //SPI_WRITE_CMD;
abyTxBuffer[1] := byPort;
abyTxBuffer[2] := byValue;
write8 := transfer(pabyTxBuffer:=ADR(abyTxBuffer) , pabyRxBuffer:=ADR(abyRxBuffer) , udiLen:=3 , uiDelayus:=5 );
IF NOT write8 THEN
_iState := 1000;
END_IF
FUNCTION_BLOCK IoDrvPiFace EXTENDS IoDrvBase
VAR
CLASSID_CCmpIoDrvTemplate: DWORD;
END_VAR
VAR
_IIoDrv: ICmpIoDrv;
_IIoDrvParameter: ICmpIoDrvParameter;
_xBackGroundDiagStarted: BOOL;
_bDeactivated: BOOL;
PiFace: PiFaceDigital;
END_VAR
METHOD IoDrvReadInputs: UDINT
VAR_INPUT
pConnectorMapList: pointer;
nCount: DINT;
END_VAR
VAR
i: DINT;
j: DINT;
wSize: WORD;
pbyIecAddress: pointer;
bySrcValue: BYTE;
bySrcMask: BYTE;
wSrcIndex: WORD;
wDestIndex: WORD;
END_VAR
IoDrvReadInputs_Count := IoDrvReadInputs_Count + 1;
IF pConnectorMapList = 0 OR nCount = 0 THEN
IoDrvReadInputs := Errors.ERR_PARAMETER;
RETURN;
END_IF
FOR i:=0 TO nCount - 1 DO
IF (pConnectorMapList[i].dwNumOfChannels = 0) THEN
CONTINUE;
END_IF
FOR j:= 0 TO UDINT_TO_UINT(pConnectorMapList[i].dwNumOfChannels) - 1 DO
pbyIecAddress := pConnectorMapList[i].pChannelMapList[j].pbyIecAddress;
wDestIndex := pConnectorMapList[i].pChannelMapList[j].wIecAddressBitOffset / 8;
IF (pConnectorMapList[i].pChannelMapList[j].wSize = 1) THEN
IF (PiFace.byIn AND SHL(BYTE#1, pConnectorMapList[i].pChannelMapList[j].wParameterBitOffset MOD 8)) <> 0 THEN
{IF defined (pou:SysCpuSetBit2)}
SysCpuSetBit2(ADR(pbyIecAddress[wDestIndex]), pConnectorMapList[i].pChannelMapList[j].wIecAddressBitOffset MOD 8);
{ELSE}
SysCpuSetBit(ADR(pbyIecAddress[wDestIndex]), pConnectorMapList[i].pChannelMapList[j].wIecAddressBitOffset MOD 8);
{END_IF}
ELSE
{IF defined (pou:SysCpuResetBit2)}
SysCpuResetBit2(ADR(pbyIecAddress[wDestIndex]), pConnectorMapList[i].pChannelMapList[j].wIecAddressBitOffset MOD 8);
{ELSE}
SysCpuResetBit(ADR(pbyIecAddress[wDestIndex]), pConnectorMapList[i].pChannelMapList[j].wIecAddressBitOffset MOD 8);
{END_IF}
END_IF
ELSIF pConnectorMapList[i].pChannelMapList[j].wSize = 8 THEN
pbyIecAddress[wDestIndex] := PiFace.byIn;
END_IF
END_FOR
END_FOR
IoDrvReadInputs := Errors.ERR_OK;
METHOD IoDrvIdentify: UDINT
VAR_INPUT
pConnector: pointer;
END_VAR
IoDrvIdentify_Count := IoDrvIdentify_Count + 1;
IoDrvIdentify := Errors.ERR_NOTIMPLEMENTED;
METHOD IoDrvUpdateConfiguration: UDINT
VAR_INPUT
pConnectorList: pointer;
nCount: DINT;
END_VAR
VAR
pParameter: pointer;
pChild: pointer;
pstConnectorVendorName: pointer;
pstConnectorDeviceName: pointer;
dwTest: pointer;
Result: RTS_IEC_RESULT;
END_VAR
IoDrvUpdateConfiguration_Count := IoDrvUpdateConfiguration_Count + 1;
IoDrvUpdateConfiguration := Errors.ERR_OK;
IF (pConnectorList = 0) THEN
// Reset application
// TODO: Free ressources
RETURN;
END_IF
m_pConnector := IoMgrConfigGetConnector(pConnectorList, ADR(nCount), m_wModuleType, m_dwInstance);
IF m_pConnector = 0 THEN
IoDrvUpdateConfiguration := ERRORS.ERR_PARAMETER;
RETURN;
END_IF
//check if device is enabled in the device tree
IF (m_pConnector^.dwFlags AND ConnectorFlags.CF_ENABLE) = 0 THEN
_bDeactivated := TRUE;
IoDrvUpdateConfiguration := Errors.ERR_OK;
RETURN;
END_IF
IF m_pConnector^.hIoDrv = 0 THEN
m_pConnector^.hIoDrv := m_hInterface;
m_pConnector^.pFather^.hIoDrv := m_hInterface;
{IF defined (pou:IoMgrConfigSetDiagnosis)}
IoMgrConfigSetDiagnosis(m_pConnector,
ConnectorFlags.CF_DRIVER_AVAILABLE OR
ConnectorFlags.CF_CONNECTOR_FOUND OR
ConnectorFlags.CF_CONNECTOR_CONFIGURED OR
ConnectorFlags.CF_CONNECTOR_ACTIVE);
{END_IF}
{IF defined (pou:IoMgrConfigSetDiagnosis)}
IoMgrConfigSetDiagnosis(m_pConnector^.pFather,
ConnectorFlags.CF_DRIVER_AVAILABLE OR
ConnectorFlags.CF_CONNECTOR_FOUND OR
ConnectorFlags.CF_CONNECTOR_CONFIGURED OR
ConnectorFlags.CF_CONNECTOR_ACTIVE);
{END_IF}
{IF defined (pou:IoMgrSetDriverProperties)}
IoMgrSetDriverProperties(m_hInterface, DRVPROP_CONSISTENCY OR DRVPROP_BACKGROUND_GETDIAG);
//Note: background diagnosis property flag is optional (supported with 3.5.1.0 runtime)
{END_IF}
//Setup I/O area
pParameter := IoMgrConfigGetParameter(m_pConnector, 1000); (* inputs *)
IF (pParameter <> 0) THEN
pParameter^.dwDriverSpecific := 0; (* Device offset 0 *)
END_IF
pParameter := IoMgrConfigGetParameter(m_pConnector, 2000); (* outputs *)
IF (pParameter <> 0) THEN
pParameter^.dwDriverSpecific := 0; (* Device offset 0 *)
END_IF
//Go through all childs of the device
pChild := IoMgrConfigGetFirstChild(m_pConnector, ADR(nCount), m_pConnector);
WHILE (pChild <> 0) DO
IF (pChild^.dwFlags AND ConnectorFlags.CF_ENABLE) <> 0 THEN
pChild^.hIoDrv := m_hInterface;
{IF defined (pou:IoMgrConfigSetDiagnosis)}
IoMgrConfigSetDiagnosis(pChild,
ConnectorFlags.CF_DRIVER_AVAILABLE OR
ConnectorFlags.CF_CONNECTOR_FOUND OR
ConnectorFlags.CF_CONNECTOR_CONFIGURED OR
ConnectorFlags.CF_CONNECTOR_ACTIVE);
{END_IF}
END_IF
pChild := IoMgrConfigGetNextChild(pChild, ADR(nCount), m_pConnector);
END_WHILE
END_IF
METHOD IoDrvWatchdogTrigger: UDINT
VAR_INPUT
pConnector: pointer;
END_VAR
IoDrvWatchdogTrigger_Count := IoDrvWatchdogTrigger_Count + 1;
IoDrvWatchdogTrigger := Errors.ERR_OK;
METHOD IoDrvScanModules: UDINT
VAR_INPUT
pConnector: pointer;
ppConnectorList: pointer;
pnCount: pointer;
END_VAR
IoDrvScanModules_Count := IoDrvScanModules_Count + 1;
IoDrvScanModules := Errors.ERR_NOTIMPLEMENTED;
METHOD IoDrvUpdateMapping: UDINT
VAR_INPUT
pTaskMapList: pointer;
nCount: DINT;
END_VAR
IoDrvUpdateMapping_Count := IoDrvUpdateMapping_Count + 1;
IF (pTaskMapList = 0) THEN
IoDrvUpdateMapping := Errors.ERR_PARAMETER;
RETURN;
END_IF
IoDrvUpdateMapping := Errors.ERR_OK;
METHOD IoDrvWriteOutputs: UDINT
VAR_INPUT
pConnectorMapList: pointer;
nCount: DINT;
END_VAR
VAR
i: DINT;
j: DINT;
wSize: WORD;
pbyIecAddress: pointer;
bySrcValue: BYTE;
wSrcIndex: WORD;
bySrcMask: BYTE;
wDestIndex: WORD;
END_VAR
IoDrvWriteOutputs_Count := IoDrvWriteOutputs_Count + 1;
IF pConnectorMapList = 0 OR nCount = 0 THEN
IoDrvWriteOutputs := Errors.ERR_PARAMETER;
RETURN;
END_IF
FOR i:=0 TO nCount - 1 DO
IF (pConnectorMapList[i].dwNumOfChannels = 0) THEN
CONTINUE;
END_IF
FOR j:= 0 TO UDINT_TO_UINT(pConnectorMapList[i].dwNumOfChannels) - 1 DO
wSrcIndex := pConnectorMapList[i].pChannelMapList[j].wIecAddressBitOffset / 8;
pbyIecAddress := pConnectorMapList[i].pChannelMapList[j].pbyIecAddress;
IF pConnectorMapList[i].pChannelMapList[j].wSize = 1 THEN
bySrcValue := pbyIecAddress[wSrcIndex];
IF (pbyIecAddress[wSrcIndex] AND SHL(BYTE#1, pConnectorMapList[i].pChannelMapList[j].wIecAddressBitOffset MOD 8)) <> 0 THEN
{IF defined (pou:SysCpuSetBit2)}
SysCpuSetBit2(ADR(PiFace.byOut), pConnectorMapList[i].pChannelMapList[j].wParameterBitOffset MOD 8);
{ELSE}
SysCpuSetBit(ADR(PiFace.byOut), pConnectorMapList[i].pChannelMapList[j].wParameterBitOffset MOD 8);
{END_IF}
ELSE
{IF defined (pou:SysCpuResetBit2)}
SysCpuResetBit2(ADR(PiFace.byOut), pConnectorMapList[i].pChannelMapList[j].wParameterBitOffset MOD 8);
{ELSE}
SysCpuResetBit(ADR(PiFace.byOut), pConnectorMapList[i].pChannelMapList[j].wParameterBitOffset MOD 8);
{END_IF}
END_IF
ELSIF pConnectorMapList[i].pChannelMapList[j].wSize = 8 THEN
PiFace.byOut := pbyIecAddress[wSrcIndex];
END_IF
END_FOR
END_FOR
IoDrvWriteOutputs := Errors.ERR_OK;
METHOD IoDrvStartBusCycle: UDINT
VAR_INPUT
pConnector: pointer;
END_VAR
IoDrvStartBusCycle_Count := IoDrvStartBusCycle_Count + 1;
//if background diagnosis is not active call IoDrvGetModuleDiagnosis; normally it will be called by the runtime if DRVPROP_BACKGROUND_GETDIAG is set
IF NOT _xBackGroundDiagStarted THEN
IoDrvGetModuleDiagnosis(m_pConnector); //DRVPROP_BACKGROUND_GETDIAG not set or runtime version < V3.5.1.0
END_IF
//optional: call IoDrvWatchdogTrigger or set driver property DRVPROP_WATCHDOG in UpdateConfiguration
IoDrvWatchdogTrigger(pConnector);
IF NOT _bDeactivated THEN
PiFace.AfterReadInputs();
PiFace.BeforeWriteOutputs();
END_IF
IoDrvStartBusCycle := Errors.ERR_OK;
METHOD IoDrvGetModuleDiagnosis: UDINT
VAR_INPUT
pConnector: pointer;
END_VAR
IF pConnector = 0 THEN
//we are called from the background task
_xBackGroundDiagStarted := TRUE;
END_IF
//Todo: update connectorflags if something changed
IoDrvGetModuleDiagnosis_Count := IoDrvGetModuleDiagnosis_Count + 1;
IoDrvGetModuleDiagnosis := Errors.ERR_NOTIMPLEMENTED;
METHOD IoDrvWriteParameter: UDINT
VAR_INPUT
pConnector: pointer;
pParameter: pointer;
pData: pointer;
dwBitSize: DWORD;
dwBitOffset: DWORD;
END_VAR
VAR
pParam: pointer;
pstDiagString: pointer;
END_VAR
IF pConnector = 0 OR pParameter = 0 OR pData = 0 THEN
IoDrvWriteParameter := Errors.ERR_PARAMETER;
RETURN;
END_IF
IoDrvWriteParameter := Errors.ERR_FAILED;
METHOD IoDrvReadParameter: UDINT
VAR_INPUT
pConnector: pointer;
pParameter: pointer;
pData: pointer;
dwBitSize: DWORD;
dwBitOffset: DWORD;
END_VAR
IF pConnector = 0 OR pParameter = 0 OR pData = 0 THEN
IoDrvReadParameter := Errors.ERR_PARAMETER;
RETURN;
END_IF
// All standard parameters of our device are handled by the IO-manager!
IoDrvReadParameter := Errors.ERR_FAILED;
METHOD QueryInterface: pointer
VAR_INPUT
iid: DWORD;
pResult: pointer;
END_VAR
QueryInterface_Count := QueryInterface_Count + 1;
IF iid = ITFID_ICmpIoDrv THEN
QueryInterface := ADR(_IIoDrv);
AddRef();
IF (pResult <> 0) THEN
pResult^ := Errors.ERR_OK;
END_IF
RETURN;
ELSIF iid = ITFID_ICmpIoDrvParameter THEN
QueryInterface := ADR(_IIoDrvParameter);
AddRef();
IF (pResult <> 0) THEN
pResult^ := Errors.ERR_OK;
END_IF
RETURN;
ELSE
QueryInterface := SUPER^.QueryInterface(iid, pResult);
END_IF
METHOD FB_Reinit: BOOL
FB_Reinit_Count := FB_Reinit_Count + 1;
FB_Reinit := TRUE;
METHOD Initialize: UDINT
VAR_INPUT
wModuleType: UINT;
dwInstance: UDINT;
pConnector: pointer;
END_VAR
Initialize_Count := Initialize_Count + 1;
m_wModuleType := wModuleType;
m_dwInstance := dwInstance;
m_Info.wModuleType := wModuleType;
PiFace.Initialize(wModuleType, dwInstance, pConnector);
Initialize := Errors.ERR_OK;
METHOD FB_Exit: BOOL
VAR_INPUT
bInCopyCode: BOOL;
END_VAR
FB_Exit_Count := FB_Exit_Count + 1;
FB_Exit := TRUE;
METHOD FB_Init: BOOL
VAR_INPUT
bInitRetains: BOOL;
bInCopyCode: BOOL;
END_VAR
VAR
Result: UDINT;
END_VAR
FB_Init_Count := FB_Init_Count + 1;
m_Info.szDriverName := 'IoDrvPiFace';
m_Info.szVendorName := '3S - Smart Software Solutions';
m_Info.szDeviceName := 'Raspberry PiFace Digital';
m_Info.wModuleType := 501;
_IIoDrv := THIS^;
_IIoDrvParameter := THIS^;
m_IBaseItf := THIS^;
m_hInterface := IoMgrRegisterInstance2(CLASSID_CCmpIoDrvTemplate, m_IBaseItf, ADR(Result));
FB_Init := TRUE;
METHOD IoDrvGetConnector: pointer
VAR_INPUT
pResult: pointer;
END_VAR
IF m_pConnector = 0 THEN
IF pResult <> 0 THEN
pResult^ := Errors.ERR_FAILED;
END_IF
IoDrvGetConnector := 0;
RETURN;
END_IF
IF pResult <> 0 THEN
pResult^ := Errors.ERR_OK;
END_IF
IoDrvGetConnector := m_pConnector;
VAR_GLOBAL
OUTPUT_PORT: USINT;
INPUT_PORT: USINT;
IOCON: USINT;
GPIOA: USINT;
GPIOB: USINT;
GPPUB: USINT;
IODIRA: USINT;
IODIRB: USINT;
END_VAR