Diff of /ecu_at135_v2r1_baloo/StandardPLC/Plc Logic/Application/010.PSCU_Direction_Hydac/Gestion_CAN_Hydac/svnobj [000000] .. [r2]  Maximize  Restore

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longTagTextÎ(*-----------------------------------------------------------------------------------------------------JFonction: Activation du bus CAN HYDAC"Auteur: LE BRECQ 2Date Création: 15/02/2019Modif: Objet Modif:Î-----------------------------------------------------------------------------------------------------*)2Activation_BUS_CAN_HYDAC(B   xEnable:= Activation_CAN_HYDAC, 2 xError=> Error_BUS_CAN, H eDiagInfo=> Retour_Para_CAN_HYDAC, >   eChannel:= Channel_CAN_HYDAC, $ eBaudrate:= 250);   ŠFonction: Activation/Désactivation de la direction electrohydraulique$IF (Estop = FALSE) 
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    THEN!h    IF (demande_direction_electrohydraulique = 1) THEN"@       TAB_TRANSMIT_HYDAC[0].0 := 1;#B         TAB_TRANSMIT_HYDAC[0].1 := 0; $n    ELSIF (demande_direction_electrohydraulique = 2) THEN%@         TAB_TRANSMIT_HYDAC[0].0 := 0;&@         TAB_TRANSMIT_HYDAC[0].1 := 1;'      ELSE(@       TAB_TRANSMIT_HYDAC[0].1 := 0;)      END_IF*ELSE+<   TAB_TRANSMIT_HYDAC[0].0 := 0;,<   TAB_TRANSMIT_HYDAC[0].1 := 0;-END_IF./œFonction: Consigne de braquage 1 => braquage à gauche   2 => braquage à droite0Z       IF (signe_consigne_angle_braquage = 1) THEN1@         TAB_TRANSMIT_HYDAC[0].2 := 1;2B         TAB_TRANSMIT_HYDAC[0].3 := 0; 3`    ELSIF (signe_consigne_angle_braquage = 2) THEN4@       TAB_TRANSMIT_HYDAC[0].2 := 0;5@         TAB_TRANSMIT_HYDAC[0].3 := 1;6@         TAB_TRANSMIT_HYDAC[0].3 := 0;7<   TAB_TRANSMIT_HYDAC[0].2 := 0;8<   TAB_TRANSMIT_HYDAC[0].3 := 0;9@Fonction: Demande de calibration:F    IF (demande_calibration = 1) THEN;@         TAB_TRANSMIT_HYDAC[0].4 := 1;<@         TAB_TRANSMIT_HYDAC[0].5 := 0;=L      ELSIF (demande_calibration = 2) THEN>@       TAB_TRANSMIT_HYDAC[0].4 := 0;?@         TAB_TRANSMIT_HYDAC[0].5 := 1;@<   TAB_TRANSMIT_HYDAC[0].4 := 0;A<   TAB_TRANSMIT_HYDAC[0].5 := 0;BRFonction: Validation point de calibrationCZ   IF (demande_validation_calibration = 1) THEND>    TAB_TRANSMIT_HYDAC[0].6 := 1;E>      TAB_TRANSMIT_HYDAC[0].7 := 0;F`   ELSIF (demande_validation_calibration = 2) THENG>      TAB_TRANSMIT_HYDAC[0].6 := 0;H>      TAB_TRANSMIT_HYDAC[0].7 := 1;I
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    ELSEJ END_IFK>    TAB_TRANSMIT_HYDAC[1].0 := 1;L>      TAB_TRANSMIT_HYDAC[1].1 := 0;M>      TAB_TRANSMIT_HYDAC[1].0 := 0;N>      TAB_TRANSMIT_HYDAC[1].1 := 1;O   END_IF   PZFonction: Ecriture de la consigne de braquageQt TAB_TRANSMIT_HYDAC[2] := WORD_TO_BYTE(consigne_braquage);R‚  TAB_TRANSMIT_HYDAC[3] := WORD_TO_BYTE(SHR(consigne_braquage,8));SnFonction: Ecriture de la vitesse actuelle - Non utiliséT| TAB_TRANSMIT_HYDAC[4] := WORD_TO_BYTE(valeur_absolu_vitesse);UŠ  TAB_TRANSMIT_HYDAC[5] := WORD_TO_BYTE(SHR(valeur_absolu_vitesse,8));VBFonction: Cadencement de la trameW„attente_100ms(IN:= Go_100ms, PT:= T#50MS, Q=> envoi_trame, ET=> );X4IF envoi_trame = TRUE THENY&    Go_100ms := FALSE;Z( Transmit_can_hydac([V                  xEnable:= activation_transmit_hydac, \J                  xError=> Error_transmit_hydac, ]^                  eDiagInfo=> Retour_error_transmit_hydac, ^H                  eChannel:= Channel_CAN_HYDAC, _,                udiID:= 16#384, `2                xExtended:= FALSE, a$                  usiDLC:= 8, bD                aData:= TAB_TRANSMIT_HYDAC);c$ Go_100ms := TRUE;dvFonction: Confection et récupération de la trame sur id 304eÐ-----------------------------------------------------------------------------------------------------*)    f6 Reception_trame_hydac_304(gN xEnable:= activation_reception_hydac, hJ xError=> Error_reception_hydac_304, i^ eDiagInfo=> Retour_error_reception_hydac_304, j( xExtended:= FALSE, kD   aData=> Tab_reception_304_hydac, l   usiDLC=> , m"   uiAvailable=> , n" udiID:= 16#304);oà    Raw_capt_gauche := USINT_TO_WORD(Tab_reception_304_hydac[0]) + USINT_TO_WORD(Tab_reception_304_hydac[1]) * 256;pà  Raw_capt_droite := USINT_TO_WORD(Tab_reception_304_hydac[2]) + USINT_TO_WORD(Tab_reception_304_hydac[3]) * 256;qâ  Real_capt_gauche := USINT_TO_WORD(Tab_reception_304_hydac[4]) + USINT_TO_WORD(Tab_reception_304_hydac[5]) * 256;râ    Real_capt_droite := USINT_TO_WORD(Tab_reception_304_hydac[6]) + USINT_TO_WORD(Tab_reception_304_hydac[7]) * 256;svFonction: Confection et récupération de la trame sur id 305t6 Reception_trame_hydac_305(uJ xError=> Error_reception_hydac_305, v^ eDiagInfo=> Retour_error_reception_hydac_305, wD aData=> Tab_reception_305_hydac, x"   udiID:= 16#305);yö    Retour_calibre_capt_gauche := USINT_TO_WORD(Tab_reception_305_hydac[0]) + USINT_TO_WORD(Tab_reception_305_hydac[1]) * 256;zö    Retour_calibre_capt_droite := USINT_TO_WORD(Tab_reception_305_hydac[2]) + USINT_TO_WORD(Tab_reception_305_hydac[3]) * 256;{ì    Retour_delta_calcule :=  USINT_TO_WORD(Tab_reception_305_hydac[4]) + USINT_TO_WORD(Tab_reception_305_hydac[5]) * 256;|š  IF (Tab_reception_305_hydac[6].0 = 1) AND (Tab_reception_305_hydac[6].1 = 0)}^    THEN Retour_signe_valeur_calibre_gauche := 1;~   ELSIF (Tab_reception_305_hydac[6].0 = 0) AND (Tab_reception_305_hydac[6].1 = 1)^      THEN Retour_signe_valeur_calibre_gauche := 2;€T     Retour_signe_valeur_calibre_gauche := 0;š   IF (Tab_reception_305_hydac[6].2 = 1) AND (Tab_reception_305_hydac[6].3 = 0)‚\       THEN Retour_signe_valeur_calibre_droit := 1;ƒ    ELSIF (Tab_reception_305_hydac[6].2 = 0) AND (Tab_reception_305_hydac[6].3 = 1)„\     THEN Retour_signe_valeur_calibre_droit := 2;…vFonction: Confection et récupération de la trame sur id 306†6   Reception_trame_hydac_306(‡J    xError=> Error_reception_hydac_306, ˆ^    eDiagInfo=> Retour_error_reception_hydac_306, ‰D    aData=> Tab_reception_306_hydac, Š"  udiID:= 16#306);‹ª   IF Tab_reception_306_hydac[0].0 = TRUE AND Tab_reception_306_hydac[0].1 = FALSE THENŒL       retour_signe_delta_calcule := FALSE;¬      IF Tab_reception_306_hydac[0].0 = FALSE AND Tab_reception_306_hydac[0].1 = TRUE THENŽJ       retour_signe_delta_calcule := TRUE;ü retour_EV_direction_pilote := BOOL_TO_USINT(Tab_reception_306_hydac[0].2) +  BOOL_TO_USINT(Tab_reception_306_hydac[0].3) * 2;ª IF Tab_reception_306_hydac[0].4 = TRUE AND Tab_reception_306_hydac[0].5 = FALSE THEN‘F       retour_mode_calibration := FALSE;’¬    IF Tab_reception_306_hydac[0].4 = FALSE AND Tab_reception_306_hydac[0].5 = TRUE THEN“D       retour_mode_calibration := TRUE;”ª   IF Tab_reception_306_hydac[0].6 = TRUE AND Tab_reception_306_hydac[0].7 = FALSE THEN•^       Demande_pilotage_groupe_hydraulique := FALSE;–¬    IF Tab_reception_306_hydac[0].6 = FALSE AND Tab_reception_306_hydac[0].7 = TRUE THEN—\       Demande_pilotage_groupe_hydraulique := TRUE;˜ô   Retour_nombre_calibration := USINT_TO_WORD(Tab_reception_306_hydac[1]) + USINT_TO_WORD(Tab_reception_306_hydac[2]) * 256;™„ Reour_numero_premier_alarme_active := Tab_reception_306_hydac[3];šInterface›L{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}œ@FUNCTION_BLOCK Gestion_CAN_HydacVAR_INPUTžn  Channel_CAN_HYDAC:                  ifmRCAN.ifmDevice.CAN_CHANNEL;Ÿ²   Estop:                           BOOL; // Monitoring Arrêt urgence - 0= AU Non-enclenché; 1= AU enclenchés @  Activation_CAN_HYDAC:             BOOL;¡H  activation_transmit_hydac:            BOOL;¢X  demande_direction_electrohydraulique: BYTE;£<  consigne_braquage:                  WORD;¤B  valeur_absolu_vitesse:               WORD;¥D  signe_vitesse_lineaire:             BYTE;¦~  signe_consigne_angle_braquage:         BYTE; //1 = Gauche 2 = Droite§>  demande_calibration:               BYTE;¨P  demande_validation_calibration:       BYTE;©J  activation_reception_hydac:          BOOL;ªEND_VAR«VAR_OUTPUT¬^  Retour_Para_CAN_HYDAC:               ifmTypes.DIAG_INFO;­f  Retour_error_transmit_hydac:         ifmTypes.DIAG_INFO;®n  Retour_error_reception_hydac_304:    ifmTypes.DIAG_INFO;¯n  Retour_error_reception_hydac_305:    ifmTypes.DIAG_INFO;°n  Retour_error_reception_hydac_306:    ifmTypes.DIAG_INFO;±6  Error_BUS_CAN:                     BOOL;²@  Error_transmit_hydac:             BOOL;³H  Error_reception_hydac_304:            BOOL;´H  Error_reception_hydac_305:            BOOL;µH  Error_reception_hydac_306:            BOOL;¶8  Raw_capt_gauche:                  WORD;·8  Raw_capt_droite:                  WORD;¸:  Real_capt_gauche:                WORD;¹:  Real_capt_droite:                WORD;ºJ  Retour_calibre_capt_gauche:          WORD;»J  Retour_calibre_capt_droite:          WORD;¼@  Retour_delta_calcule:             WORD;½V  Retour_signe_valeur_calibre_gauche:    BYTE;¾T  Retour_signe_valeur_calibre_droit:      BYTE;¿J  retour_signe_delta_calcule:          BOOL;ÀL  retour_EV_direction_pilote:          USINT;ÁD    retour_mode_calibration:            BOOL;ÂH  Retour_nombre_calibration:            WORD;ÃV  Reour_numero_premier_alarme_active:    BYTE;ÄV  Demande_pilotage_groupe_hydraulique:   BOOL;ÅVARÆb Activation_BUS_CAN_HYDAC:          ifmRCAN.CAN_Enable;ÇR  Transmit_can_hydac:                ifmRCAN.CAN_Tx;È\  Reception_trame_hydac_304:            ifmRCAN.CAN_Rx;É\  Reception_trame_hydac_305:            ifmRCAN.CAN_Rx;Ê^  Reception_trame_hydac_306:            ifmRCAN.CAN_Rx; Ë4    attente_100ms:                     TON;Ì`    TAB_TRANSMIT_HYDAC:                ARRAY [0..7] OF USINT;Íh    Tab_reception_304_hydac:           ARRAY [0..7] OF USINT;Îf    Tab_reception_305_hydac:            ARRAY [0..7] OF USINT;Ïf    Tab_reception_306_hydac:            ARRAY [0..7] OF USINT;Ð.    Go_100ms:                      BOOL;Ñ2  envoi_trame:                     BOOL;Ò"UniqueIdGeneratorÓ748ÔPOULevelÕL{8e575c5b-1d37-49c6-941b-5c0ec7874787}ÖStandard× ChildObjectGuidsØ8System.Collections.ArrayListÙ,AddAttributeSubsequentÚboolÐÐ-ÐÐ E
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