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//-----------------------------------------------------------------------------
// Master.vpl, created 2003-04-07 15:44
//
// This is a small demonstration program, that shows how to communicate using
// the serial routines (via RS485) in the RTCU units. Two projects are involved,
// Master and Slave. The Slave project is typically running on a RTCU-D4 CTRL
// unit, and the Master runs on any type of RTCU, which needs to access
// extra I/O signals.
//
// Format:
// To Slave FROM Master:
// <STX> <SRC> <DST> <DO Data-LSB> <DO Data-MSB>
// <AO-1-LSB> <AO-1-MSB>
// <AO-2-LSB> <AO-2-MSB>
// <AO-3-LSB> <AO-3-MSB>
// <AO-4-LSB> <AO-4-MSB> <ETX>
//
//
// To Master FROM Slave:
// <STX> <SRC> <DST> <DI Data-LSB> <DI Data-MSB>
// <AI-1-LSB> <AI-1-MSB>
// <AI-2-LSB> <AI-2-MSB>
// <AI-3-LSB> <AI-3-MSB>
// <AI-4-LSB> <AI-4-MSB> <ETX>
//
//
// STX = 0xFF
// ETX = 0xFE
// STUFF = 0x1B
// <DO-Data-LSB>/<DO-Data-MSB> = New status for digital outputs
// <AO-n-LSB>/<AO-n-MSB> = New data for analog output n
//
// <DI-Data-LSB>/<DI-Data-MSB> = New status for digital inputs
// <AI-n-LSB>/<AI-n-MSB> = New data for analog input n
//
//-----------------------------------------------------------------------------
INCLUDE rtcu.inc
// Input variables that can be configured via the configuration dialog (These are global)
VAR_INPUT
SerialPort : SINT; | Serial port to communicate on (0=service port, 1=port 2)
MyNodeID : SINT; | This units nodeid
DestNodeID : SINT; | NodeID of remote unit
END_VAR;
// Output variables that can be configured via the configuration dialog (These are global)
VAR_OUTPUT
RXLed : BOOL; | changes state after each receive (with correct nodeid)
TXLed : BOOL; | changes state after each transmit
END_VAR;
// These are the global variables of the program
VAR
xAI : ARRAY[1..4] OF INT; // Analog inputs values from remote unit
xDI : ARRAY[1..12] OF BOOL;// Digital inputs values from remote unit
xAO : ARRAY[1..4] OF INT; // Analog output values to remote unit
xDO : ARRAY[1..12] OF BOOL;// Digital output values to remote unit
END_VAR;
//----------------------------------------------------------------------------
// Misc. helper functions
// Pack/Unpack INT and DINT's from an array of SINT
//----------------------------------------------------------------------------
function getINT:int;
var_input
adr : ptr;
end_var;
memcpy(dst:=addr(getInt),src:=adr,len:=sizeof(getINT));
end_function;
function setINT;
var_input
adr : ptr;
v : int;
end_var;
memcpy(dst:=adr,src:=addr(v),len:=sizeof(v));
end_function;
//----------------------------------------------------------------------------
PROGRAM Master;
VAR
RX : serFrameReceiver;
Len : SINT;
RxBuffer : ARRAY[0..63] of SINT;
TxBuffer : ARRAY[0..63] of SINT;
Index : SINT; // Temporary variable/counter
tAnswer : TON;
str : STRING;
END_VAR;
serOpen(Port:=SerialPort, Baud:=57600, bit:=8, Parity:=0, RS485:=TRUE);
RX(port:=SerialPort, enable:=TRUE, frame:=addr(rxbuffer), maxsize:=sint(sizeof(rxbuffer)), stuffch:=16#10, sof:=16#02, eof:=16#03);
DebugMsg(message:="Master running");
tAnswer.pt:=1000;
//----------------------------------------------------------------------
// In this demo, just set the outputs of the remote node to something
xAO[1]:=128;
xAO[2]:=256;
xAO[3]:=512;
xAO[4]:=1023;
FOR index:=1 TO 12 BY 2 DO
xDO[index]:=TRUE;
END_FOR;
//----------------------------------------------------------------------
BEGIN
Sleep(delay:=100);
// Build transmit frame
TXBuffer[0]:=MyNodeID; // Our nodeID
TXBuffer[1]:=DestNodeID; // Destination nodeID
// Set values for the 12 digital outputs
TXBuffer[2]:=0;
TXBuffer[3]:=0;
FOR index:=0 TO 7 DO
IF xDO[index+1] THEN
TXBuffer[2]:=TXBuffer[2] OR shl8(in:=1, n:=index);
END_IF;
END_FOR;
FOR index:=0 TO 3 DO
IF xDO[index+9] THEN
TXBuffer[3]:=TXBuffer[3] OR shl8(in:=1, n:=index);
END_IF;
END_FOR;
// Set values for the 4 analog outputs
setInt(adr:=addr(TXBuffer[4]), v:=xAO[1]);
setInt(adr:=addr(TXBuffer[6]), v:=xAO[2]);
setInt(adr:=addr(TXBuffer[8]), v:=xAO[3]);
setInt(adr:=addr(TXBuffer[10]),v:=xAO[4]);
// Send the request
serSendData(port:=SerialPort, data:=addr(TXBuffer), size:=12, stuffch:=16#10, sof:=16#02, eof:=16#03);
// Wait for response or a timeout (1 Sec)
tAnswer.trig:=TRUE;
WHILE NOT RX.ready AND NOT tAnswer.q DO
RX();
tAnswer();
END_WHILE;
tAnswer.trig:=FALSE;
// If a response was received
IF (RX.Ready) THEN
RXLed:=NOT RXLed;
// and it is for this node...
IF (MyNodeID = RXBuffer[1]) THEN
// Get the values of the analog inputs
xAI[1]:=getINT(adr:=addr(RXBuffer[4]));
xAI[2]:=getINT(adr:=addr(RXBuffer[6]));
xAI[3]:=getINT(adr:=addr(RXBuffer[8]));
xAI[4]:=getINT(adr:=addr(RXBuffer[10]));
// Get the values of the digital inputs
FOR index:=0 TO 7 DO
xDI[index+1]:=(RXBuffer[2] AND shl8(in:=1, n:=index)) <> 0;
END_FOR;
FOR index:=0 TO 3 DO
xDI[index+9]:=(RXBuffer[3] AND shl8(in:=1, n:=index)) <> 0;
END_FOR;
//----------------------------------------------------------------------
// In this demo, just show the inputs from the remote node
DebugFmt(message:="Analog inputs: \1,\2,\3,\4", v1:=xAI[1], v2:=xAI[2], v3:=xAI[3], v4:=xAI[4]);
str:="";
FOR index:=1 to 12 DO
str:=strConcat(str1:=str, str2:=intToStr(v:=int(xDI[index])));
END_FOR;
DebugMsg(message:=strConcat(str1:="Digital inputs: ", str2:=str));
//----------------------------------------------------------------------
ELSE
DebugMsg(message:="Message not for this node !");
END_IF;
serFrameReceiveDone(port:=SerialPort);
ELSE
DebugMsg(message:="Timeout waiting for response !");
END_IF;
END;
END_PROGRAM;
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