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hiperiondevhiperiondev
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Correct logic. Add watchdog
1 parent 5e7f410 commit c02b1ce

45 files changed

Lines changed: 418 additions & 184 deletions

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‎ladder.h‎

Lines changed: 7 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -212,7 +212,7 @@ typedef enum LADDER_REGISTERS {
212212
* @brief Instruction description: inputs, outputs, occupied cells
213213
*
214214
*/
215-
typedef struct ladder_instructions_ioc_s {
215+
typedef struct ladder_instructions_iocd_s {
216216
uint8_t inputs; /**< Inputs quantity */
217217
uint8_t outputs; /**< Outputs quantity */
218218
uint8_t cells; /**< Cells quantity */
@@ -493,6 +493,7 @@ typedef struct ladder_hw_input_vals_s {
493493
uint8_t *I; /**< Digital inputs */
494494
int32_t *IW; /**< Analog inputs */
495495
uint8_t *Ih; /**< Digital inputs previous */
496+
int32_t *IWh; /**< Analog inputs previous */
496497
} ladder_hw_input_vals_t;
497498

498499
/**
@@ -507,6 +508,7 @@ typedef struct ladder_hw_output_vals_s {
507508
uint8_t *Q; /**< Digital outputs */
508509
int32_t *QW; /**< Analog outputs */
509510
uint8_t *Qh; /**< Digital outputs previous */
511+
int32_t *QWh; /**< Analog outputs previous */
510512
} ladder_hw_output_vals_t;
511513

512514
/**
@@ -517,6 +519,7 @@ typedef struct ladder_hw_output_vals_s {
517519
typedef struct ladder_scan_internals_s {
518520
uint64_t actual_scan_time; /**< Actual scan time */
519521
uint64_t start_time; /**< Start time for calculate scan time */
522+
uint64_t max_scan_cycles; /**< Watchdog */
520523
} ladder_scan_internals_t;
521524

522525
/**
@@ -617,7 +620,7 @@ static inline bool LADDER_VERTICAL_BAR(const ladder_ctx_t *lctx, uint32_t n, uin
617620

618621
/**
619622
* @fn bool ladder_ctx_init(ladder_ctx_t *ladder_ctx, uint8_t net_columns_qty, uint8_t net_rows_qty, uint32_t networks_qty, uint32_t qty_m, uint32_t qty_c,
620-
* uint32_t qty_t, uint32_t qty_d, uint32_t qty_r, uint32_t delay_not_run, uint32_t watchdog_ms, bool init_network, bool write_on_fault);
623+
* uint32_t qty_t, uint32_t qty_d, uint32_t qty_r, uint32_t delay_not_run, uint32_t watchdog_ms, bool init_network, bool write_on_fault, uint64_t max_scan_cycles);
621624
* @brief Initialize context.
622625
*
623626
*
@@ -634,10 +637,11 @@ static inline bool LADDER_VERTICAL_BAR(const ladder_ctx_t *lctx, uint32_t n, uin
634637
* @param watchdog_ms
635638
* @param init_network If false not initialize Networks
636639
* @param write_on_fault If true, write outputs on fault/INV states.
640+
* @param max_scan_cycles Watchdog
637641
* @return Error
638642
*/
639643
bool ladder_ctx_init(ladder_ctx_t *ladder_ctx, uint8_t net_columns_qty, uint8_t net_rows_qty, uint32_t networks_qty, uint32_t qty_m, uint32_t qty_c,
640-
uint32_t qty_t, uint32_t qty_d, uint32_t qty_r, uint32_t delay_not_run, uint32_t watchdog_ms, bool init_network, bool write_on_fault);
644+
uint32_t qty_t, uint32_t qty_d, uint32_t qty_r, uint32_t delay_not_run, uint32_t watchdog_ms, bool init_network, bool write_on_fault, uint64_t max_scan_cycles);
641645

642646
/**
643647
* @fn bool ladder_ctx_deinit(ladder_ctx_t *ladder_ctx)

source/include/fn_commons.h renamed to source/include/ladder_fn_commons.h

Lines changed: 91 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -347,9 +347,19 @@ static inline int32_t ladder_get_data_int32(ladder_ctx_t *lctx, uint32_t r, uint
347347
return lctx->output[mod].QW[port];
348348
}
349349
case LADDER_REGISTER_C:
350-
return (int32_t) lctx->registers.C[val->value.i32];
350+
uint32_t cv = lctx->registers.C[val->value.i32];
351+
if (cv > (uint32_t) INT32_MAX) { // Overflow check for unsigned to signed cast
352+
lctx->ladder.last.err = LADDER_INS_ERR_OVERFLOW;
353+
return 0;
354+
}
355+
return (int32_t) cv;
351356
case LADDER_REGISTER_T:
352-
return (int32_t) lctx->timers[val->value.i32].acc; // Truncate u64 to i32 if needed
357+
uint64_t acc = lctx->timers[val->value.i32].acc; // Truncate u64 to i32 if needed
358+
if (acc > (uint64_t) INT32_MAX) { // Overflow check consistent with ladder_get_data_value
359+
lctx->ladder.last.err = LADDER_INS_ERR_OVERFLOW;
360+
return 0;
361+
}
362+
return (int32_t) acc;
353363
case LADDER_REGISTER_D:
354364
return lctx->registers.D[val->value.i32];
355365
case LADDER_REGISTER_R:
@@ -458,3 +468,82 @@ static inline void ladder_set_data_value(ladder_ctx_t *ladder_ctx, uint32_t row,
458468
break;
459469
}
460470
}
471+
472+
static inline ladder_data_type_t get_effective_type(ladder_register_t reg_type) {
473+
switch (reg_type) {
474+
case LADDER_REGISTER_NONE:
475+
case LADDER_REGISTER_D:
476+
case LADDER_REGISTER_IW:
477+
case LADDER_REGISTER_QW:
478+
return LADDER_DATATYPE_I32;
479+
case LADDER_REGISTER_R:
480+
return LADDER_DATATYPE_REAL;
481+
case LADDER_REGISTER_M:
482+
case LADDER_REGISTER_Q:
483+
case LADDER_REGISTER_I:
484+
case LADDER_REGISTER_Cd:
485+
case LADDER_REGISTER_Cr:
486+
case LADDER_REGISTER_Td:
487+
case LADDER_REGISTER_Tr:
488+
return LADDER_DATATYPE_BOOL;
489+
case LADDER_REGISTER_C:
490+
case LADDER_REGISTER_T:
491+
return LADDER_DATATYPE_U32;
492+
case LADDER_REGISTER_S:
493+
return LADDER_DATATYPE_CSTR;
494+
default:
495+
return LADDER_DATATYPE_BOOL; // Default to bool for unknown
496+
}
497+
}
498+
499+
static inline float ladder_get_data_float(ladder_ctx_t *lctx, uint32_t r, uint32_t c, uint32_t i) {
500+
if (lctx == NULL || lctx->exec_network == NULL) {
501+
return 0.0f; // Safe default on invalid context
502+
}
503+
ladder_network_t *net = lctx->exec_network;
504+
if (r >= net->rows || c >= net->cols || i >= net->cells[r][c].data_qty) {
505+
return 0.0f; // Safe default on OOB
506+
}
507+
ladder_register_t type = net->cells[r][c].data[i].type;
508+
ladder_value_t *val = &net->cells[r][c].data[i];
509+
510+
switch (type) {
511+
case LADDER_REGISTER_NONE:
512+
return (float) val->value.i32;
513+
case LADDER_REGISTER_M:
514+
case LADDER_REGISTER_Q:
515+
case LADDER_REGISTER_I:
516+
case LADDER_REGISTER_Cd:
517+
case LADDER_REGISTER_Cr:
518+
case LADDER_REGISTER_Td:
519+
case LADDER_REGISTER_Tr:
520+
return (float) ladder_get_data_value(lctx, r, c, i);
521+
case LADDER_REGISTER_IW: {
522+
uint32_t mod = val->value.mp.module;
523+
uint8_t port = val->value.mp.port;
524+
if (mod >= lctx->hw.io.fn_read_qty)
525+
return 0.0f;
526+
return (float) lctx->input[mod].IW[port];
527+
}
528+
case LADDER_REGISTER_QW: {
529+
uint32_t mod = val->value.mp.module;
530+
uint8_t port = val->value.mp.port;
531+
if (mod >= lctx->hw.io.fn_write_qty)
532+
return 0.0f;
533+
return (float) lctx->output[mod].QW[port];
534+
}
535+
case LADDER_REGISTER_C:
536+
return (float) lctx->registers.C[val->value.i32];
537+
case LADDER_REGISTER_T:
538+
return (float) lctx->timers[val->value.i32].acc;
539+
case LADDER_REGISTER_D:
540+
return (float) lctx->registers.D[val->value.i32];
541+
case LADDER_REGISTER_R:
542+
return lctx->registers.R[val->value.i32];
543+
case LADDER_REGISTER_S:
544+
return 0.0f; // Strings not numeric
545+
case LADDER_REGISTER_INV:
546+
default:
547+
return 0.0f;
548+
}
549+
}

‎source/instructions/fn_ADD.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

‎source/instructions/fn_AND.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

‎source/instructions/fn_COIL.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

‎source/instructions/fn_COILL.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

‎source/instructions/fn_COILU.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

‎source/instructions/fn_CONN.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

‎source/instructions/fn_CTD.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

‎source/instructions/fn_CTU.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <stdbool.h>
3434
#include <stdint.h>
3535

36-
#include "fn_commons.h"
36+
#include "ladder_fn_commons.h"
3737
#include "ladder.h"
3838
#include "ladder_internals.h"
3939
#include "ladder_instructions.h"

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