ProSoft Technology MVI56E-LDM User Manual

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MVI56E-LDM

ControlLogix Platform

"C" Programmable Linux Application Development

Module

DEVELOPER'S MANUAL

March 12, 2014

Your Feedback Please

We always want you to feel that you made the right decision to use our products. If you have suggestions, comments, compliments or complaints about our products, documentation, or support, please write or call us.

ProSoft Technology 5201 Truxtun Ave., 3rd Floor Bakersfield, CA 93309 +1 (661) 716-5100 +1 (661) 716-5101 (Fax) www.prosoft-technology.com support@prosoft-technology.com

MVI56E-LDM Developer's Manual

March 12, 2014

ProSoft Technology ®, is a registered Copyright of ProSoft Technology, Inc. All other brand or product names are or may be trademarks of, and are used to identify products and services of, their respective owners.

In an effort to conserve paper, ProSoft Technology no longer includes printed manuals with our product shipments. User Manuals, Datasheets, Sample Ladder Files, and Configuration Files are provided on the enclosed DVD and are available at no charge from our web site: http://www.prosoft-technology.com

Important Installation Instructions

Power, Input, and Output (I/O) wiring must be in accordance with Class I, Division 2 wiring methods, Article 501-4 (b) of the National Electrical Code, NFPA 70 for installation in the U.S., or as specified in Section 18-1J2 of the Canadian Electrical Code for installations in Canada, and in accordance with the authority having jurisdiction. The following warnings must be heeded:

WARNING - EXPLOSION HAZARD - SUBSTITUTION OF COMPONENTS MAY IMPAIR SUITABILITY FOR CLASS I, DIV. 2; WARNING - EXPLOSION HAZARD - WHEN IN HAZARDOUS LOCATIONS, TURN OFF POWER BEFORE REPLACING OR WIRING MODULES WARNING - EXPLOSION HAZARD - DO NOT DISCONNECT EQUIPMENT UNLESS POWER HAS BEEN SWITCHED OFF OR THE AREA IS KNOWN TO BE NON-HAZARDOUS. THIS DEVICE SHALL BE POWERED BY CLASS 2 OUTPUTS ONLY.

MVI (Multi Vendor Interface) Modules

WARNING - EXPLOSION HAZARD - DO NOT DISCONNECT EQUIPMENT UNLESS POWER HAS BEEN SWITCHED OFF OR THE AREA IS KNOWN TO BE NON-HAZARDOUS.

AVERTISSEMENT - RISQUE D'EXPLOSION - AVANT DE DÉCONNECTER L'ÉQUIPEMENT, COUPER LE COURANT OU S'ASSURER QUE L'EMPLACEMENT EST DÉSIGNÉ NON DANGEREUX.

Warnings - MVI56E-LDM

North America Warnings

A Warning - Explosion Hazard - Substitution of components may impair suitability for Class I, Division 2.

B Warning - Explosion Hazard - When in Hazardous Locations, turn off power before replacing or rewiring

modules. Warning - Explosion Hazard - Do not disconnect equipment unless power has been switched off or the area is known to be nonhazardous.

C Suitable for use in Class I, Division 2 Groups A, B, C and D Hazardous Locations or Non-Hazardous Locations.

ATEX Warnings and Conditions of Safe Usage:

Power, Input, and Output (I/O) wiring must be in accordance with the authority having jurisdiction

A Warning - Explosion Hazard - When in hazardous locations, turn off power before replacing or wiring modules. B *Warning - Explosion Hazard - Do not disconnect equipment unless power has been switched off or the area is

known to be non-hazardous.

C These products are intended to be mounted in an IP54 enclosure. The devices shall provide external means to

prevent the rated voltage being exceeded by transient disturbances of more than 40%. This device must be used only with ATEX certified backplanes.

D DO NOT OPEN WHEN ENERGIZED.

CPU, Memory, and OS Specifications

 CPU: 400MHz ARM9 G20

Operating System: Linux (kernel 2.6.33.7)

  Linux Distribution: Debian GNU/Linux  System Memory: 64MB SDRAM  Flash Memory: 64MB ROM  Compact Flash: 64MB card provided (16GB max supported)

General Specifications

 Backplane Current Load: 800 mA @ 5 V DC; 3mA @ 24V DC  Operating Temperature: 0 to 60°C (32 to 140°F)  Storage Temperature: -40 to 85°C (-40 to 185°F)  Shock: 30g Operational; 50g non-operational; Vibration: 5 g from 10 to 150 Hz  Relative Humidity: 5% to 95% (non-condensing)  LED Indicators: ERR - Application driven, APP - Application driven, OK - Application driven  4-Character, Scrolling, Alpha-numeric LED Display: Application driven - possible uses

are: Module Version, IP, Application Port Setting, Status/Error Information

 All phase conductor sizes must be at least 1.3 mm(squared) and all earth ground

conductors must be at least 4mm(squared).

Ethernet Ports

 2 Ethernet Ports  10/100 Mbps  RJ45 Connector,  Link and Activity Indicators  Auto-sensing crossover cable detection

Serial Ports

 Full hardware handshaking control provides radio, modem, and multi-drop support.  RJ45 (DB-9M with supplied adapter cable)  Configurable RS-232 hardware handshaking  500V Optical isolation from backplane  RS-232, RS-422, RS-485 jumper-select, each port  Rx (Receive) and Tx (Transmit) LEDs, each port

Atex

CSA, CSA CB Safety

cULus

GOST-R

Lloyds

Agency Approvals and Certifications

ControlLogix Platform ♦ "C" Programmable Contents Linux Application Development Module Developer's Manual

Contents

Your Feedback Please ........................................................................................................................ 2

Important Installation Instructions ....................................................................................................... 2

MVI (Multi Vendor Interface) Modules ................................................................................................ 2

Warnings - MVI56E-LDM .................................................................................................................... 2

1 LDM Introduction 4

2 Preparing the MVI56E-LDM Module 6

2.1 System Requirements ............................................................................................... 6

2.2 Package Contents - LDM .......................................................................................... 7

2.3 Recommended Compact Flash (CF) Cards .............................................................. 7

2.4 Jumper Locations and Settings ................................................................................. 7

2.4.1 Setup Jumper - MVI56E ............................................................................................ 8

2.4.2 Port 1 and Port 2 Jumpers MVI56E .......................................................................... 8

2.5 Setting Up a Connection with the Module ................................................................. 8

2.5.1 Installing the Module in the Rack .............................................................................. 9

2.5.2 Making Configuration Port Connections .................................................................. 10

2.6 Enabling and Disabling the Console Port................................................................ 15

2.7 Establishing Module Communication ...................................................................... 18

2.8 Module Rescue ....................................................................................................... 21

3 Development Environment 23

3.1 Setup ....................................................................................................................... 23

3.2 Using Eclipse ........................................................................................................... 27

3.2.1 Building a Project .................................................................................................... 27

4 Understanding the MVI56-LDM API 33

4.1 API Library - MVI56E ............................................................................................... 33

4.1.1 Header File .............................................................................................................. 33

4.1.2 Sample Code ........................................................................................................... 33

4.1.3 Specifying the Communications Path ..................................................................... 34

4.1.4 ControlLogix Tag Naming Conventions .................................................................. 34

4.2 MVI56E-LDM Development Tools ........................................................................... 35

4.3 CIP API Functions ................................................................................................... 36

4.4 Backplane Device Driver ......................................................................................... 36

4.5 Sample Code ........................................................................................................... 38

4.6 Establishing a Console Connection ........................................................................ 39

4.7 Physically Connect to the Module ........................................................................... 40

4.8 Configuring Serial Communication .......................................................................... 41

4.9 Setting Up the ControlLogix 5000 ........................................................................... 43

4.10 Sample Tutorials ..................................................................................................... 45

4.11 Ethernet Sample ...................................................................................................... 46

4.12 Serial Sample .......................................................................................................... 49

4.13 Led_Sample ............................................................................................................ 50

4.14 Backplane_Sample ................................................................................................. 51

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4.15 Tag_Sample............................................................................................................ 53

4.16 Sample Applications ............................................................................................... 55

4.17 Ethernet Communications Sample ......................................................................... 56

4.18 Serial Application Sample ....................................................................................... 61

5 CIP API Functions 70

5.1 CIP API Initialization Functions ............................................................................... 73

OCXcip_Open ............................................................................................................................. 73

OCXcip_OpenNB ........................................................................................................................ 74

OCXcip_Close ............................................................................................................................. 77

5.2 Object Registration ................................................................................................. 79

OCXcip_RegisterAssemblyObj ................................................................................................... 79

OCXcip_UnregisterAssemblyObj ................................................................................................ 82

5.3 Special Callback Registration ................................................................................. 84

OCXcip_RegisterFatalFaultRtn ................................................................................................... 84

OCXcip_RegisterResetReqRtn ................................................................................................... 86

5.4 CIP Callback Functions .......................................................................................... 88

connect_proc ............................................................................................................................... 88

service_proc ................................................................................................................................ 93

fatalfault_proc .............................................................................................................................. 97

5.5 Connected Data Transfer ....................................................................................... 99

OCXcip_WriteConnected ............................................................................................................ 99

OCXcip_ReadConnected .......................................................................................................... 101

OCXcip_ImmediateOutput ........................................................................................................ 103

OCXcip_WaitForRxData ........................................................................................................... 105

OCXcip_WriteConnectedComplete ........................................................................................... 107

5.6 Tag Access Functions .......................................................................................... 110

OCXcip_AccessTagData ........................................................................................................... 110

OCXcip_AccessTagDataAbortable ........................................................................................... 113

OCXcip_CreateTagDbHandle ................................................................................................... 114

OCXcip_DeleteTagDbHandle ................................................................................................... 115

OCXcip_SetTagDbOptions ....................................................................................................... 116

OCXcip_BuildTagDb ................................................................................................................. 119

OCXcip_TestTagDbVer ............................................................................................................. 121

OCXcip_GetSymbolInfo ............................................................................................................ 123

OCXcip_GetStructInfo ............................................................................................................... 126

OCXcip_GetStructMbrInfo ......................................................................................................... 129

OCXcip_GetTagDbTagInfo ....................................................................................................... 132

OCXcip_AccessTagDataDb ...................................................................................................... 135

5.7 Messaging ............................................................................................................. 138

OCXcip_GetDeviceIdObject ...................................................................................................... 139

OCXcip_GetDeviceICPObject ................................................................................................... 142

OCXcip_GetDeviceIdStatus ...................................................................................................... 145

OCXcip_GetExDeviceObject..................................................................................................... 149

OCXcip_GetWCTime ................................................................................................................ 152

OCXcip_SetWCTime ................................................................................................................. 156

OCXcip_GetWCTimeUTC ......................................................................................................... 159

OCXcip_SetWCTimeUTC ......................................................................................................... 163

5.8 Miscellaneous Functions ...................................................................................... 166

OCXcip_GetIdObject ................................................................................................................. 167

OCXcip_SetIdObject ................................................................................................................. 169

OCXcip_GetActiveNodeTable ................................................................................................... 171

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OCXcip_MsgResponse.............................................................................................................. 173

OCXcip_GetVersionInfo............................................................................................................. 176

OCXcip_GetUserLED ................................................................................................................ 178

OCXcip_SetUserLED................................................................................................................. 180

OCXcip_GetModuleStatus ......................................................................................................... 182

OCXcip_SetModuleStatus ......................................................................................................... 184

OCXcip_GetLED3 ...................................................................................................................... 186

OCXcip_SetLED3 ...................................................................................................................... 188

OCXcip_ErrorString ................................................................................................................... 190

OCXcip_SetDisplay ................................................................................................................... 192

OCXcip_GetDisplay ................................................................................................................... 194

OCXcip_GetSwitchPosition ....................................................................................................... 196

OCXcip_GetSerialConfig ........................................................................................................... 198

OCXcip_Sleep ........................................................................................................................... 201

OCXcip_CalculateCRC .............................................................................................................. 203

OCXcip_SetModuleStatusWord ................................................................................................ 205

OCXcip_GetModuleStatusWord ................................................................................................ 207

6 Cable Connections 209

6.1 RS-232 Configuration/Debug Port ........................................................................ 209

6.2 RS-232 Application Port(s) ................................................................................... 210

6.2.1 RS-232: Modem Connection (Hardware Handshaking Required) ........................ 210

6.2.2 RS-232: Null Modem Connection (Hardware Handshaking) ................................ 211

6.2.3 RS-232: Null Modem Connection (No Hardware Handshaking) ........................... 211

6.3 RS-422 .................................................................................................................. 212

6.4 RS-485 Application Port(s) .................................................................................... 212

6.4.1 RS-485 and RS-422 Tip ........................................................................................ 213

6.5 DB9 to RJ45 Adaptor (Cable 14) .......................................................................... 213

7 Support, Service & Warranty 214

7.1 Contacting Technical Support ............................................................................... 214

7.2 Return Material Authorization (RMA) Policies and Conditions.............................. 215

7.2.1 Returning Any Product .......................................................................................... 215

7.2.2 Returning Units Under Warranty ........................................................................... 216

7.2.3 Returning Units Out of Warranty ........................................................................... 216

7.3 LIMITED WARRANTY ........................................................................................... 217

7.3.1 What Is Covered By This Warranty ....................................................................... 218

7.3.2 What Is Not Covered By This Warranty ................................................................ 219

7.3.3 Disclaimer Regarding High Risk Activities ............................................................ 220

7.3.4 Intellectual Property Indemnity .............................................................................. 221

7.3.5 Disclaimer of all Other Warranties ........................................................................ 222

7.3.6 Limitation of Remedies ** ...................................................................................... 222

7.3.7 Time Limit for Bringing Suit ................................................................................... 223

7.3.8 No Other Warranties ............................................................................................. 223

7.3.9 Allocation of Risks ................................................................................................. 223

7.3.10 Controlling Law and Severability ........................................................................... 223

7.4 Open Source Licensing ......................................................................................... 224

7.5 GNU Public License .............................................................................................. 225

7.6 Eclipse Public License ........................................................................................... 239

7.7 Python Public License ........................................................................................... 245

7.8 GCC Public License .............................................................................................. 251

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Contents ControlLogix Platform ♦ "C" Programmable Developer's Manual Linux Application Development Module

8 Glossary of Terms 254

Index 257

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ControlLogix Platform ♦ "C" Programmable LDM Introduction

API

Application Programming Interface

Backplane

Refers to the electrical interface or bus to which modules connect when inserted into the rack. The MVI56E-LDM module communicates with the control processor(s) through the ControlLogix backplane.

CIP

Control and Information Protocol. This is the messaging protocol used for communications over the ControlLogix backplane.

Connection

A logical binding between two objects. A connection allows more efficient use of bandwidth because the messaging path is not included after the connection is established.

Consumer

A destination for data.

Library

Refers to the library file that contains the API functions. The library must be linked with the developer's application code to create the final executable program.

Originator

A client that establishes a connection path to a target.

Producer

A source of data.

Target

The end-node to which a connection is established by an originator.

Linux Application Development Module Developer's Manual

1 LDM Introduction

The MVI56E-LDM module is a ControlLogix backplane compatible module that allows Rockwell Automation ControlLogix processors to interface with any Ethernet or Serial device. With the supplied development tools and sample applications, you are the developer who controls exactly what this module can and cannot do.

ProSoft Technology's Linux Development modules make it possible for users to easily develop and deploy C/C++ applications that interface with Bar Code Scanners, Legacy ASCII protocols, Terminal Port Emulation, Printer Drivers (Alarm/Status printer), or any other device requiring custom/proprietary Ethernet and Serial communications.

This document provides information needed for development of application programs for the MVI56E-LDM Applications Module for ControlLogix.

This document assumes the reader is familiar with software development in the Linux environment using C/C++ programming languages. This document also assumes that the reader is familiar with Rockwell Automation programmable controllers and the ControlLogix platform.

The reader should be familiar with the following terms:

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In This Chapter

 System Requirements ............................................................................. 6

 Package Contents - LDM ......................................................................... 7

 Recommended Compact Flash (CF) Cards ............................................. 7

 Jumper Locations and Settings ............................................................... 7

 Setting Up a Connection with the Module ................................................ 8

 Establishing Module Communication ..................................................... 18

 Module Rescue ...................................................................................... 21

Developer's Manual Linux Application Development Module

2 Preparing the MVI56E-LDM Module

2.1 System Requirements

The MVI56E-LDM module requires the following hardware and software components:

 Rockwell Automation ControlLogix processor (firmware version 10 or greater)

with compatible power supply and one free slot in the rack for the module. The module requires 5 VDC power

 Rockwell Automation RSLogix 5000 programmer software

o Version 15 or lower must use Sample Ladder available from www.prosoft-

technology.com

 Rockwell Automation RSLinx communication software version 2.51 or greater  Pentium II 450 MHz minimum. Pentium III 733 MHz or greater recommended  Supported operating systems:

o Microsoft Windows 7 Professional (32 or 64-bit) o Microsoft Windows Vista o Microsoft Windows XP Professional with Service Pack 1 or 2 o Microsoft Windows 2000 Professional with Service Pack 1, 2, or 3 o Microsoft Windows Server 2003

 128 MB RAM (minimum), 256 MB of RAM recommended  100 MB of free hard disk space (or more based on application requirements)  256-color VGA graphics adapter, 800 x 600 minimum resolution (True Color

1024 x 768 recommended)

 DVD drive

Note: The Hardware and Operating System requirements in this list are the minimum recommended to install and run software provided by ProSoft Technology. Other third party applications may have different requirements. Refer to the documentation for any third party applications.

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 Port 1

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 Port 2

2.2 Package Contents - LDM

Your MVI56E-LDM package includes:

 MVI56E-LDM Module  ProSoft Technology Solutions DVD (includes all documentation, sample

code, and sample ladder logic).

 (1) Null Modem Cable (Cable 15)  (2) Config/Debug Port to DB-9 adapter (Cable 14)  (2) 1454-9F Connectors for RS422/RS485  (1) Ethernet Cable (Cable 25)

Note: The Virtual Machine, toolchain, and other development files are not shipped with the product. You may purchase the ProSoft Technology LDMdevKit Part # LDMdevKit from your Rockwell Automation distributor.

If any of these components are missing, please contact ProSoft Technology Support.

2.3 Recommended Compact Flash (CF) Cards

What Compact Flash card does ProSoft recommend using?

Some ProSoft products contain a "Personality Module", or Compact Flash card. ProSoft recommends using an industrial grade Compact Flash card for best

performance and durability. The following cards have been tested with ProSoft’s

modules, and are the only cards recommended for use. These cards can be ordered through ProSoft, or can be purchased by the customer.

Approved ST-Micro cards:

 32M = SMC032AFC6E  64M = SMC064AFF6E -  128M = SMC128AFF6E

Approved Silicon Systems cards:

 256M = SSD-C25MI-3012  512M = SSD-C51MI-3012  2G = SSD-C02GI-3012  4G = SSD-C04GI-3012

ProSoft provides the 64M = SMC064AFF6E Compact Flash Card. The endurance spec for this card is 2 million write/erase cycles.

WARNING: Do not shutdown or power cycle the module in any way during a NAND write to the CF.

2.4 Jumper Locations and Settings

Each module has three jumpers:  Setup

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 Port 1  Port 2

2.4.1 Setup Jumper - MVI56E

The Setup Jumper acts a write protection for the module's firmware. In "writeprotected" mode, the setup pins are not connected which prevents the module's firmware from being overwritten.

The module is shipped with the Setup Jumper OFF. If you need to update the firmware or run a module rescue (recovery), apply the setup shunt over both pins.

2.4.2 Port 1 and Port 2 Jumpers MVI56E

These jumpers, located at the bottom of the module, configure the port settings to RS-232, RS-422, or RS-485. By default, the jumpers for both ports are set to RS-232.

2.5 Setting Up a Connection with the Module

If you have not already done so, please install and configure your ControlLogix processor and power supply. Refer to the Rockwell Automation product documentation for installation instructions.

Warning: You must follow all safety instructions when installing this or any other electronic devices. Failure to follow safety procedures could result in damage to hardware or data, or even serious injury or death to personnel. Refer to the documentation for each device you plan to connect to verify that suitable safety procedures are in place before installing or servicing this device.

After verifying proper jumper placement, insert the module into the ControlLogix chassis. Use the same technique recommended by Rockwell Automation to remove and install ControLogix modules.

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2.5.1 Installing the Module in the Rack

You can install or remove ControlLogix system components while chassis power is applied and the system is operating. However, please note the following warning.

Warning: When you insert or remove the module while backplane power is on, an electrical arc can cause personal injury or property damage by sending an erroneous signal to your system's actuators. This can cause unintended machine motion or loss of process control. Electrical arcs may also cause an explosion they occur in a hazardous environment. Verify that power is removed, or that the area is non-hazardous before proceeding. Repeated electrical arching causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance that can affect module operation.

Align the module with the top and bottom guides, and then slide it into the rack until the module is firmly seated against the backplane connector.

With a firm, steady push, snap the module into place. Ensure that the holding clips on the top and bottom of the module are securely in the locking holes of the rack.

Make a note of the slot location. Slot numbers are identified on the green circuit board (backplane) of the ControlLogix rack.

Turn power On.

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2.5.2 Making Configuration Port Connections

You can communicate with the module via RS232 through the Console or through one of the Ethernet ports using Telnet.

RS-232 Console

You access the Console through Serial Port 1. As a default, the RS-232 Console port is "enabled". You can "disable" or "enable" this port. Refer to Enabling and Disabling the Console Port in the next section.

1 Connect the RJ45 end of an RJ45 - DB9m cable (Cable 14) to the Serial Port

1 of the module.

2 Connect one end of the Null Modem Cable (Cable 15) to the DB9m end

Cable 14.

3 Connect the other end of Cable 15 (null modem cable) to your a serial port on

your PC or laptop.

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Ethernet Port

The module contains a Telnet client which is accessed through Ethernet Port 1 (E1) as shown.

Connect an Ethernet RJ45 cable to the E1 port of the module and the other end to the network switch.

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You can also "enable" or "disable" the Telnet port. Open a Putty session as shown below. The following screenshot shows the Telnet Port "enabled"

To disable the Telnet port...

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cd\etc\init.d\S99-telnetd.

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Comment out the telnetd file.

To enable the port, simply un-comment the same line.

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2.6 Enabling and Disabling the Console Port

Establish a connection to the module. In the following example, PUTTY is being used.

1. Open PUTTY.

 Set the Speed to 115200  Set the appropriate COM port  Ensure that the Connection Type is set to Serial.

2. Click Open. The Putty session opens.

3. Enter your login and password. RA56-daTM login: root, Password: password.

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The following appears:

4. cd to /etc.

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5. Type ls. The following appears:

There are two files used to enable or disable the console port:

 inittab.con - configures the console  inittab.nocon - configures no console

To enable the console.....

1. Open the inittab.con file.

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The file content is shown:

2. Copy inittab.con file to the inittab file.

3. Save the file and reboot the module.

To disable the console...

1. Copy inittab.nocon file to the inittab file.

2. Save the file and reboot the module.

2.7 Establishing Module Communication

Ensure that the module is firmly seated in the rack and that the cables described in the previous section are secure. Ensure that power is applied.

Note: If you require information on cables and port pinouts, please refer to the section entitled Cable Connections (page 209) at the end of the manual.

RS-232 Console

If you are connected to Serial Port 1 (P1), establish communications with the module using the following procedure.

Note: The following procedure uses PUTTY to establish communications. You can use whatever program you desire.

1. Open Putty

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 Set the Speed to 115200  Set the appropriate COM port  Ensure that the Connection Type is set to Serial.

2. Click Open. The Putty session opens.

3. Enter your login and password:

RA56-daTM login: root Password: password

Ethernet (Telnet)

You can communicate with the module through Ethernet Port 1 (E1) using Telnet.

The Ethernet Port (E1) is programmed with eth0 set to IP 192.168.0.250 and a Subnet Mask of 255.255.255.0. In order for your PC or laptop to talk to the module, your PC or Laptop must be on the same subnet as the module. This means that you must temporarily change the IP address and subnet mask on your PC or laptop to match that of the module. You can then change the module's IP address to match your needs.

1. Change the IP Address of your PC or Laptop so it matches the subnet of the module.

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2. Ensure that an Ethernet cable is connected to Ethernet Port 1 (E1) of the module.

3. Use a program such as Putty to Telnet into the module.

 Select Telnet as the Connection type.  Enter the IP address (192.168.0.250)  Port 23 should appear as the Port number.

4. Click the Open button to establish a connection.

5. Login into the module.

There are two methods used to change the module's IP address. One is temporary for use in cases where you want to change the address long enough to make a quick change. The other is more permanent in that the module is already programmed and is ready for full deployment.

Temporary IP Address Change At the Linux prompt, type:

ifconfig eth0 x.x.x.x -- This changes the IP address of the Ethernet E1 port ifconfig eth1 x.x.x.x -- This changes the IP address of the Ethernet E2 port.

Permanent IP Address Change At the Linux prompt, type:

cd ../etc/network -- changes the directory to network vi interfaces -- opens the interfaces file for ethernet assignment in a vi editor

iface eth0 inet static address 192.168.0.250 network 192.168.0.0 netmask 255.255.255.0 broadcast 192.168.0.255 # gateway 192.168.0.1

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auto eth1 iface eth1 inet static address 192.168.1.250 network 192.168.1.0 netmask 255.255.255.0 broadcast 192.168.1.255 # gateway 192.168.1.1

Using the vi editor, edit the file to change the address. Save the file. For help on using the vi editor to write and save the file, refer to

http://www.lagmonster.org/docs/vi.html http://www.lagmonster.org/docs/vi.html. Change the IP address of your PC back to the original subnet.

Telnet to the new IP Address of the module.

2.8 Module Rescue

In the event that it becomes necessary to revert the MVI56E-LDM module back to its initial out-of-the-box state, there are a number of methods you can use depending on the condition of the module.

The Rescue process re-installs all of the Operation System commands and configurations to their original defaults. The files deleted during the rescue process are the startup scripts in the /etc/init.d path since extra scripts in this path are automatically executed by the operating system on startup and may cause problems. All other files may be overwritten to the initial state of the device. Extra files are not deleted.

If the web pages and services for the module have been altered, it may not be possible to use the web-based rescue.

Prep and Establish Communications

Place the onboard setup jumper to the installed state. Ethernet Communication If the IP address is known, change the network mask and IP of a connected PC

to something compatible. For example, if the MVI56E-LDM is configured with the default IP address

(192.168.1.250) and network mask (255.255.255.0), the the PC should have the same IP4 network mask and an IP address in the 192.168.1.xxx subnet.

Note that IP addresses must be unique on the network. If in doubt, create a physical network consisting of only the MVI56E-LDM and the PC.

Serial Communication If the IP address if the MVI56E-LDM module is unknown, communication may be

established through the serial configuration port (i.e., Port 1 (upper port)). Use Telnet or a similar terminal program to communicate with the module. Default baud is 115,200, 8 data bits,1 stop bit, No Parity, xon/xoff flow control.

Use the following username and password: Username: root

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Password: password From the shell prompt, run ifconfig to determine the Ethernet IP address and

network mask of device "eth0". Then follow the previous steps to establish communication via Ethernet.

Web-based Rescue

The web page for the MVI56E-LDM module contains a command to recover the module on the left-side of the page.

Open the web page for the module by entering the IP address of the module in the address bar. (your PC/workstation should have an IP address and the same sub-network).

On the left-side of the page, under Functions, click on Rescue Module. Follow the instructions to set the module back to its default state.

Note: Most loaded components are left intact by this operation so it may be necessary to make enough room on the module for the rescue to work. In addition, the Setup Jumper must be in place for the rescue to function properly.

Manual Rescue

If the default web pages are unavailable, a manual rescue may be required. Perform the following steps to manually return the module to its default state:

1. Establish a terminal session to the module using either the Serial or Ethernet port.

2. Ensure that the following file exists:

/backup/systemrestore.tgz

3. Run the following command to remove any startup scripts that may be interfering with the bootup process:

rm -f /etc/init.d/*

4. Restore the configuration and executables using the following command:

tar -xzf /backup/systemrestore.tgz -C /

5. If successful, reboot the system.

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In This Chapter

 Setup ..................................................................................................... 23

 Using Eclipse ......................................................................................... 27

Linux Application Development Module Developer's Manual

3 Development Environment

The MVI56E-LDM development tools run under Linux. In order to run these tools on a Windows-based machine, you must run a Virtual Machine that hosts the Linux Operating System.

VMware provides a virtual machine player used to host the Linux Operating System. You can get it at:

https://my.vmware.com/web/vmware/downloads.

3.1 Setup

The file Debian6VM.zip is located on the ProSoft Product DVD shipped with the module.

1. Copy this file to the VM Player image ico directory (VMware > VMware

2. Uncompress Debian6VM.zip into this directory.

Player > ico).

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3. Start the VM Player by double-clicking on its icon.

4. Select "Open a Virtual Machine".

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5. Navigate to the Debian6VM file and click on Debian6VM.vmx. The image icon appears in the left window.

6. Double-click on the image icon. The following screen appears:

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7. Click "Play virtual machine". A dialog appears asking if the virtual machine has been moved or copied. Select "I copied it".

8. After the image loads, the VMware Player prompts you for a username and password.

Username: user Password: password

The home screen appears.

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3.2 Using Eclipse

Eclipse is an Integrated Development Environment (IDE) used in the Linux environment primarily to edit source code. Full documentation and downloads are available at www.eclipse.org http://www.eclipse.org.

When you initially start Eclipse, you must select a workspace. Select the default: /home/user/workspace. To start Eclipse...

1. Double-click on the Eclipse icon.

2. When the Workspace Launcher appears, choose the default.

3. Click OK.

The default workspace is pre-populated with sample programs, makefiles, and scripts. Building one of the samples is the recommended way to become familiar with the environment and build process.

3.2.1 Building a Project

Building and using a sample application consists of:

 Compiling and Linking  Creating a downloadable image  Downloading an image to the target device

Compiling and Linking

1. Start the Linux (Debian) virtual machine in the VM Player.

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2. Open a Bash Shell window by clicking on the Bash Shell icon on the main page.

3. Once in the shell, change the directory to one of the samples. In this case, change the directory to get to the LED_sample program.

cd /workspace/mvi56e-ldm/src/LDM/led_sample$ as shown below:

4. To recompile and link, simply type "make". In this case, the executable is up to date and nothing needs to be done.

5. If the source is changed, "make" detects the newer time on the source file and rebuilds the application. In the following example, the Touch Utility is used to cause the date of the file led_sample.c to be updated as if the file had been changed and "make" is re-invoked. Make detects this change, recompiles and re-links the application.

Downloading the Application

There are two ways to place the application on the target:

 FTP  Firmware Update Feature

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FTP Transfer

For FTP Transfer, use any ftp transfer program such as FileZilla (https://filezillaproject.org/ https://filezilla-project.org/) from the Windows environment.

Use FileZilla to connect to the target by specifying the MVI56E-LDM's IP address.

Download the application image to the desired directory on the LDM using the ftp transfer program.

Since Windows does not have the same detailed permissions as Linux, you will have to change the file permissions on the application once on the target. Use the command chmod a+x filename which adds the execute attribute to the application.

Creating a Download Image

An image contains all of the application-specific components required for the user application. This includes the executable(s), application-specific shared libraries, scripts, web pages, and data files. It does not contain the operating system or common components that are already on the target device.

The image is a compressed tar file of the application components. Once created, use the device's web page to download the firmware upgrade. The tar file name is specified in "Image Contents". In the sample image, the firmware files is 'firmware/mvi56e-ldm.firmware revision date'. This firmware file is downloaded to the directory /psfttmp on the target device. Upon system restart, the system startup scripts unpack the tar file into the psfttmp directory. The script

/psfttmp/install is executed to move the component files into their final

destination. A sample install file is included with the sample applications. The first step is to create all of the components that will be part of the system.

This mainly involves compiling and linking executables and shared libraries. Modify any web pages and data files that will be needed. Lastly, update the install script.

Image Contents

Each component file to be included in the image is listed in the file 'imagecontents' found in the build directory structure for the specific application. This file contains header information about the image and a list of entries describing the files to be added to the image. The format of the entry is as shown:

Add source destination file permissions where the source file is the path to the file to be included. The destination file is

the full path name of the file on the destination on the target device. Permissions are the Linux style permissions of the file on the destination.

For example, a line to add the LED_Sample application looks like:

Add ../../src/ldm/led_sample/Release/Led_Sample /psft/sample/Led_Sample rwxrwxr-x

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Since builds occur in /home/usr/workspace/mvi56e-ldm/build/LDM, source paths are relative to this directory to simplify moving to a new directory.

Follow the sample provided to create a complete imagecontents file.

Install Script

Before creating the image, an 'install' script must be created and added to the firmware package. As noted above, the firmware package will be downloaded into the /psfttmp directory on the device. The 'install' script will copy the files in psfttmp to their final destination on the target device. The 'install' script can be used to make backups of the current directory contents before they are overwritten. The LDM sample install script in build/LDM/scripts illustrates how to do this.

Creating the Image In a Linux shell, change the directory to the ...build/LDM directory. Run python with the following command:

python createimage.py

The python script createimage.py reads and acts on the imagecontents file and creates a new firmware image in the directory .../build/LDM/firmware.

Note: The script 'build.sh' will compile/link all libs and executables and then invoke python to create the firmware image.

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Downloading the Image via Web Page

1. Ensure that the Setup Jumper is on. See Setup Jumper in this manual.

2. Navigate to the module homepage using a Web browser.

3. Select Firmware Upgrade. The Update page opens.

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4. Click on the Continue with Update button, and then select the firmware file to be downloaded.

5. Click on the Update Firmware button and wait for the module to reboot. During reboot, the compressed file is un-"tar" ed and the install script is run to move the component files to their final destination.

Note: The IP address will revert to the default after reboot. This is a very common problem.

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In This Chapter

 API Library - MVI56E ............................................................................. 33

 MVI56E-LDM Development Tools ......................................................... 35

 CIP API Functions ................................................................................. 36

 Backplane Device Driver ....................................................................... 36

Linux Application Development Module Developer's Manual

4 Understanding the MVI56-LDM API

The MVI56E LDM CPI API Suite allows software developers to access the

ControlLogix backplane without requiring detailed knowledge of the module’s

hardware design. The MVI56E-LDM API Suite consists of three distinct components; the backplane device driver, the backplane interface engine, and the API library.

Applications for the MVI56E-LDM module may be developed using industrystandard Linux programming tools and the CPI API library.

This section provides general information pertaining to application development for the MVI56E-LDM module.

4.1 API Library - MVI56E

The API provides a library of function calls. The library supports any programming language that is compatible with the 'C' calling convention. The API library is a dynamic library that must be linked with the application to create the executable program>

Note: The following compiler versions are tested and known to be compatible with the MVI56E module API: CNU C/C++ V4.4.4 for ARM9

4.1.1 Header File

A header file is provided along with the API library. This header file contains API function declarations, data structure definitions, and constant definitions. The header file is in standard 'C' format. Header files for the CIP API are ocxbpapi.h and ocxtagdb.h.

4.1.2 Sample Code

Sample applications are provided to illustrate the usage of the API functions. Full source for the sample application is included, along with make files to build the sample programs.

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TagName

Single tag

Array[11]

Single dimensioned array element

Array[1,3]

Two dimensional array element

Developer's Manual Linux Application Development Module

4.1.3 Specifying the Communications Path

To construct a communications path, enter one or more path segments that lead to the target device. Each path segment takes you from one module to another module over the ControlBus backplane or over a ControlNet or Ethernet network.

Each path contains:

p:x, {s, c, t} :y

where

p:x specifies the device's port number to communicate through.

where x is: 1 - backplane from any 1756 module 2 - ControlNet port from a 1756-CNB module 3 - Ethernet port from a 1756-ENET module , - separates the starting point and ending point of the path segment.

{s, c, t} :y specifies the address of the module you are going to.

where s:y - ControlBus backplane slot number c:y - ControlNet network node number (1 to 99 decimal) t:y - Ethernet network IP address (for example, 10.0.104.140)

If there are multiple path segments, separate each segment with a comma (,).

Examples

To communicate from a module in slot 4 of the ControlBus backplane to a module in slot 0 of the same backplane:

p:1, s:0

To communicate from a module in slot 4 of the ControlBus backplane, through a 1756-CNB in slot 2 at node 15, over ControNet to a 1756-CNB in slot 4 at node 21 to a module in slot 0 of a remote backplane"

p:1, s:2, P:2, c:21, p:1, s:0

To communicate from a module in slot 4 of the ControlBus backplane, through a 1755-ENET in slot 2 over Ethernet, to a 1756-ENET (IP address of 10.0.104.42) in slot 4, to a module in slot 0 of a remote backplane:

p:1, s:2, p:2, t:10.0.104.42, p:1, s:0

4.1.4 ControlLogix Tag Naming Conventions

ControlLogix tags fall into two categories; controller tags and program tags. Controller Tags have global scope. To access a controller scope tag, you only

need to specify the tag controller name. For example:

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Array[1, 2, 3]

Three dimensional array element

Structure.Element

Structure element

StructureArray[1].Element

Single element of an array of structures

PROGRAM:MainProgram.TagName

Tag "TagName in program called "MainProgram"

PROGRAM:MainProgram.Array[11]

An array element in program "MainProgram"

PROGRAM:MainProgram.Structure.Element

A Structure Element in program "MainProgram"

Linux Application Development Module Developer's Manual

Program Tags are tags declared in a program and scoped only within the program in which they are declared. To correctly address a Program Tag, you must specify the identifier "PROGRAM:" followed by the program name. A dot (.) is used to separate the program name and the tag name.

PROGRAM:ProgramName.TagName

Rules

 A tag name can contain up to 40 characters  A tag name must start with a letter or underscore ("_"). All other characters

can be letters, numbers or underscores.

 Names cannot contain two contiguous underscore characters and cannot end

in with an underscore

 Letter case is not considered significant  The naming conventions are based on the IEC-1131 Rules for Identifiers.

For additional information on ControlLogix CPU tag addressing, please refer to the ControlLogix User Manual.

4.2 MVI56E-LDM Development Tools

An application that is developed for the MVI56E-LDM module must be executed

from the module’s Flash ROM disk. Tools are provided with the API to build the

disk image and download it to the module’s Config/Debug port.

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4.3 CIP API Functions

The CIP API communicates with the ControlLogix modules through the backplane device driver. The following illustration shows the relationship between the module application, CIP API, and the backplane driver:

4.4 Backplane Device Driver

The backplane device driver contains the functionality to perform CIP messaging over the ControLogix backplane using the Midrange ASIC. The user application interfaces with the backplane device driver through the CIP API library.

The backplane device driver for the MVI56E-LDM module is libocxbpeng.so. The driver implements the following components and objects:

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All data exchange between the application and the backplane occurs through the Assembly Object, using functions provided by the CIP API. The API includes functions to register or unregister the object, accept or deny Class 1 schedule connections requests, access scheduled connection data, and service unscheduled messages.

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4.5 Sample Code

To help understand the use of the MVI56E-LDM module, a number of example programs are provided with the module. These programs exist both as source code in the development environment as well as executable programs in the MVI56E-LDM module in the /psft/sample directory.

The sample programs can be built and downloaded to the MVI56E-LDM module.

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4.6 Establishing a Console Connection

In order to run the Ethernet and Serial samples and tutorials, you must set up a connection in order to efficiently communicate with the MVI56E-LDM.

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4.7 Physically Connect to the Module

In order to establish a console session between a PC and the MVI56E-LDM module, you must physically connect your PC to the console serial port on the module.

1. Plug in an RJ45 to DB9 cable on Port 1.

2. Connect the null modem cable to the DB9 end of the RJ45 to DB9 cable.

3. Connect the other end of the null modem cable to the appropriate serial port (USB to Serial Converter) on the computer.

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4.8 Configuring Serial Communication

Establish a connection to the module. In the following example, PUTTY is being used.

Note: You can download PUTTY for free at http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html.

1. Open PUTTY.

 Set the Speed to 115200  Set the appropriate COM port  Ensure that the Connection Type is set to Serial.

2. Click Open. The Putty session opens.

3. Enter your login and password. RA56-daTM login: root, Password: password.

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Keep PUTTY open while you set up the ControlLogix5000 as described in the next section.

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4.9 Setting Up the ControlLogix 5000

Open the MVI56E-LDM.ACD program and change the appropriate chassis type to match your hardware and firmware.

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Download MVI56_LDM.ACD file in the ControlLogix processor by choosing Communications > Who Active > Download.

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4.10 Sample Tutorials

The following sections describe how to run and understand the sample tutorials provided with the module.

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4.11 Ethernet Sample

The Ethernet sample comes as two programs; a client, and a server. The server waits for a client to request a connection, replies with the local time, and closes the connection. The client is run with the IP4 address of the server. The client opens a connection to the server, receives the response message, and prints the message (the time on the server) to the console.

It is recommended that the server be run on one MVI56E-LDM module and the client on another. Alternately, either of the programs could be ported to another Linux environment. Attempting to run both programs on the same MVI56E-LDM is not advised due to the complexity of IP routing.

Server Enet Sample

To run the Server Enet sample:

Open a command window using telnet or a similar terminal software on the PC through a serial (P1) or Ethernet port.

and client devices must both be connected on the same IPv4 subnet. Set the IPv4 address and mask of the first Ethernet port using the ifconfig

command.

To execute the sample:

From the default home directory /psft, type the command ./Server_Sample&. The program runs as a background task. The server will wait forever processing requests from clients.

While looking at the sample source, you'll see that the following occurs:

socket() returns an integer know as socket descriptor.

o The function takes domain/family as its first argument. For Internet family

of IPv4 addresses, use AF_INET.

o The second argument SOCK_STREAM specifies the type of connection to

use. In this case, a sequential, reliable two-way connection is desired

o The third argument selects the protocol to use. Generally, this is zero as

the system normally only has one protocol for each type of connection, although it is possible to have multiple protocols for a connection type. Zero tells the system to use the default protocol for the specified connection. In this case, the default is TCP.

 The send_buff and serv_addr variables are zeroed.  In preparation for the call to bind(), serv_addr is then set to the well known

port address SERVER_PORT_NUMBER, and any IP address. This allows a connection to be accepted from any IP address as long as the well known port is specified.

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 The call to the function bind() assigns the address specified in the structure

serv_addr to the socket created by the call to socket().

 The call to the function listen() with second arguments as '10' specifies the

maximum number of client connections that the server will queue for this listening socket.

 The call to listen() makes this socket a functional listening socket.  Code enters an infinite while loop in which:

o the call to accept() puts the server to sleep waiting for an incoming client

request. When a request is received, and the three-way TCP handshake is complete, accept() wakes up and returns the socket description representing the client socket.

o time() is called to read the current system time o Snprintf is used to pu the time into the send buffer in a human-readable

format

o write() is then called to send formatted time to the client o close() is then used to close the connection to the client o sleep() is invoked to yield the processor for 1 second

Client ENetSample

To run the Client Enet sample:

1 Open a command window using telnet or a similar terminal software on the

PC through a serial (P1) or Ethernet port.

2 Login as user: root, password: password. The Ethernet port E1 is used to communicate with the server device. The server

and client devices must both be connected on the same IPv4 subnet. Set the IPv4 address and mask of the first Ethernet port using the ifconfig

command. To execute the sample: From the default home directory /psft, type the command ./Client_Sample

ip.address.of.server to run the program. The IP address of the server node

must be provide so the server will know which node is executing the server program. The client will send a connection request to the server, print the response from the server to the console, and then exit.

While looking at the the sample source, you'll see that the following occurs:

 register sigquit_handler for four signals  check command line and print usage message if required  open the backplane using open_backplane()  initialize the LEDs on the front panel  create a socket with a call to the socket() function  initialize the server address (serv_addr) structure:  indicate that an IPv4 address is going to be used with AF_INET  set the destination port as the well known port SERVER_PORT_NUMBER  Convert the string version of the server IP address to binary with inet_pton()  After changing the front panel display to run, connect() is called to create the

TCP connection to the server

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 When the sockets are connected, the server sends the date and time from

the server as a message back to the clients. The client then uses the read() function to receive the buffer of data and prints the contents to the console.

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4.12 Serial Sample

To run the Serial sample:

1 Open a command window using telnet or a similar terminal software on the

PC through a serial (P1) or Ethernet port.

2 Login as user: root, password: password. The second serial port (P2) will be used for the communication sample. To execute the sample: 1 From the default home directory /psft, type the command ./Serial_Sample&.

The program runs as a background task.

While looking at the sample source, you'll see that the following occurs:

 register sigquit_handler for four signals  check command line and print usage message if required  open the backplane using open_backplane()  Read the serial configuration jumpers and make sure that the second serial

port is configured for RS232.

 Open the serial port using the open_serial_port() function.  Opens the serial device by calling open()  Reads current serial port attributes using tcgetaddr()  Configures serial port attributes. cfsetispeed() and cfsetispeed() set the

baud rate. tcsetattr() is then used to set the remaining attributes.

 Initialize LEDs on the front panel  Changes the front panel display to "Run"  Enters a for loop which transmits a test string one character at a time by

calling write() and then sleeping for 500 msec using OCXcip_Sleep()

 Closes the serial driver connection using close().

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4.13 Led_Sample

The LED Sample program is designed to show one or more groups of functionality provided in the module. This sample covers the following functions:

 Open backplane driver  Interpreting errors returned by the backplane driver  Reading module configuration jumpers  Display message on the 4-character front panel  Changing the state of the front panel LEDs

This sample program illustrates how to interact with the MVI56E-LDM hardware at the most basic level.

To use this program, establish a command window using telnet or similar terminal software on the PC using either the Ethernet or Serial P1 port.

Login as user: root, using password password. To execute the sample... From the default home directory (/psft), type the command ./Led_Sample&. This

will run the LED Sample program in the background.

While looking at the sample source, you'll see that the main program will....

 open a connection to the hardware via the OCX library API OCXcip_Open.

Although the OCXcip_OpenNB routine could be used, (since this sample does not communicate across the backplane), the module status will not flash red/green if opened with the NB variant.

 display "open success" on the 4-character display using the function Display.  read the state of the Setup Jumper using the function ReadSwitches and prints

this information to the console.

 read the state of the serial configuration jumpers using Get_Serial_Config

and prints this information to the console.

 initialize timer functionality  Change LEDs on the front panel to a default state using the SetLed function:

o Module status if the OK LED. o User LED is the APP LED. o LED3 is the ERR LED.

The program then goes into an infinite loop, looking for the expiration of two timers:

 a fast timer which cycles the LEDs through their states and scrolls the last

string across the 4-character front panel display.

 a slow timer which updates the string for the front panel display.

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4.14 Backplane_Sample

The Backplane Sample program is designed to show block transfer communication with the ControlLogix controller in slot 0 of the ControlLogix rack. The ControlLogix controller must be loaded with the sample ladder logic and be configured to communicate with the MVI56E-LDM module. The ladder is

LDM.ACD.

To use this program, establish a command window using telnet or similar terminal software on the PC using either the Ethernet or Serial P1 port.

Login as user: root, using password password. To execute the sample... From the default home directory (/psft), type the command

./Backplane_Sample&. This will run the Sample program in the background.

While looking at the sample source, you'll see that the main program will....

 open a connection to the hardware via the OCX library API using the

open_backplane routine. The open_backplane function will:

o call OCXcip_Open to get access to the LDM hardware and backplane o change the module identity by reading the identity using

OCXcip_GetIdObject, changing the values of the object Id structure, and

then setting the identity with the OCXcip_SetIdObject routine.

The backplane connection service and service callback routines are then registered with the backplane driver using the

OCXcip_RegisterAssemblyObj routine.

 set each of the front panel LEDs, reads back the state of the LED, and prints

the result to the console:

o OK LED - Module status is set to Solid Green using

OCXcip_SetModuleStatus routine and read back using the OCXcip_GetModuleStatus routine

o APP LED - the User LED is turned off using the OCXcip_SetUserLED

routine and read back using the OCXcip_GetUserLED routine.

o ERR LED - LED3 is set to off using the OCXcip_SetLED3 routine and read

back using the OCXcip_GetLED3 routine.

 read the real-time clock of the ControlLogix process using OCXcip_GetWCTime

and the time is printed to the console

 enter a main (infinite loop) and within this loop, the program will:

o wait for a connection to be established by the ControlLogix processor.

The routine Backplane_ConnectProc is started when this occurs. The routine sets the global variable Backplane_Connected which the main program loop monitors.

 read a block of data (one the connection is established) from the controller

using the OCXcip_ReadConnected API call.

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 upon data availability and block number is the expected next block, the block

number is updated, the data is copied to the newly created write block, and a new write block is sent back to the controller using the

OCXcip_WriteConnected routine.

 display "open success" on the 4-character display using the function Display.  read the state of the Setup Jumper using the function ReadSwitches and prints

this information to the console.

 If the block number is not the expected number, the 16-bit integers in the

write block are incremented to form a new write block of data which is sent to the Controller using the OCXcip_WriteConnected API routine. The program then waits for another block of data from the Controller using the

OCXcip_WaitForRxData routine.

 If any of the calls to an OCXcip library routine fail, the returned error code is

converted into a human readable string using the OCXcip_ErrorString routine and printed to the console.

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4.15 Tag_Sample

The Tag sample program shows block transfer communication with the ControlLogix controller in Slot 0 of the ControlLogix rack. The Controller must be loaded with the sample ladder logic and configured to communicate with the MVI56E-LDM module. The ladder is LDM.ACD.

To run the Tag sample: 1 Open a command window using telnet or a similar terminal software on the

PC through a serial (P1) or Ethernet port.

2 Login as user: root, password: password. To execute the sample: 1 From the default home directory /psft, type the command ./Tag_Sample&.

The program runs as a background task.

While looking at the the sample source, you'll see that the main program will....

 open a connection to the hardware via the OCX library API using the

open_backplane routine. The open_backplane function will:

o call OCXcip_Open to get access to the LDM hardware and backplane o change the module identity by reading the identity using

OCXcip_GetIdObject, changing the values of the object Id structure, and

then setting the identity with the OCXcip_SetIdObject routine.

The backplane connection service and service callback routines are then registered with the backplane driver using the

OCXcip_RegisterAssemblyObj routine.

 set each of the front panel LEDs:

o OK LED - Module status is set to Solid Green o APP LED - the User LED is turned off o ERR LED - LED3 is set to off

 read the series and revision of the API, backplane engine, and device driver

using OCXcip_GetVersionInfo and prints it to the console.  call print_rack_information to read the size and modules in the current rack

using OCXcip_GetActiveNodeTable and prints to the console. Additionally, this

routine reads detailed information about the controller in Slot 0 using the

OCXcip_GetExDevObject routine and prints the information to the console.

 display "Run" on the LDM front panel using a call to Display. The program enters a main infinite loop and waits for the ControlLogix controller

to open a connection to the MVI56E-LDM. Once the connection is established:  the LDM module's status is changed to connected and owned using two calls

to OCXcip_SetModuleStatusWord.

 the rack information is printed to the console again  the entire tag database is read and printed to the console using

open_tag_dbase.

This routine does the following:

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Creates a handle allowing access to the tag database of the controller by invoking OCXcip_CreateTagDbHandl. Options for accessing the database are set using OCXcip_SetTagDbOptions.

A test is then made to ensure that the local copy of the database matches the controller's copy of the tag database. This is done using the

OCXcip_TestTagDbVer routine which will return a database empty error on the first

invocation, causing the local database to be rebuilt with the OCXcip_BuildTagDb routine.

The database contents are then printed to the console via

print_database_symbols. print_data_symbols calls OCXcip_GetSymbolInfo for

each symbol (i.e., Tag) in the controller. It prints the name, dimensions if its an array, the element size, and the type of each tag. If the type is simple,

print_cip_data_type is called. If the type is a structure, print_structure_info is

called to print information about each element of the structure.

print_structure_info uses OCXcip_GetStructInfo to get information about a

structure and then prints the name, data type, number of members, and overall size to the console. It then request info about each member using

OCXcip_GetStructMbrInfo and prints that information (name, array dimension,

offset in structure, element size, and data type) to the console. Again, a data type may be simple (print_cip_data_type) or a structure which causes a recursive invocation of the print_structure_info routine.

In the main program, print_tag_info is called on "index". This routine uses

OCXcip_GatTagDbTagInfo to get information about this tag and prints that info to

the console. The main loop then calls print_controller_status to check for changes in

controller status. This routine uses OCXcip_GetDeviceIdStatus to check the fault state, run mode, and key switch mode of the controller. If any of these states change, the new state is printed to the console.

The main loop then uses OCXcip_AccessTagData to read the value of the tag "LDM_Test". The value of this tag is then incremented and written back to the controller using the OCXcip_AccessTagData routine.

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4.16 Sample Applications

The following sections describe how to run and understand the sample applications provided with the module.

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4.17 Ethernet Communications Sample

The Ethernet Communications program illustrates how to interact with the MVI56E-LDM using both of its Ethernet ports as both a server and a client communicating through the backplane to send and receive data. The sample also uses multi-threading in order to run as both a server and client asynchronously.

Two computers are recommended with TCP Stress Tester within two separate subnets.

First Computer

Set up TCP Stress Tester as a server:

 Port: 5000  Connection: TCP  Send Speed: Single  Type: Server

Subnet Example: 10.1.3.x (or default 192.168.0.250) Select Open and allow the TCP Stress Tester to listen once the sample program

launches.

Second Computer

Set up TCP Stress Tester as a client:

 Port: 6000  Connection: TCP  Send Speed: Single  Type: Client

Subnet Example: 10.1.2.x (or default 192.168.1.250).

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Ensure that you type the HOST address as one of the two Ethernet ports available on the MVI56E-LDM (information to access / set IP addresses in the LDM is discussed later)

1 Launch the sample ladder for the MVI56E-LDM in RSlogix5000. Please

observe that the module is not proceeding with I/O communications. This is

normal. The sample program will initiate backplane communication. 2 To communicate on the MVI56E-LDM, open a serial connection (baud

115200) to the COM port of choice on either of the two computers.

3 To change Ethernet port IP addresses to use the subnets chosen temporarily,

type in the terminal console:

ifconfig eth0 x.x.x.x where 'x' is your IP address of choice for Ethernet

Port 0.

ifconfig eth1 x.x.x.x where 'x" is your IP address of choice for Ethernet

Port 1.

4 Navigate to the directory /psft/sample. 5 Type the command ./enet_application x.x.x.x where 'x' is the destination

IP address of the server running TCP Stress Tester. To initiate external client communication... On the second computer, select 'Open' once the Ethernet Communications

sample is running (you may have to click twice depending on your computer). Once the program is running and both TCP Tester server and client information

is established, data is received through the backplane and to/from the TCP Stress Testing applications and RSlogix5000. The program modifies the tags within RSlogix5000 using the sample ladder provided with any string input:

 Input Tags: 0-9 are modifiable by the MVI56E-LDM client for the MVI56E-

LDM.  Output Tags: 0-9 are modifiable by the TCP Tester server for the MVI56E-

LDM.  Input Tags: 11-20 are modifiable by the MVI56E-LDM server of the MVI56E-

LDM.  Output Tags: 10-19 are modifiable by the TCP Tester client of the MVI56E-

LDM

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Please note that it is recommended to set the 'Style' in RSlogix5000 to 'ASCII' instead of INT or Hex due to the way that RSlogix5000 interprets bytes and byte order.

RSlogix5000 creates a high byte and low byte for each tag in its database. For example, if the word 'Hello!' was typed from the TCP Stress Tester, RSlogix5000 would separate the values to:

 'eH'  'll'  '!o'

Since the values are read in byte order (from right most to left most), there is a high byte and low byte used and RSlogix5000 combines those byte values in you choose to view it as in INT or Hex value.

For example, the letters 'te' in a single tag are separated and combined as follows:

Binary Value: 01110100 0110010

ASCII: t e

Combined Binary Value: 0111010001100101 = 29797 int

ASCII (INT Value): 101 116

The sample application can have its sample ladder input tags modified via TCP Stress Tester either through the external server or client by creating any string value up to 10 tag entries long (20 characters total, including spaces):

Select 'Start' to transmit the data from the computer into the module and backplane. It is then updated in RSlogix5000 with the appropriate number associations.

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As mentioned earlier, all character data is sent to RSLogix in sets of two per tag since each tag is 16 bits in length and each ASCII character resides in 8 bits (one byte). All ASCII information for each tag reads from right to left (low byte to high byte) as shown in the following example:

All information regarding the sending and receiving of both client and server, as well as to and from RSlogix is displayed on the serial output window.

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The following diagram shows the multi-threading hierarchy. All threads (excluding the main thread) can be removed/disabled and the sample will continue to function as directed, excluding the functionality of the removed thread and any child threads associated with it.



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4.18 Serial Application Sample

Serial_Application shows an example of how the LDM module can be used to communicate to an end device to transmit/receive ASCII strings from the ControlLogix5000 processor through the backplane to the LDM module on the bottom serial port (default application port). This same sample program will stream ASCII data into the module from the end device on the same serial port and send the data to the backplane to the controller tags of the ControlLogix.

Send out number of bytes entered in Write_Byte_Cnt Controller tag continuously after the Serial_App_Sample_WriteTrigger tag has been triggered from the default application port.

Streams in ASCII data from the end device into the Controller tag Local:1:I.Data.

Note: Use HyperTerminal or a similar program to perform the following steps.

Open HyperTerminal. Enter a name and choose an icon for the connection.

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Choose the appropriate COM port.

Use the following settings for the Serial_Application program. Bits per second: 115200 Data bits: 8 Parity: None Stop bits: 1 Flow Control: None

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Under the ASCII Setup, check the 'Echo typed character locally'. This will allow you to see the stream data being sent to the LDM module on the HyperTerminal screen.

Click OK, but keep HyperTerminal open since it will be used again after you complete the following sections.

Use PUTTY or Telnet to log into the module. RA56-dATM login: root Password: password

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Change the directory to /psft/sample.

Type './' and the name of the sample program that you want to run. In this example, ./Serial_Application&.

Keep PUTTY or Telnet open and set up the ControlLogix5000 program as described in the section entitled Setting Up the Control Logix 5000.

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Open the MVI56E-LDM.ACD program and change the appropriate chassis type to match your hardware and firmware.

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Download the MVI56E-LDM.ACD file in the ControlLogix processor by choosing Communications > Who Active > Download.

Trigger 'Serial_ENET_App_Sample_On_Trigger' by right-clicking on the Controller tag and choosing 'Toggle Bit'.

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This allows the MVI56E-LDM module to send out the text 'world!' to the console.

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You can view how the stream of data is accepted by the LDM module by untoggling the Serial_App_Sample_WriteTrigger and typing a string of characters on the console.

You can see the letter 'h' in the location 'Local:1:I.Data'. Make sure that the Style column in the ControlLogix is set to ASCII.

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You can also observe this on the console port as well.

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CIP API Functions ControlLogix Platform ♦ "C" Programmable

In This Chapter

 CIP API Initialization Functions .............................................................. 73

 Object Registration ................................................................................ 79

 Special Callback Registration ................................................................ 84

 Connected Data Transfer ...................................................................... 99

 Tag Access Functions ......................................................................... 110

 Messaging ........................................................................................... 138

 Miscellaneous Functions ..................................................................... 166

Function Category

Function

Initialization

OCXcip_Open - Starts the backplane engine and initializes access to the CIP API.

OCXcip_OpenNB - Allows access without opening backplane access. OCXcip_Close - Terminates access to the CIP API.

Object Registration

OCXcip_RegisterAssemblyObj - Registers all instances of the Assembly Object, enabling other devices in the CIP system to establish connections with the object. Callbacks are used to handle connection and service requests.

OCXcip_UnregisterAsssemblyObj - Unregisters all instances of the Assembly Object that had previously been registered. Subsequent connection requests to the object are refused.

Callback Registration

OCXcip_RegisterFatalFaultRtn - Registers a fatal fault handler routine. OCXcip_RegisterResetReqRtn - Registers a reset request handler routine.

Connected Data Transfer

OCXcip_WriteConnected - Writes data to a connection. OCXcip_ReadConnected - Reads data from a connection. OCXcip_WaitForRxData - Blocks until new data is received on connection. OCXcip_ImmediateOutput - Transmit output data immediately. OCXcip_WriteConnectedImmediate - Update and transmit output data

immediately.

Developer's Manual Linux Application Development Module

5 CIP API Functions

The following table lists the CIP API Library functions. Details of each function follow in subsequent sections:

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Tag Access

OCXcip_AccessTagData - Read and write Logix controller tag data. OCXcip_AccessTagDataAbortable - Abortable version of

OCXcip_AccessTagData.

OCXcip_CreateTagDbHandle - Creates a tag database handle. OCXcip_DeleteTagDbHandle - Deletes a tag database handle and releases

all associated resources.

OCXcip_SetTagDbOptions - Sets various tag database options. OCXcip_BuildTagDb - Builds or rebuilds a tag database. OCXcip_TestTagDbVer - Compare the current device program version with

the device program version red when the tag database was created.

OCXcip_GetSymbolInfo - Get symbol information. OCXcip_GetStructInfo - Get structure information. OCXcip_GetStructMbrInfo - Get structure member information. OCXcip_GetTagDbTagInfo - Get information for a fully qualified tag name. OCXcip_AccessTagDataDb - Read and/or write multiple tags.

Messaging

OCXcip_GetDeviceIdObject - Reads a device's identity object. OCXcip_GetDeviceICPObject - Reads a device's ICP object. OCXcip_GetDeviceIdStatus - Read a device's status word. OCXcip_GetExDevObject - Read a device's extended device object. OCXcip_GetWCTime - Read the Wall Clock Time from a controller. OCXcip_SetWCTime - Set a controller's Wall Clock Time. OCXcip_GetWCTimeUTC - Read a controller's Wall Clock Time in UTC. OCXcip_SetWCTimeUTC - Set a controller's Wall Clock Time in UTC.

Callback Functions

connect_proc - Application function called by the CIP API when a connection request is received for the registered object.

service_proc - Application function called by the CIP API when a message is received for the registered object.

fatalfault_proc - Application function called if the backplane device driver detects a fatal fault condition.

Linux Application Development Module Developer's Manual

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Miscellaneous

OCXcip_GetIdObject - Returns data from the module's Identity Object. OCXcip_SetIdObject - Sets the module's Identity Object. OCXcip_GetActiveNodeTable - Returns the number of slots in the local

rack and identifies which slots are occupied by active modules. OCXcip_MsgResponse - Send the response to an unscheduled message.

This function must be called after returning OCX_CIP_DEFER_RESPONSE from the service_proc callback routine.

OCXcip_GetVersionInfo - Get the CIP API version information. OCXcip_GetUserLED - Get the state of the user LED. OCXcip_SetUserLED - Set the state of the user LED. OCXcip_GetModuleStatus - Get the state of the status LED. OCXcip_SetModuleStatus - Set the state of the status LED. OCXcip_GetLED3 - Get the state of the err LED. OCXcip_SetLED3 - Set the state of the err LED. OCXcip_ErrorString - Get a text description of an error code. OCXcip_SetDisplay - Display characters on the alphanumeric display. OCXcip_GetDisplay - Read alphanumeric display. OCXcip_GetSwitchPosition - Get the state of the board jumpers. OCXcip_GetSerialConfig - Read the serial board configuration jumpers. OCXcip_Sleep - Delay for specified time. OCXcip_Calculate CRC - Generates a 16-bit CRC over a range of data. OCXcip_SetModuleStatusWord - Set the module status attribute in the ID

object. OCXcip_GetModuleStatusWord - Read the module status attribute in the ID

object

Developer's Manual Linux Application Development Module

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apiHandle

pointer to variable of type OCXHANDLE

OCX_SUCCESS

API was opened successfully

OCX_ERR_REOPEN

API is already open

OCX_ERR_NODEVICE

backplane driver could not be accessed

Linux Application Development Module Developer's Manual

5.1 CIP API Initialization Functions

OCXcip_Open

Syntax

int OCXcip_Open(OXCHANDLE *apihandle);

Parameters

Description

OCXcip_Open acquires access to the CIP API and sets apiHandle to a unique ID

that the application uses in subsequent functions. This function must be called before any of the other CIP API functions can be used.

IMPORTANT: Once the API has been opened, OCXcip_Close should always be called before exiting the application.

Return Value

Note: OCX_ERR_NODEVICE will be returned if the backplane device driver is not loaded.

Example

OCXHANDLE apiHandle; if (OCXcip_Open(&apiHandle)!= OCX_SUCCESS) { printf ("Open failed!\n"); } else { printf ("Open succeeded\n"); }

See Also

OCXcip_Close

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apiHandle

pointer to variable of type OCXHANDLE

OCX_SUCCESS

API was opened successfully

OCX_ERR_REOPEN

API is already open

Developer's Manual Linux Application Development Module

OCXcip_OpenNB

Syntax

int OCXcip_OpenNB(OXCHANDLE *apihandle);

Parameters

Description

OCXcip_OpenNB acquires access to the CIP API and sets apiHandle to a unique ID

that the application uses in subsequent functions. This function must be called before any of the other CIP API functions can be used.

Most applications will use OCXcpi_Open instead of this function. This version of the open function allows access to a limited subset of API functions that are not related to the ControlLogix backplane. This can be useful in some situations if an application separate from the host application needs access to a device such as the alphanumeric display.

An application should only use either OCXcip_Open or OCXcip_OpenNB, but never both.

The API functions that can be accessed after calling OCXcip_OpenNB are:

OCXcip_Close OCXcip_GetDisplay OCXcip_GetUserLED OCXcip_GetLED3 OCXcip_GetIdObject OCXcip_GetModuleStatus OCXcip_GetSwitchPosition OCXcip_GetVersionInfo OCXcip_ReadSRAM OCXcip_SetDisplay OCXcip_SetUserLED OCXcip_SetLED3 OCXcip_SetModuleStatus OCXcip_Sleep

IMPORTANT: Once the API has been opened, OCXcip_Close should always be called before exiting the application.

Return Value

Note: OCX_ERR_NODEVICE will be returned if the backplane device driver is not loaded.

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See Also

OCXcip_Close

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apihandle

handle returned by previous call to OCXcip_Open

OCX_SUCCESS

API was closed successfully

OCX_ERR_NOACCESS

apihandle does not have access

Linux Application Development Module Developer's Manual

OCXcip_Close

Syntax

int OCXcip_Close(OCXHANDLE apihandle);

Parameters

Description

This function is used by an application to release control of the CIP API. apihandle must be a valid handle returned from OCXcip_Open. IMPORTANT: Once the CIP API has been opened, this function should always

be called before exiting the application.

Return Value

Example

OCXHANDLE apihandle; OCXcip_Close (apihandle);

See Also

OCXcip_Open After the CIP API has been opened, this function should always be called before

exiting the application.

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apihandle

handle returned by previous call to OCXcip_Open

objHandle

pointer to variable of type OCXHANDLE. On successful return, this variable will contain a value which identifies this object.

reg_param

value that will be passed back to the application as a parameter in the connect_proc and service_proc callback functions.

connect_proc

pointer to callback function to handle connection requests

service_proc

pointer to callback function to handle service requests

OCX_SUCCESS

object was registered successfully

OCX_ERR_NOACCESS

handle does not have access

OCX_ERR_BADPARAM

connect_proc or service_proc is NULL

OCX_ERR_ALREADY_REGISTERED

object has already been registered

Linux Application Development Module Developer's Manual

5.2 Object Registration

OCXcip_RegisterAssemblyObj

Syntax

int OCXcip_RegisterAssemblyObj(OCXHANDLE apihandle, OCXHANDLE * objHandle, DWORD reg_param, OCXCALLBACK (*connect_proc)(), OCXCALLBACK (*service_proc)());

Parameters

Description

This function is used by an application to register all instances of the Assembly Object with the CIP API. The object must be registered before a connection can be established with it.

apihandle must be a valid handle returned from MVIcip_Open. reg_param is a value that will be passed back to the application as a parameter in

the connect_proc and service_proc callback functions. The application may use this to store an index or pointer. It is not used by the CIP API.

connect_proc is a pointer to a callback function to handle connection requests to

the registered object. This function will be called by the backplane device driver when a Class 1 scheduled connection request for the object is received. It will also be called when an established connection is closed. Refer to Callback Functions for information.

service_proc is a pointer to a callback function which handles service requests to

the registered object. This function will be called by the backplane device driver when an unscheduled message is received for the object. Refer to Callback Functions for information.

Return Value

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Example

OCXHANDLE apihandle; OCXHANDLE objHandle; MY_STRUCT mystruct; int rc;

OCXCALLBACK MyConnectProc (OCXHANDLE, OCXCIPCONNSTRUC *); OCXCALLBACK MyServiceProc (OCXHANDLE, OCXCIPSERVSTRUC *);

// Register all instances of the assembly object rc = MVIcip_RegisterAssemblyObj( apihandle, &objHandle, (DWORD)&mystruct, MyConnectProc, MyServiceProc, NULL );

if (rc != OCX_SUCCESS) printf("Unable to register assembly object\n");

See Also

OCXcip_UnregisterAssemblyObj connect_proc service_proc

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apihandle

handle returned by previous call to OCXcip_Open

objHandle

handle for object to be unregistered

OCX_SUCCESS

object was unregistered successfully

OCX_ERR_NOACCESS

apihandle does not have access

OCX_ERR_INVALID_OBJHANDLE

objHandle is invalid

Developer's Manual Linux Application Development Module

OCXcip_UnregisterAssemblyObj

Syntax

int OCXcip_UnregisterAssemblyObj(OCXHANDLE apihandle, OCXHANDLE objHandle );

Parameters

Description

This function is used by an application to unregister all instances of the Assembly Object with the CIP API. Any current connections for the object specified by

objHandle will be terminated. apihandle must be a valid handle returned from OCXcip_Open. objHandle must be a handle returned from OCXcip_RegisterAssemblyObj.

Return Value

Example

OCXHANDLE apihandle; OCXHANDLE objHandle;

// Unregister all instances of the object

OCXcip_UnregisterAssemblyObj(apihandle, objHandle );

See Also

OCXcip_RegisterAssemblyObj

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CIP API Functions ControlLogix Platform ♦ "C" Programmable

apihandle

handle returned by previous call to OCXcip_Open

fatalfault_proc

pointer to fatal fault callback routine

OCX_SUCCESS

routine was registered successfully

OCX_ERR_NOACCESS

handle does not have access

Developer's Manual Linux Application Development Module

5.3 Special Callback Registration

OCXcip_RegisterFatalFaultRtn

Syntax

int OCXcip_RegisterFatalFaultRtn(OCXHANDLE apihandle, OCXCALLBACK (*fatalfault_proc)( ) );

Parameters

Description

This function is used by an application to register a fatal fault callback routine. Once registered, the backplane device driver will call fatalfault_proc if a fatal fault condition is detected.

apihandle must be a valid handle returned from OCXcip_Open. fatalfault_proc must be a pointer to a fatal fault callback function.

A fatal fault condition will result in the module being taken offline; that is, all backplane communications will halt. The application may register a fatal fault callback in order to perform recovery, safe-state, or diagnostic actions.

Return Value

Example

OCXHANDLE apihandle;

// Register a fatal fault handler

OCXcip_RegisterFatalFaultRtn(apihandle, fatalfault_proc);

See Also

fatalfault_proc

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apihandle

apihandle returned by previous call to OCXcip_Open

resetrequest_proc

pointer to reset request callback routine

OCX_SUCCESS

routine was registered successfully

OCX_ERR_NOACCESS

apihandle does not have access

Developer's Manual Linux Application Development Module

OCXcip_RegisterResetReqRtn

Syntax

int OCXcip_RegisterResetReqRtn( OCXHANDLE apihandle, OCXCALLBACK (*resetrequest_proc)( ) );

Parameters

Description

This function is used by an application to register a reset request callback routine. Once registered, the backplane device driver will call resetrequest_proc if a module reset request is received.

apihandle must be a valid handle returned from OCXcip_Open. resetrequest_proc must be a pointer to a reset request callback function.

If the application does not register a reset request handler, receipt of a module reset request will result in a software reset (that is, reboot) of the module. The application may register a reset request callback in order to perform an orderly shutdown, reset special hardware, or to deny the reset request.

Return Value

Example

OCXCIPHANDLE apihandle;

// Register a reset request handler

OCXcip_RegisterResetReqRtn(apihandle, resetrequest_proc);

See Also

resetrequest_proc

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objHandle

handle of registered object instance

sConn

pointer to structure of type OCXCIPCONNSTRUCT

Developer's Manual Linux Application Development Module

5.4 CIP Callback Functions

Note: The functions in this section are not part of the CIP API, but must be implemented by the application. The CIP API calls the connect_proc or service_proc functions when connection or service requests are received for the registered object. The optional fatalfault_proc function is called when the backplane device driver detects a fatal fault condition.

Special care must be taken when coding the callback functions, because these functions are called directly from the backplane device driver. Callback functions may be called at any time. Therefore, they should never call any functions that are non-reentrant. Many 'C'-runtime library functions may be non-reentrant.

In general, the callback routines should be as short as possible. Stack size is limited, so keep stack variables to a minimum. Do as little work as possible in the callback.

connect_proc

Syntax

OCXCALLBACK connect_proc( OCXHANDLE objHandle, OCXCIPCONNSTRUC *sConn );

Parameters

Description

connect_proc is a callback function which is passed to the CIP API in the OCXcip_RegisterAssemblyObj call. The CIP API calls the connect_proc function

when a Class 1 scheduled connection request is made for the registered object instance specified by objHandle.

sConn is a pointer to a structure of type OCXCIPCONNSTRUCT. this structure is shown

below:

typedef struct tagOCXCIPCONNSTRUC { OCXHANDLE connHandle; // unique value which identifies this connection DWORD reg_param; // value passed via OCXcip_RegisterAssemblyObj WORD reason; // specifies reason for callback WORD instance; // instance specified in open WORD producerCP; // producer connection point specified in open WORD consumerCP; // consumer connection point specified in open DWORD *lOTApi; // pointer to originator to target packet interval DWORD *lTOApi; // pointer to target to originator packet interval DWORD lODeviceSn; // Serial number of the originator WORD iOVendorId; // Vendor Id of the originator WORD rxDataSize; // size in bytes of receive data WORD txDataSize; // size in bytes of transmit data BYTE *configData; // pointer to configuration data sent in open WORD configSize; // size of configuration data sent in open WORD *extendederr; // an extended error code if an error occurs } OCXCIPCONNSTRUC;

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connHandle identifies this connection. This value must be passed to the OCXcip_SendConnected and OCXcip_ReadConnected functions.

reg_param is the value that was passed to OCXcip_RegisterAssemblyObj. The

application may use this to store an index or pointer. It is not used by the API. reason specifies whether the connection is being opened or closed. A value of

OCX_CIP_CONN_OPEN indicates the connection is being opened, OCX_CIP_CONN_OPEN_COMPLETE indicates the connection has been successfully

opened, OCX_CIP_NULL_OPEN indicates there is new configuration data for a currently open connection, and OCX_CIP_CONN_CLOSE indicates the connection is being closed. If reason is OCX_CIP_CONN_CLOSE, the following parameters are unused: producerCP, consumerCP, api, rxDataSize, and txDataSize.

instance is the instance number that is passed in the forward open.

Note: This corresponds to the Configuration Instance on the RSLogix 5000 generic profile.

producerCP is the producer connection point from the open request.

Note: This corresponds to the Input Instance on the RSLogix 5000 generic profile.

consumerCP is the consumer connection point from the open request.

Note: This corresponds to the Output Instance on the RSLogix 5000 generic profile.

lOTApi is a pointer to the originator-to-target actual packet interval for this

connection, expressed in microseconds. This is the rate at which connection data packets will be received from the originator. This value is initialized according to the requested packet interval from the open request. The application may choose to reject the connection if the value is not within a predetermined range. If the connection is rejected, return OCX_CIP_FAILURE and set extendederr to

OCX_CIP_EX_BAD_RPI. Note: The minimum RPI value supported by the 56SAM

module is 200us.

lTOApi is a pointer to the target-to-originator actual packet interval for this

connection, expressed in microseconds. This is the rate at which connection data packets will be transmitted by the module. This value is initialized according to the requested packet interval from the open request. The application may choose to increase this value if necessary.

lODeviceSn is the serial number of the originating device, and iOVendorId is the

vendor ID. The combination of vendor ID and serial number is guaranteed to be unique, and may be used to identify the source of the connection request. This is important when connection requests may be originated by multiple devices.

rxDataSize is the size in bytes of the data to be received on this connection. txDataSize is the size in bytes of the data to be sent on this connection.

configData is a pointer to a buffer containing any configuration data that was sent

with the open request. configSize is the size in bytes of the configuration data.

extendederr is a pointer to a word which may be set by the callback function to

an extended error code if the connection open request is refused.

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OCX_SUCCESS

connection is accepted

OCX_CIP_BAD_INSTANCE

instance is invalid

OCX_CIP_NO_RESOURCE

unable to support connection due to resource limitations

OCX_CIP_FAILURE

connection is rejected: extendederr may be set

OCX_CIP_EX_CONNECTION_USED

The requested connection is already in use.

OCX_CIP_EX_BAD_RPI

The requested packet interval cannot be supported.

OCX_CIP_EX_BAD_SIZE

The requested connection sizes do not match the allowed sizes.

Developer's Manual Linux Application Development Module

Return Value

The connect_proc routine must return one of the following values if reason is

OCX_CIP_CONN_OPEN:

Note: If reason is OCX_CIP_CONN_OPEN_COMPLETE or OCX_CIP_CONN_CLOSE, the return value must be OCX_SUCCESS.

Extended Error Codes

If the open request is rejected, extendederr can be set to one of the following values:

Example

OCXHANDLE Handle; OCXCALLBACK connect_proc( OCXHANDLE objHandle, OCXCIPCONNSTRUCT *sConn) { // Check reason for callback switch( sConn->reason ) { case OCX_CIP_CONN_OPEN: // A new connection request is being made. Validate the //parameters and determine whether to allow the connection. //Return OCX_SUCCESS if the connection is to be established, //or one of the extended error codes if not. See the sample //code for more details. return(OCX_SUCCESS); case OCX_CIP_CONN_OPEN_COMPLETE: // The connection has been successfully opened. If // necessary, // call OCXcip_WriteConnected to initialize transmit data. return(OCX_SUCCESS); case OCX_CIP_CONN_NULLOPEN: // New configuration data is being passed to the open connection. //Process the data as necessary and return success. return(OCX_SUCCESS); case OCX_CIP_CONN_CLOSE: // This connection has been closed - inform the application return(OCX_SUCCESS); } }

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See Also

OCXcip_RegisterAssemblyObj OCXcip_ReadConnected

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objHandle

handle of registered object

sServ

pointer to structure of type OCXCIPSERVSTRUC

Linux Application Development Module Developer's Manual

service_proc

Syntax

OCXCALLBACK service_proc( OCXHANDLE objHandle, OCXCIPSERVSTRUC *sServ );

Parameters

Description

service_proc is a callback function which is passed to the CIP API in the OCXcip_RegisterAssemblyObj call. The CIP API calls the service_proc function

when an unscheduled message is received for the registered object specified by

objHandle. sServ is a pointer to a structure of type OCXCIPSERVSTRUC. This structure is shown

below:

typedef struct tagOCXCIPSERVSTRUC { DWORD reg_param; // value passed via OCXcip_RegisterAssemblyObj WORD instance; // instance number of object being accessed BYTE serviceCode; // service being requested WORD attribute; // attribute being accessed BYTE **msgBuf; // pointer to pointer to message data WORD offset; // member offset WORD *msgSize; // pointer to size in bytes of message data WORD *extendederr; // an extended error code if an error occurs BYTE fromSlot; //Slot number in local rack that sent the message DWORD msgHandle; //Handle used by OCXcip_MsgResponse } OCXCIPSERVSTRUC;

reg_param is the value that was passed to OCXcip_RegisterAssemblyObj. The

application may use this to store an index or pointer. It is not used by the CIP API.

instance specifies the instance of the object being accessed. serviceCode specifies the service being requested. attribute specifies the

attribute being accessed.

msgBuf is a pointer to a pointer to a buffer containing the data from the message.

This pointer should be updated by the callback routine to point to the buffer containing the message response upon return.

offset is the offset of the member being accessed. msgSize points to the size in bytes of the data pointed to by msgBuf. The

application should update this with the size of the response data before returning.

extendederr is a pointer to a word which can be set by the callback function to an

extended error code if the service request is refused.

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OCX_SUCCESS

message processed successfully

OCX_CIP_BAD_INSTANCE

invalid class instance

OCX_CIP_BAD_SERVICE

invalid service code

OCX_CIP_BAD_ATTR

invalid attribute

OCX_CIP_ATTR_NOT_SETTABLE

attribute is not settable

OCX_CIP_PARTIAL_DATA

data size invalid

OCX_CIP_BAD_ATTR_DATA

attribute data is invalid

OCX_CIP_FAILURE

generic failure code

OCX_CIP_DEFER_RESPONSE

defer response until OCXcip_MsgResponse is called

Developer's Manual Linux Application Development Module

fromSlot is the slot number in the local rack from which the message was

received. If the module in this slot is a communications bridge, then it is impossible to determine the actual originator of the message.

msgHandle is only needed if the callback returns OCX_CIP_DEFER_RESPONSE. If this

code is returned, the message response is not sent until OCXcip_MsgResponse is called.

Note: If the service_proc callback returns OCX_CIP_DEFER_RESPONSE, it must save any needed data passed to it in the OCXCIPSERVSTRUC structure. This data is only valid in the context of the callback. If the received message contains data, the buffer pointed to by msgBuf can be accessed after the callback returns. However, the pointer itself will not be valid.

Return Value

The service_proc routine must return one of the following values:

Example

OCXHANDLE Handle; OCXCALLBACK service_proc ( OCXHANDLE objHandle, OCXCIPSERVSTRUC *sServ ) { // Select which instance is being accessed. // The application defines how each instance is defined. switch(sServ->instance) { case 1: // Instance 1 // Check serviceCode and attribute; perform // requested service if appropriate break; case 2: // Instance 2 // Check serviceCode and attribute; perform // requested service if appropriate break; default: return(OCX_CIP_BAD_INSTANCE); // Invalid instance } }

See Also

OCXcip_RegisterAssemblyObj

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Frequently Asked Questions

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