Arduino plclib Library

version: 1.0.2
license: MIT License
author: Stefan Lehmann, MrLeeh@gmx.de

Overview

The purpose of this library is to supply basic functions and objects used in plc programming to the Arduino world. It leans on to the functionality of the Standard.lib of CoDeSys v2 defined in IEC61131-3.

I will try to include an increasing number of functions and function blocks in this library. As this takes some time I will appreciate any help in this matter.

Further informations about the specific functions and objects can be found in the CoDeSys v2 manual.

The library consists of these sections:

Bistable Latches
Timer
Edge detection
Counter

Standardlib

Bistable Latches

SR - Bistable function block with dominating set

Code Sample:

#include "plclib.h"

SR sr_latch;
R_TRIG rtrig;
F_TRIG ftrig;

void setup() {
    pinMode(0, INPUT_PULLUP);
    pinMode(1, INPUT_PULLUP);
    Serial.begin(9600);
}

void loop() {
    boolean x0 = !digitalRead(0); //set switch
    boolean x1 = !digitalRead(1); //reset switch

    sr_latch.process(x0, x1);
    rtrig.process(sr_latch.Q1);
    ftrig.process(sr_latch.Q1);

    if (rtrig.Q) {
        Serial.println("On");
    }
    if (ftrig.Q) {
        Serial.println("Off");
    }
}

RS - Bistable function block with dominating reset

Code sample:

#include "plclib.h"

RS rs_latch;
R_TRIG rtrig;
F_TRIG ftrig;

void setup() {
    pinMode(0, INPUT_PULLUP);
    pinMode(1, INPUT_PULLUP);
    Serial.begin(9600);
}

void loop() {
    boolean x0 = !digitalRead(0); //set switch
    boolean x1 = !digitalRead(1); //reset switch

    rs_latch.process(x0, x1);
    rtrig.process(rs_latch.Q1);
    ftrig.process(rs_latch.Q1);

    if (rtrig.Q) {
        Serial.println("On");
    }
    if (ftrig.Q) {
        Serial.println("Off");
    }
}

SEMA - Software semaphore (interruptable)

If SEMA::process() is called and SEMA::BUSY is True this means the semaphore has already been claimed before by some other code part. If SEMA::BUSY is False the semaphore has not been claimed yet or was released (SEMA::RELEASE = True).

Code sample:

#include "plclib.h"
#define X0 2
#define X1 3

SEMA semaphore;
R_TRIG trigger;

void setup() {
    pinMode(X0, INPUT_PULLUP);
    pinMode(X1, INPUT_PULLUP);
    Serial.begin(9600);
}

void loop() {
    boolean x0 = !digitalRead(X0); //claim
    boolean x1 = !digitalRead(X1); //release
    boolean was_busy = semaphore.BUSY;
    semaphore.CLAIM = x0;
    semaphore.RELEASE = x1;
    semaphore.process();
    trigger.process(x0 || x1);
    if (trigger.Q) {
        if (x0) {
            if (semaphore.BUSY) {
                Serial.println("Resource is busy.");
            }
            else {
                Serial.println("Resource claimed successfully.");
            }
        }
        if (x1) {
            if (was_busy) {
                Serial.println("Resource released.");
            }
            else {
                Serial.println("Nothing to release.");
            }
        }
    }
}

Timer

TP - Impulse of a defined timespan

Code Sample:

#include "plclib.h"

#define X0 2

TP tp(1000);  // Initialise tp impulse object
R_TRIG rtrig;
F_TRIG ftrig;

void setup() {
    Serial.begin(9600);
    pinMode(X0, INPUT_PULLUP);
}

void loop() {
    boolean x0 = !digitalRead(X0);

    tp.process(x0);
    rtrig.process(tp.Q);
    ftrig.process(tp.Q);

    if (rtrig.Q) {
        Serial.println("Impulse comming.");
    }
    if (ftrig.Q) {
        Serial.println("Impulse going.");
    }
}

TON - Switch-On delay

Code Sample:

#include "plclib.h"
#define X0 2

TON ton(1000);  // Initialise ton delay object
R_TRIG rtrig;

void setup() {
    Serial.begin(9600);
    pinMode(X0, INPUT_PULLUP);
}

void loop() {
    boolean x0 = !digitalRead(X0);
    ton.process(x0);
    rtrig.process(ton.Q);
    if (rtrig.Q) {
        Serial.println("I waited 1 second.");
    }
}

TOF - Switch-Off delay

Code Sample:

#include "plclib.h"
#define X0 2

TOF tof(1000);  // Initialise ton delay object
F_TRIG ftrig;

void setup() {
    Serial.begin(9600);
    pinMode(X0, INPUT_PULLUP);
}

void loop() {
    boolean x0 = !digitalRead(X0);
    tof.process(x0);
    ftrig.process(tof.Q);
    if (ftrig.Q) {
        Serial.println("I waited 1 second.");
    }
}

Edge detection

R_TRIG - Detect a rising edge

Code Sample:

#include "plclib.h"
#define X0 2

R_TRIG trig;
void setup() {
    pinMode(X0, INPUT_PULLUP);
    Serial.begin(9600);
}

void loop() {
    boolean x0 = !digitalRead(X0);
    trig.process(x0);
    if (trig.Q) {
        Serial.println("This was a rising edge.");
    }
}

F_TRIG - Detect a falling edge

Code Sample:

#include "plclib.h"
#define X0 2

F_TRIG trig;
void setup() {
    pinMode(X0, INPUT_PULLUP);
    Serial.begin(9600);
}

void loop() {
    boolean x0 = !digitalRead(X0);
    trig.process(x0);
    if (trig.Q) {
        Serial.println("This was a falling edge.");
    }
}

Counter

CTU - Upward counter

If CTU::RESET is true the counter value CTU::CV is initialised by 0. If there is a rising edge on CTU::CU the counter value CTU::CV is increased by 1. CTU::Q is set to true if CTU::CV is bigger than or equal to CTU::PV.

Code Sample:

#include "plclib.h"
#define X0 2
#define X1 3

CTU ctu;
R_TRIG rtrig;

void setup() {
    pinMode(X0, INPUT_PULLUP);
    pinMode(X1, INPUT_PULLUP);
    Serial.begin(9600);
    ctu.PV = 10; //set upper limit of counter
}

void loop() {
    boolean x0 = !digitalRead(X0); //count up
    boolean x1 = !digitalRead(X1); //reset
    ctu.process(x0, x1);
    rtrig.process(x0 || x1);
    if (rtrig.Q) {
        Serial.print("Counter: ");
        Serial.print(ctu.CV);
        Serial.print(", ");
        Serial.print("Output: ");
        Serial.println(ctu.Q);
    }
}

CTD - Downward counter

If CTD::LOAD is true the counter variable CTD::CV is initialised to the upper limit CTD::PV. If there is a rising edge on CTD::CD the counter value CTD::CV is decreased by one as long as CTD::CV is bigger than 0. The output variable CTD::Q is set to true if CTD::CV is equal to 0.

Code sample:

#include "plclib.h"
#define X0 2
#define X1 3

CTD ctd;
R_TRIG rtrig;

void setup() {
    pinMode(X0, INPUT_PULLUP);
    pinMode(X1, INPUT_PULLUP);
    Serial.begin(9600);
    ctd.PV = 10; //set upper limit of counter
}

void loop() {
    boolean x0 = !digitalRead(X0); //count up
    boolean x1 = !digitalRead(X1); //reset
    ctd.process(x0, x1);
    rtrig.process(x0 || x1);
    if (rtrig.Q) {
        Serial.print("Counter: ");
        Serial.print(ctd.CV);
        Serial.print(", ");
        Serial.print("Output: ");
        Serial.println(ctd.Q);
    }
}

CTUD - Up-and-Downward counter

If CTUD::RESET is true the counter variable CTUD::CV is initialised with 0. If CTUD::LOAD is true the counter variable CTUD::CV is initialised with the upper limit CTUD::PV.

If there is a rising edge on CTUD::CU the counter variable CTUD::CV is increased by 1. If there is a rising edge on CTUD::CD the counter variable CTUD::CV is decreased by 1 as long as it is greater then 0.

CTUD::QU becomes true if the counter variable CTUD::CV is greater then or equal to the upper limit CTUD::PV. CTUD::QD becomes true if the counter variable CTUD::CV is 0.

Code sample:

#include "plclib.h"
#define X0 2
#define X1 3

CTUD ctud;
R_TRIG rtrig;

void setup() {
    pinMode(X0, INPUT_PULLUP);
    pinMode(X1, INPUT_PULLUP);
    Serial.begin(9600);
    ctud.PV = 10; //set upper limit of counter
}

void loop() {
    boolean x0 = !digitalRead(X0); //count up
    boolean x1 = !digitalRead(X1); //count down
    boolean rst = x0 && x1; //reset

    ctud.CU = x0;
    ctud.CD = x1;
    ctud.RESET = rst;
    ctud.process();
    rtrig.process(x0 || x1 || rst);

    if (rtrig.Q) {
        Serial.print("Counter: ");
        Serial.print(ctud.CV);
        Serial.print(", QU: ");
        Serial.print(ctud.QU);
        Serial.print(", QD: ");
        Serial.println(ctud.QD);
    }
}

a2nr/plclib

Arduino plclib Library

Overview

Standardlib

Bistable Latches

SR - Bistable function block with dominating set

RS - Bistable function block with dominating reset

SEMA - Software semaphore (interruptable)

Timer

TP - Impulse of a defined timespan

TON - Switch-On delay

TOF - Switch-Off delay

Edge detection

R_TRIG - Detect a rising edge

F_TRIG - Detect a falling edge

Counter

CTU - Upward counter

CTD - Downward counter

CTUD - Up-and-Downward counter