Method and device for extending c language function of plc programming configuration

Abstract

The application relates to the technical field of industrial automation control, and discloses a method and device for extending C language functions of PLC programming configuration, the method comprises a programming and compiling method of C language functions, a method for calling C language functions in an IEC61131-3 program, and a method for running C language functions in PLC runtime, and the device comprises PLC program programming host computer software and a PLC device main controller module. The C user programming language is extended, which is exported as a function interface conforming to the IEC61131-3 specification, does not change the existing programming habits, can be directly called and debugged by the existing PLC programming configuration language conforming to the specification, is consistent with the existing standard PLC function external characteristics, and is relatively high in practicability and universality; the user C language functions are directly compiled by using a cross-compiling tool chain of the PLC runtime, and the functions such as variable access, network programming, file operation and peripheral access can be relatively conveniently called.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation control, and in particular to a method and device for extending C language functions in PLC programming configuration. BACKGROUND

[0002] The PLC programming configuration software in accordance with the IEC61131-3 specification supports IL instruction table, ST structured text, LD ladder diagram, FBD function block diagram, SFC sequential function chart, and the like. Figure Five A programming language, whose program organization unit (POU) includes functions, function blocks, and programs, wherein a program can call a function block or a function. Although the ST structured file is closer to the C language, there are obvious differences in syntax, conditional statements, and loop statement forms, and there is also a lack of pointer, class, and other object-related support.

[0003] The PLC programming configuration and system that only supports the IEC61131-3 specification, first, in the process of migrating and reforming the original non-PLC control system, the reliable and mature programs written in C / C++ language cannot be directly used or quickly ported. Secondly, complex logic processing processes often need to call more C / C++ library functions, and it is difficult to complete all program writing on the conventional PLC program programming software. Therefore, it is inevitable that the configuration engineers and PLC system manufacturers will invest a large amount of work and resources in the upgrading and reform process.

[0004] Similar patents include "202310514189.5 A firmware library calling method, device, equipment, and storage medium", which supports IEC61131-3 language calling C language branch firmware library functions, and the PLC program programming software can use C language to write function blocks that are solidified into the PLC system. First, this method is mainly used for the construction of the built-in firmware library of the PLC CPU, and is oriented towards users involving core programming, rather than ordinary PLC users. Secondly, the existing configuration software is greatly changed, involving two programming configuration modes, firmware development mode and engineering mode, which changes the existing PLC programming habits. Thirdly, the generated logic calling code needs to rely heavily on the original PLC program compiler to use C language as intermediate code, and at present, most PLC logic compilers use more bottom-level IL code or other custom bottom-level languages as intermediate code, which is not very practical. Fourthly, the function block in accordance with the IEC61131-3 specification includes input parameters, output parameters (which can be multiple), and functions (with one return value), and the patent incorrectly replaces the output parameters of the function block (function block) with the function return value of the C language, resulting in the implementation of only one output parameter, which does not conform to the IEC61131-3 specification. SUMMARY

[0005] The present application aims to solve the above-mentioned problems in the prior art and provides a method and device for extending C language functions in PLC programming configuration, the method comprising a method for calling C language functions in IEC61131-3 programs and a method for running C language functions in PLC runtime, and the device comprising PLC program programming host computer software supporting C language function programming and PLC device CPU modules supporting dynamic loading and running of C language functions.

[0006] A method for extending C language functions in PLC programming configuration, comprising the following steps:

[0007] A C language user function is newly created in the PLC programming configuration software, the C language user function is declared in the form of IEC61131-3 specifications, the specific implementation of the function function is written in the C language, the C language function number is automatically allocated and the code for generating the registered function address is pre-compiled, and an extended C language user function dynamic library is generated by a cross-compilation tool chain of the PLC runtime;

[0008] The C language user function is directly called in the user program of the PLC programming configuration software, the function call is converted into a call according to the C language function number during pre-compilation, and the program resources of the PLC runtime are generated by compilation and linking;

[0009] Before the PLC program task is started, the PLC runtime initializes and loads the C language user function dynamic library and calls the CLibInit function to register the user function number and address mapping table; when the user function number call instruction is executed during the running of the PLC program task, the address mapping table is first queried, and then the compiled C language user function is executed by jumping to the specific function address.

[0010] Further, the newly created C language user function in the PLC programming configuration software specifically comprises:

[0011] The programming language is selected as the C language, the name of the C language user function is input, and the return value type, input parameters and output parameters of the C language user function are declared.

[0012] Further, after the declaration of the C language user function is completed, the PLC programming configuration software automatically generates the code of the basic framework of the C language user function, so as to facilitate the processing of the return value, the input parameters and the output parameters.

[0013] Further, the specific implementation of the function function written in the C language comprises:

[0014] The logic program is written in C language, if the cross-compiler tool chain supports C++ language, the user function here supports C++ language, the programming environment includes IEC61131-3 variable access interface, network programming interface, file operation interface and peripheral access interface.

[0015] Further, the pre-compiled automatic allocation C language function number and generating registration function address code specifically includes:

[0016] Allowing users to build multiple C language user functions, subsequent construction is in turn in the current function number plus one, generating the C language user function library registration function address code, the function is C language user function dynamic library, the PLC programming configuration software loads the current C language user function dynamic library and executes the registration function during initialization.

[0017] Further, the C language user function is directly called in the user program of the PLC programming configuration software, the user program of the PLC programming configuration software includes IEC61131-3 program, IEC61131-3 function and IEC61131-3 function block, and ST program and LD program consistent with the external characteristics of the IEC61131-3 function.

[0018] Further, when the function call is converted to call according to the C language function number during the pre-compile, the function input, output and return value are transmitted and interacted through the data segment of the C language user function.

[0019] Further, before the PLC program task starts, the program resources of the PLC runtime and the C language user function dynamic library are downloaded to the main controller module of the PLC device.

[0020] Further, the PLC runtime is responsible for executing the running environment of the logic program generated by the PLC program programming and compiling, IEC61131-3 is used as the programming language specification of the PLC programming software, and the IEC61131-3 program supports loop execution, periodic execution and event triggered execution.

[0021] A device for extending C language functions of PLC programming configuration, comprising: upper computer PLC programming configuration software, lower computer PLC device main controller module;

[0022] The PLC programming configuration software is for programmable controller PLC, the programmable controller PLC is a digital operation controller with microprocessor, used for automation control, the PLC programming configuration software includes logic programming, program debugging, variable observation, device configuration, emulator, and provides user programming language using IEC61131-3 standard.

[0023] The PLC device main controller module is responsible for executing the PLC program task, and is built-in with the PLC runtime software and the C language user function dynamic library; the PLC runtime software is responsible for executing the running environment of the logic program generated by the PLC program programming and compiling, and the C language user function dynamic library is used for registering and calling the C language user function.

[0024] Compared with the prior art, the present application has the beneficial effects that:

[0025] (1) The present application realizes a programming method of calling extended C language functions by taking IEC61131-3 programs as the main call by encapsulating C functions into user functions in accordance with the IEC61131-3 specification, improving the practicability and flexibility of PLC programming configuration;

[0026] (2) The PLC runtime provides input, output and return value and IEC61131-3 program variable access system function interface, which breaks through the barrier of variable interaction between C language functions and IEC61131-3 programs, and facilitates monitoring the running of C language functions in the existing PLC configuration programming software.

[0027] (3) The PLC programming configuration engineering supporting extended C language functions generates PLC program resources and extended C function dynamic library, which are downloaded to the main controller module of the PLC; the PLC runtime loads the C function dynamic library during initialization, executes the address registration of the related C functions, and realizes the dynamic loading of the extended C language function library.

[0028] (4) The user C function index number is used instead of direct function calling, so that the PLC runtime dynamically calls the extended C function to run in the case that the user C function name cannot be determined. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, which is used together with embodiments of the present application to explain the present application, and do not constitute a limitation of the present application.

[0030] In the drawings:

[0031] Figure 1 It is a flow chart of the method for extending C language functions in the PLC programming configuration of the present application;

[0032] Figure 2 It is a structure block diagram of the device for extending C language functions in the PLC programming configuration of the present application;

[0033] Figure 3 It is an example diagram of declaring C language user functions in the PLC configuration programming software of the present application;

[0034] Figure 4 A diagram of directly calling a C language user function in an ST program of a PLC programming configuration software according to the present application;

[0035] Figure 5 A diagram of directly calling a C language user function in an LD program of a PLC programming configuration software according to the present application; DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] It can be understood by those skilled in the art that, unless specifically stated, the singular forms "a", "an" and "the" used herein include plural referents. It should be further understood that the use of the term "include" in the specification of the present application means that the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0038] The specific embodiments of the present application will be described below in conjunction with the accompanying drawings and embodiments.

[0039] Embodiment 1

[0040] As shown in the figure, a method for extending C language functions of a PLC programming configuration according to the present embodiment includes the following steps: Figure 1 A C language user function is newly created in the PLC programming configuration software, the C language user function is declared in accordance with the IEC61131-3 specification form, the specific implementation of the function function is written in the C language, the code for pre-compiling automatic allocation of C language function number and generation of registered function address is generated, and the extended C language user function dynamic library is generated through the cross-compilation tool chain of the PLC runtime;

[0041] The C language user function is directly called in the user program of the PLC programming configuration software, the function call is converted into a call according to the C language function number during pre-compilation, and the program resource of the PLC runtime is generated through compilation and linking;

[0042]

[0043] ​Before the PLC program task is started, the PLC runtime initializes to load the C language user function dynamic library and call the CLibInit function to register the user function number and address mapping table; when the PLC program task runs to the user function number calling instruction, the address mapping table is first queried, and then the specific function address is jumped to execute the compiled C language user function.

[0044] In the PLC programming configuration software, the newly created C language user function specifically includes:

[0045] The programming language is selected as C language, the name of the C language user function is input, and the return value type, input parameter and output parameter of the C language user function are declared.

[0046] Specifically, after the declaration of the C language user function is completed, the PLC programming configuration software automatically generates the code of the C language user function basic framework, so as to facilitate the processing of the return value, the input parameter and the output parameter.

[0047] Further, the specific implementation of writing the function function by using the C language includes:

[0048] The logical program is written by using C language, if the cross-compilation tool chain supports C++ language, the user function can also use C++ language at this time, and the programming environment includes IEC61131-3 variable access interface, network programming interface, file operation interface and peripheral access interface.

[0049] Preferably, the pre-compilation automatically allocates the C language function number and generates the registered function address code specifically includes:

[0050] The user is allowed to build multiple C language user functions, and subsequent construction is sequentially added one to the current function number to generate the C language user function library registered function address code, the function is a C language user function dynamic library, and the current C language user function dynamic library is loaded by the PLC programming configuration software during initialization and the registered function is executed.

[0051] Further, the C language user function is directly called in the user program of the PLC programming configuration software, the user program of the PLC programming configuration software includes IEC61131-3 program, IEC61131-3 function and IEC61131-3 function block, and ST program and LD program consistent with the external characteristics of the IEC61131-3 function.

[0052] Further, in the pre-compiling time, the function call is converted into a call according to the C language function number, and the function input, output and return value are transmitted and interacted through the data segment of the C language user function.

[0053] Wherein, before the PLC program task is started, the program resource of the PLC runtime and the C language user function dynamic library are downloaded to the main controller module of the PLC device.

[0054] Preferably, the PLC runtime is responsible for the execution environment of the logical program generated by the PLC program programming compilation, adopts IEC61131-3 as the programming language specification of the PLC program programming software, and the IEC61131-3 program supports loop execution, periodic execution and event triggered execution.

[0055] Specifically, as shown in Figure 1 The method for expanding C language function of the PLC programming configuration of the embodiment specifically comprises the following steps:

[0056] (1) A C language type user function is newly created in the PLC program programming software, the programming language is selected as "C language", the user function name is input, the return value type, input parameter and output parameter of the function are declared;

[0057] For example, a user function MinDINT of two input parameter minimum function is taken as an auxiliary description, which returns the minimum value of two inputs, contains one output parameter, and gives the size comparison result of the input parameter.

[0058] The C language user function declaration example is shown in Figure 3 .

[0059] (2) The PLC programming configuration software automatically generates the code of the user function basic framework of C language, so as to facilitate the user to process the input and output parameters and the function return value;

[0060] After the C language user function declaration is completed, the software can automatically generate the following function basic framework example code as follows:

[0061]

[0062]

[0063] As shown in the above code, the automatically generated code contains input, output parameter and return value definition. The software should provide input, output and return value with IEC61131-3 program variable access system function, including GET read value operation function and SET write value operation function, variable read and write involves data type, system function can be defined according to variable type, such as GETBIT, GETINT, GETDINT, SETBIT, SETINT, SETDINT, etc.

[0064] (3) The software automatically generates IEC61131-3 user function declaration as the interface declaration of user function provided by the existing IEC61131-3 user program.

[0065] The user function generates an interface conforming to the IEC61131-3 specification. For example, the function declaration is as follows:

[0066]

[0067] (4) User function definition, using C language to write logic program. The user function is compiled by the cross-compilation tool chain of PLC runtime. If the tool chain supports C++ language, the user function here can use C++ language. The programming environment should include common IEC61131-3 variable access, network programming, file operation, peripheral access and other interfaces.

[0068] For example, the user function definition is as follows:

[0069]

[0070] (5) Assign function number. For example, the function number starts from 1000, allowing the user to build multiple user C language functions, and the subsequent function number is incremented by 1.

[0071] (6) Generate user C language function library function registration code.

[0072] For example, the function registration code is as follows:

[0073]

[0074] This function is a user C function dynamic library, which is loaded by the PLC runtime during initialization and executes the registration function.

[0075] (7) Call the PLC runtime cross-compilation tool chain to generate C function dynamic library

[0076] (8) Call the user function written in C language in the existing IEC61131-3 program / function / block

[0077] For example, the C language function in the ST program is called as follows:Figure 4 As shown, consistent with the standard IEC61131-3 function external characteristics; in the LD program calls C language function example as Figure 5 As shown, also consistent with the standard IEC61131-3 function external characteristics.

[0078] (9) the program organization unit POU in the C function call pre-compiled processing, converted to function number call;

[0079] (10) compilation link to generate PLC runtime program resources

[0080] (11) the "runtime program resources" and "C function dynamic library" are downloaded to the CPU module of the PLC device;

[0081] (12) before the PLC task starts, the PLC runtime needs to initialize the C function dynamic library, and call the CLibInit function to register the function written by the user in C language;

[0082] (13) when the PLC task runs to the C function call statement, first query C function address, then jump to the corresponding address to execute C function.

[0083] Among them, the program organization unit POU includes function function, function block function block and program program three kinds of said IEC61131-3 standard specification PLC logic program type.

[0084] As Figure 2 shown, a device for expanding C language function of PLC programming configuration, which executes the above method, comprising: host computer PLC programming configuration software, lower computer PLC device main controller module;

[0085] The PLC programming configuration software is for programmable controller PLC, the programmable controller PLC is a digital operation controller with microprocessor, used for automation control, the PLC programming configuration software includes logic programming, program debugging, variable observation, device configuration, emulator, and provides user programming language using IEC61131-3 standard.

[0086] The PLC device main controller module is responsible for executing the PLC program task, built-in PLC runtime software and C language user function dynamic library, the PLC runtime software is responsible for executing the running environment of the logic program generated by the PLC program programming and compilation, and the C language user function dynamic library is used for registering and calling the C language user function.

[0087] The C / C++ user programming language is extended based on the five languages (IL, ST, LD, FBD and SFC) supported by the PLC programming configuration software based on the IEC61131-3 standard, the C / C++ user programming language is exported as a function interface conforming to the IEC61131-3 standard, the existing programming habits are not changed, the C / C++ user programming language can be directly called and debugged by the existing PLC programming configuration software conforming to the standard, the C / C++ user programming language is consistent with the existing standard PLC function external characteristics, and the practicability and generalization degree are higher; the C / C++ language function is directly compiled by using the cross-compilation tool chain of the PLC runtime, and the variable access, network programming, file operation and peripheral access interfaces can be conveniently called.

[0088] The application discloses a method and device for extending C language functions of PLC programming configuration, the method comprises a programming and compiling method of C language functions, a method for calling C language functions in IEC61131-3 programs, and a method for running C language functions in PLC runtime, and the device comprises a PLC program programming host computer software supporting C language function programming and a PLC device CPU module supporting dynamic loading and running of C language functions.

[0089] A C language user function is newly created in the PLC programming configuration software, the user function is declared in the form of IEC61131-3 standard, the specific implementation of the function is written by using C or C++ (whether C++ is supported depends on the cross-compilation tool chain of the PLC runtime), the function number is automatically allocated and the register function address code is generated during pre-compilation, and the extended C function dynamic library is generated by using the cross-compilation tool chain of the PLC runtime; the user C language function is directly called in the user program of the PLC programming configuration software, the function call is converted into a call according to the function number during pre-compilation, and the function input, output and return value are transmitted and interacted through the data segment of the user function; the PLC runtime dynamically loads the user C function dynamic library and registers the user function number and address mapping table during initialization, and when the PLC program task runs to the C function number call instruction, the C function address table is first queried, and then the compiled C language function is executed at the specific function address.

[0090] Based on the method, the control function written by using C / C++ language can be encapsulated as a function interface conforming to the IEC61131-3 standard, the C / C++ language is extended based on the five programming configuration languages of the PLC standard, and the practicability and flexibility are improved.

[0091] The example device of the application relates to a relatively complete solution method for program programming, program compiling and program running, the PLC device has been verified on the Loongson CPU platform of a domestic self-controlled system, the method is good in compatibility with the domestic self-controlled system, can provide an effective reference for PLC program programming of different manufacturers, reduces the design and development cost of PLC system manufacturers, and is favorable for promoting the development of the industry.

[0092] Finally, it should be noted that the above is only the preferred embodiments of the present application, the scope of protection of the present application is not limited to the above examples, all technical solutions under the idea of the present application belong to the protection scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application under the premise of a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

[0093] The technical features of the above-described embodiments can be combined arbitrarily, in order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of these technical features does not exist contradictory, it should be considered that the scope of the present application is recorded.

Claims

1. A method for extending C language functionality through PLC programming configuration, characterized in that, Includes the following steps: Create a new C language user function in the PLC programming configuration software, declare the C language user function in accordance with the IEC61131-3 standard form, write the specific implementation of the function in C language, pre-compile the code that automatically assigns C language function number and generates the registration function address, and generate an extended C language user function dynamic library through the cross-compilation toolchain at PLC runtime. The C language user function is directly called in the user program of the PLC programming configuration software. During the pre-compilation, the C language user function call is converted into a call according to the C language function number. The compilation and linking process generates the program resources for the PLC runtime. Before the PLC program task starts, the PLC runtime initializes and loads the C language user function dynamic library and calls the CLibInit function to register the user function number and address mapping table. When the PLC program task executes the user function number call instruction, it first queries the address mapping table and then jumps to the specific function address to execute the compiled C language user function.

2. The method for extending C language functionality through PLC programming configuration according to claim 1, characterized in that, Creating new C language user functions in the PLC programming configuration software specifically includes: Select C as the programming language, enter the name of the C language user function, and declare the return type, input parameters, and output parameters of the C language user function.

3. The method for extending C language functionality through PLC programming configuration according to claim 2, characterized in that, After the declaration of the C language user function is completed, the PLC programming configuration software automatically generates the code of the basic framework of the C language user function, which facilitates the processing of the return value, the input parameter and the output parameter.

4. The method for extending C language functionality through PLC programming configuration according to claim 1, characterized in that, The specific implementation of the function written in C language includes: The logic program is written in C language. If the cross-compilation toolchain supports C++ language, the user function here also supports the use of C++ language. The programming environment includes IEC61131-3 variable access interface, network programming interface, file operation interface and peripheral access interface.

5. The method for extending C language functionality through PLC programming configuration according to claim 1, characterized in that, The pre-compilation process for automatically assigning C language function numbers and generating registration function address code specifically includes: Users are allowed to construct multiple C language user functions. Subsequent constructions increment the number of the current C language user function by one, generating the address code of the C language user function library registration function. The C language user function is a C language user function dynamic library. The PLC programming configuration software loads the current C language user function dynamic library and executes the registration function during initialization.

6. The method for extending C language functionality through PLC programming configuration according to claim 1, characterized in that, The C language user function is directly called in the user program of the PLC programming configuration software. The user program of the PLC programming configuration software includes IEC61131-3 program, IEC61131-3 function and IEC61131-3 function block, as well as ST program and LD program with the same external characteristics as the IEC61131-3 function.

7. The method for extending C language functionality through PLC programming configuration according to claim 1, characterized in that, During the pre-compilation process, when the C language user function call is converted into a call by the C language function number, the input, output, and return value of the C language user function are passed and interacted through the data segment of the C language user function.

8. The method for extending C language functionality through PLC programming configuration according to claim 1, characterized in that, Before the PLC program task starts, the program resources for PLC runtime and the C language user function dynamic library are downloaded to the main controller module of the PLC device.

9. The method for extending C language functionality through PLC programming configuration according to claim 8, characterized in that, The PLC runtime is responsible for executing the logic program generated by the PLC program programming and compilation environment. It adopts IEC61131-3 as the programming language standard for the PLC program programming software. The IEC61131-3 program supports cyclic execution, periodic execution and event-triggered execution.

10. An apparatus for extending C language functionality in PLC programming configuration to perform the method according to any one of claims 1-9, characterized in that, include: Upper-level PLC programming and configuration software, lower-level PLC device main controller module; The host computer PLC programming and configuration software is designed for programmable logic controllers (PLCs), which are digital arithmetic controllers with microprocessors used for automation control. The host computer PLC programming and configuration software includes logic programming, program debugging, variable observation, equipment configuration, and simulator, and provides a user programming language that adopts the IEC61131-3 standard. The lower-level PLC device main controller module is responsible for executing the PLC program tasks. It has built-in PLC runtime software and the C language user function dynamic library. The PLC runtime software is responsible for executing the runtime environment of the logic program generated by PLC program programming and compilation. The C language user function dynamic library is used to register and call the C language user functions.

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