CODESYS Control V3 Runtime System Documentation

This is the complete documentation for the CODESYS Control V3 Runtime System.

• 1. Architecture Manual
  • 1.1. Introduction
    • 1.1.1. Runtime System in the Overall System
    • 1.1.2. Mission of the Runtime System
  • 1.2. Architecture
    • 1.2.1. Overview
    • 1.2.2. Technology: ANSI-C and C++
    • 1.2.3. Error Codes
    • 1.2.4. Object Handles
    • 1.2.5. Linkage
    • 1.2.6. Component Interface Architecture
      • 1.2.6.1. Calling convention
      • 1.2.6.2. Export convention
      • 1.2.6.3. Import convention
      • 1.2.6.4. Check functions
      • 1.2.6.5. Summary
    • 1.2.7. M4 Mechanism
      • 1.2.7.1. Interface description file
      • 1.2.7.2. Dependency description file
      • 1.2.7.3. Usage of the USE_ statements in the component
    • 1.2.8. Source Tree of the Runtime System
    • 1.2.9. Files on the Target System
      • 1.2.9.1. Boot projects
      • 1.2.9.2. I/O manager
      • 1.2.9.3. User management
      • 1.2.9.4. Visualization
    • 1.2.10. Embedded runtime
      • 1.2.10.1. Compact download format
  • 1.3. Overview of the Kernel Components and Main Functions
    • 1.3.1. Startup and Shutdown
      • 1.3.1.1. Startup
      • 1.3.1.2. Operating mode
      • 1.3.1.3. Shutdown
    • 1.3.2. Component Manager
    • 1.3.3. Application Handling
      • 1.3.3.1. Overview
      • 1.3.3.2. Application management
      • 1.3.3.3. State behavior (Start/Stop/Error)
      • 1.3.3.4. Boot project
        • Create boot project at download implicitly
        • Create boot project after online change implicitly
        • Create boot project on demand
        • Create boot project offline
      • 1.3.3.5. Retain variables
        • Consistency between Retain Data and IEC-Application
      • 1.3.3.6. Debugging
      • 1.3.3.7. Download and online change
        • Download
        • Online Change
        • Events related to application handling
      • 1.3.3.8. System variables for controlling critical runtime services
      • 1.3.3.9. Accessing project and application information
        • Project information
        • Application information
    • 1.3.4. Watchdog Handling
      • 1.3.4.1. Monitoring
    • 1.3.5. IEC Task Management
      • 1.3.5.1. Data Format of the task description
      • 1.3.5.2. Creating IEC tasks
      • 1.3.5.3. Creating an external event task
      • 1.3.5.4. Jitter of IEC Tasks
        • Definition of Terms
        • Diagnostics
          • IEC Task Jitter System Trace
    • 1.3.6. Scheduling
      • 1.3.6.1. Single tasking
      • 1.3.6.2. Timer scheduler
      • 1.3.6.3. Multitasking
      • 1.3.6.4. Interface for implementing external events
    • 1.3.7. Task management
    • 1.3.8. Configuration (Settings)
      • 1.3.8.1. INI file backend
      • 1.3.8.2. Embedded Backend
    • 1.3.9. Logging
      • 1.3.9.1. The standard logger is configured this way by default:
      • 1.3.9.2. Usage out of a Runtime System Component
      • 1.3.9.3. Usage out of an IEC Application/Library
      • 1.3.9.4. Multilanguage logger entries
    • 1.3.10. Hardware and Operating System Abstraction Layer (Sys-Components)
      • 1.3.10.1. Time access (SysTime)
      • 1.3.10.2. Serial interface (SysCom)
      • 1.3.10.3. Exception handling (SysExcept)
      • 1.3.10.4. File access (SysFile)
      • 1.3.10.5. File access using flash (SysFileFlash)
      • 1.3.10.6. Flash access (SysFlash)
      • 1.3.10.7. Memory access
        • Heap and static memory (SysMem)
        • Physical memory access and shared memories (SysShm)
      • 1.3.10.8. Dynamic loading module (SysModule)
      • 1.3.10.9. Ethernet sockets (SysSocket)
      • 1.3.10.10. Debug console outputs (SysOut)
      • 1.3.10.11. Message queues (SysMsgQ)
      • 1.3.10.12. Interrupt handling
      • 1.3.10.13. PCI bus access (SysPCI)
      • 1.3.10.14. Device port access (SysPort)
      • 1.3.10.15. Timer handling (SysTimer)
      • 1.3.10.16. Target information (SysTarget)
      • 1.3.10.17. Task handling
        • Synchronization and semaphores (SysSem)
        • Operating system events (SysEvent)
        • Task handling (SysTask)
      • 1.3.10.18. Optional system components for target visualization
        • Window handling (SysWindow)
        • Basic graphic routines (SysGraphic)
      • 1.3.10.19. Process handling
        • Processes (SysProcess)
        • Process synchronization (SysSemProcess)
      • 1.3.10.20. Direct Ethernet controller access (SysEthernet)
    • 1.3.11. Memory Management
    • 1.3.12. Events
    • 1.3.13. Exception Handling
      • 1.3.13.1. Structured exception handling (rts_try / rts_catch)
    • 1.3.14. License Management
      • 1.3.14.1. Device type license
      • 1.3.14.2. OEM licensing
      • 1.3.14.3. Single license
    • 1.3.15. Device User Management
    • 1.3.16. Core dumps (CmpCoreDump)
    • 1.3.17. Trace Manager (CmpTraceMgr)
  • 1.4. Portings
    • 1.4.1. Windows Specific Information
      • 1.4.1.1. Windows runtime services
        • CODESYS Control Win V3 (soft real time)
        • CODESYS Gateway Service V3
        • CODESYS Service Control V3
        • Brand labeling
      • 1.4.1.2. CODESYS Control RTE V3 (hard realtime)
      • 1.4.1.3. CODESYS integrated runtime systems
        • CODESYS simulation
        • CODESYS HMI
    • 1.4.2. Linux specific information
      • 1.4.2.1. CAN bus
      • 1.4.2.2. Environment variables and command line parameters
        • Command line parameters:
        • Environment variables:
      • 1.4.2.3. Task Mapping
      • 1.4.2.4. Multicore
      • 1.4.2.5. Filesystem layout
      • 1.4.2.6. Build static runtime
      • 1.4.2.7. Getting started with your Linux delivery
    • 1.4.3. VxWorks Specific Information
      • 1.4.3.1. VxWorks Timers
      • 1.4.3.2. CODESYS Control Timestamp Modes
      • 1.4.3.3. OneShotMode for Variable Task Cycle Intervals (e.g. Distributed Clocks, redundant PLCs)
      • 1.4.3.4. Jitter Considerations
      • 1.4.3.5. CODESYS Control Default Configuration
      • 1.4.3.6. CODESYS Control Configuration Examples
      • 1.4.3.7. Configuration Examples of the VxWorks Kernel Image
      • 1.4.3.8. CODESYSControl VxWorks Timer Usage: Information, Warnings and Errors
      • 1.4.3.9. VxWorks 7 Memory Management
      • 1.4.3.10. Global Object Pool
    • 1.4.4. Windows CE Specific Information
  • 1.5. Communication
    • 1.5.1. Overview
      • 1.5.1.1. Usage scenarios
    • 1.5.2. General
    • 1.5.3. Communication Layers
      • 1.5.3.1. Block driver (Layer 2)
      • 1.5.3.2. Router (Layer 3)
      • 1.5.3.3. Channel management (Layer 4)
      • 1.5.3.4. Application services (Layer 7)
    • 1.5.4. Network Topology and Addressing
      • 1.5.4.1. Topology
      • 1.5.4.2. Addressing and routing
        • Parallel routing
      • 1.5.4.3. Address determination
      • 1.5.4.4. Address structure
        • Network addresses
        • Node addresses
        • Absolute and relative addresses
        • Broadcast addresses
    • 1.5.5. Router Communication
      • 1.5.5.1. Hop count
      • 1.5.5.2. Router signaling
      • 1.5.5.3. Variable maximum block length for a transmission route
      • 1.5.5.4. Multiple router instances
    • 1.5.6. Layer 3 Services
    • 1.5.7. Gateway and Client
    • 1.5.8. Implementation Aids
      • 1.5.8.1. Implementation of own block driver
      • 1.5.8.2. Interface
      • 1.5.8.3. Addressing
      • 1.5.8.4. General implementation procedure
      • 1.5.8.5. Synchronisation
    • 1.5.9. Implementation of Own Communication Driver
      • 1.5.9.1. Communication driver for the gateway
      • 1.5.9.2. Communication driver for the client
        • Connection parameters
        • Implementation of BeginConnect
    • 1.5.10. Standard block drivers and their network addresses
      • 1.5.10.1. Overview
      • 1.5.10.2. UDP block driver
      • 1.5.10.3. Serial block driver
    • 1.5.11. Modules
    • 1.5.12. Client API Interfaces
      • 1.5.12.1. Channel client (CmpChannelClient)
      • 1.5.12.2. Gateway client (GwClient)
      • 1.5.12.3. PLCHandler
    • 1.5.13. Handling of certificates for HTTPS support of the webserver
      • 1.5.13.1. Folder structure of the public key infrastructure
      • 1.5.13.2. Transferring the certificates and private keys to the PLC
      • 1.5.13.3. Configuration for the certificates for different use cases
    • 1.5.14. Standard communication ports of the CODESYS runtime system
  • 1.6. Security
    • 1.6.1. Basic infrastructure
      • 1.6.1.1. Security manager
      • 1.6.1.2. OpenSSL
    • 1.6.2. Security features
  • 1.7. Device Description
    • 1.7.1. Basics
      • 1.7.1.1. Defining types
        • Bitfields
        • Range types
        • Array types
        • Simple structures
        • Strings
        • Types
      • 1.7.1.2. Defining strings for localization
      • 1.7.1.3. Defining files and adding icons and images
    • 1.7.2. Device
      • 1.7.2.1. Attributes
      • 1.7.2.2. Device identification
      • 1.7.2.3. Device info
      • 1.7.2.4. Driver info
        • Adding libraries and function blocks
      • 1.7.2.5. Functional
      • 1.7.2.6. Compatible Versions
      • 1.7.2.7. Extended settings
        • Target settings
          • Runtime identification
          • Online Manager
          • Runtime features
          • Device configuration
          • Task configuration
          • Library management
          • Recipe management
          • Symbolconfiguration
          • Memory layout
          • Online
          • Code generator
          • Visualization
          • Alarm manager
          • Trace
          • Trend recording
          • Network variables
          • Dataserver
      • 1.7.2.8. Defining connectors
        • Slave with 1 connector
        • Master with 2 connectors
        • Multiple parent connectors
      • 1.7.2.9. Defining parameters and parameter sections
      • 1.7.2.10. Custom tags
    • 1.7.3. I/O Configuration
      • 1.7.3.1. Graphical Configuration
      • 1.7.3.2. Devices
      • 1.7.3.3. Device Descriptions
        • Connectors
        • Parameters
        • I/O mapping
      • 1.7.3.4. Device administration
      • 1.7.3.5. Save and Restore Changed IO Configuration Parameters
  • 1.8. I/O Drivers
    • 1.8.1. Concept
    • 1.8.2. Main I/O Driver Interfaces
      • 1.8.2.1. IBase
      • 1.8.2.2. ICmpIoDrv
      • 1.8.2.3. ICmpIoDrvParameter
    • 1.8.3. Optional Interfaces
    • 1.8.4. I/O Manager
    • 1.8.5. Access to the I/O Configuration
    • 1.8.6. I/O Drivers in C/C++
    • 1.8.7. Drivers in IEC
    • 1.8.8. Diagnostic Information
      • 1.8.8.1. General diagnostic information bit-field
      • 1.8.8.2. Extended diagnostic parameter
      • 1.8.8.3. Extended diagnostic acknowledge parameter
      • 1.8.8.4. Implementation notes
    • 1.8.9. IO Consistency
    • 1.8.10. Consistency in the IO Driver
    • 1.8.11. External CAN Sync
      • 1.8.11.1. CAN L2 API
      • 1.8.11.2. Timer ISR
      • 1.8.11.3. Motion Cycle Time
    • 1.8.12. Byte order specific data handling in IO driver
      • 1.8.12.1. Bits handling in BYTE/WORD/DWORD
      • 1.8.12.2. Helper functions for I/O update
      • 1.8.12.3. Representation of bit-fields in IO configuration
  • 1.9. Symbolic IEC Variable Access
  • 1.10. Customer Adaptations and Expansions
    • 1.10.1. Versions
    • 1.10.2. Configuration
      • 1.10.2.1. Link type of the runtime system
      • 1.10.2.2. Choice of components
      • 1.10.2.3. Static configuration of components
      • 1.10.2.4. Dynamic configuration (CmpSettings)
      • 1.10.2.5. Typical configurations of the CODESYS Control WinV3 runtime system
      • 1.10.2.6. Embedded Runtime System
        • Timer runtime system
        • Full runtime system
        • Gateway runtime system
        • Visualization runtime systems (target visualization CODESYS HMI)
      • 1.10.2.7. Create your own configuration with the RtsConfigurator
    • 1.10.3. Implementing own components
      • 1.10.3.1. Global include files
      • 1.10.3.2. Include files of the components
        • Interface file
        • Dependency file
      • 1.10.3.3. Generation of include files
      • 1.10.3.4. Source code file
        • General interface
        • Component specific implementation
    • 1.10.4. Implementation Notes
      • 1.10.4.1. Error returning
      • 1.10.4.2. Memory
      • 1.10.4.3. Allocation of IDs
        • Vendor ID
        • Component ID
        • Interface ID
        • Class ID
      • 1.10.4.4. Importing of functions
      • 1.10.4.5. Calling of imported functions
      • 1.10.4.6. Exporting of functions
      • 1.10.4.7. Linkage with the runtime system
      • 1.10.4.8. Order of the INIT Hooks
    • 1.10.5. Libraries
      • 1.10.5.1. Declaration in the runtime system
      • 1.10.5.2. CODESYS m4 export feature
      • 1.10.5.3. Version check of libraries against the runtime system
      • 1.10.5.4. Signature check of libraries against the runtime system
      • 1.10.5.5. Adaptations to Specific Operating Systems or Processors
    • 1.10.6. Licensing
      • 1.10.6.1. Derivate based licensing
  • 1.11. Coding Guidelines
    • 1.11.1. General
    • 1.11.2. C99 Support
      • 1.11.2.1. Used features of C99 in the runtime system
      • 1.11.2.2. Unused features of C99 in the runtime system
      • 1.11.2.3. Tested C99-support of some C-Compilers
    • 1.11.3. Naming conventions and identifier
    • 1.11.4. Datatypes
      • 1.11.4.1. RTS datatypes
      • 1.11.4.2. ANSI/ISO C native datatypes
        • stdint.h datatypes
        • ANSI-C datatypes
    • 1.11.5. Component interfaces and dependencies
    • 1.11.6. Documentation
      • 1.11.6.1. Compiler Switches
      • 1.11.6.2. Static Defines
      • 1.11.6.3. Settings
      • 1.11.6.4. Events
      • 1.11.6.5. States
      • 1.11.6.6. Structures
      • 1.11.6.7. Function prototypes
      • 1.11.6.8. Online services
    • 1.11.7. Startup sequence
    • 1.11.8. Shutdown sequence
    • 1.11.9. Alignment
    • 1.11.10. Use of special macros
    • 1.11.11. 64-Bit Porting rules
    • 1.11.12. Format Specifiers
    • 1.11.13. C++ Runtime
      • 1.11.13.1. Register your ClassID at the component manager in ComponentEntry()
      • 1.11.13.2. Implement CreateInstance() and DeleteInstance() functions:
      • 1.11.13.3. Usage of special generated macros in Dep.h:
  • 1.12. Migrating from CODESYS Control Version 2 to Version 3