1.10.2. Configuration

The runtime system is configured at compile time via pre-processor defines. The following adjustments can be made via the defines:

  • Link type of the runtime system (static, dynamic, mixed or C++)

  • Choice of components

  • Static configuration of components

The required defines can be set in the workspace itself or in the file “sysdefines.h”.

1.10.2.2. Choice of components

The choice of components may differ from system to system and can be adapted individually. This is a significant advantage of strict separation of modules in individual components.

Once components have been selected the component manager must be notified. In mixed and statically linked runtime systems a preselection is made in the make file or in the workspace, although an explicit list of components to be loaded still has to be transferred to the components manager. In this context it is important that all statically linked components are included in the load list of the component manager.

The load list of the component manager consists of three different lists. Each component only has to be listed in one of the three lists in order to be loaded.

List of system components:

The component manager defines certain components as system components required for its own tasks. These components have to be included in each runtime system.

  • CmpMgr

  • SysMem

  • SysOut

  • SysFile

  • SysSem

  • SysTime

  • CmpLog

  • CmpSettings

  • CmpMemPool

  • CmpChecksum

In the interest of uniform logging the component manager itself is also treated as a component.

Static list:

For mixed and statically linked runtime systems it is useful to specify a static list of components. This list should include all components that were statically linked. The static list is transferred to the CMInit function, which is called from the main routine as standard.

An example:

StaticComponent s_ComponentList[] = {
 {"CmpApp", CmpApp__Entry},
 {"CmpBlkDrvUdp", CmpBlkDrvUdp__Entry}, . . .
 {"SysTime", SysTime__Entry}, {"", NULL}
};
int main(int __argc, char *__argv[])
{
 . . .
 CMInit(s_szComponentFile, s_ComponentList);
 . . .

Dynamic list:

Lastly, the list of components to be loaded later can be read via the settings component. This is particularly useful for modules to be dynamically reloaded.

Example: configuration file (CFG-file):

[ComponentManager]
Component.1=SysTask
Component.2=SysSem
Component.3=SysEvent
Component.4=SysCom
Component.5=SysSocket
Component.6=SysOut
. . .

1.10.2.3. Static configuration of components

Each component can have specific pre-processor defines for different component parameters (e.g. buffer sizes). The defines are assigned a default value in the interface header file.

#ifndef APPL_NUM_OF_STATIC_APPLS
#define APPL_NUM_OF_STATIC_APPLS 8
#endif

Defines can be changed at compile time by assigning a new value in file sysdefines.h.

#define APPL_NUM_OF_STATIC_APPLS 4

A description of the defines for a particular component can be found in the interface header file of the component.

1.10.2.4. Dynamic configuration (CmpSettings)

Depending on the system the setting component may use a different backend for reading the setting from a medium. The following backends are currently available:

  • Configuration via an INI file

  • Configuration via the registry

  • Static configuration with compiled values (mainly for embedded applications)

  • In addition to static configuration there is the option to read in a dynamic configuration via the setting component. This can be modified with each restart.

Users always have the option of implementing their own backend for supporting an additional medium.

Since the INI file is the most frequently used backend, the following examples are based on the INI notation.

The whole configuration is subdivided into blocks. Each block is allocated to a component. The block contains the settings for the component. The following notation is used throughout:

[Component]
<Key>=<Value

A list of runtime system settings is shown below, arranged by components. All settings and their description can also be found in the interface header file of a component.

  • Component Manager

    [ComponentManager]
Component.1=SysTask
Component.2=SysSem
. . .

List of components to be load:

  • Router

    [CmpRouter]
NumRouters=1            //Number of routers
0.MainNet=ether 0       //Main net, where the first router is inserted
0.Subnet.0.Interface=COM<1> //First subnet of first router; here "Com1"

  • Block Driver UDP

    [CmpBlkDrvUdp]
itf.0.ipaddress=192.168.100.27  //fix IP address of network interface
itf.0.name=main                 //Interface name
itf.0.networkmask=255.255.255.0 //Interface subnet mask
itf.0.portindex=1                           //Fix port for CODESYS  addresses 0-3 (1740-1743)
itf.1.ipaddress=192.168.0.1         //Example of second interface
itf.1.name=vxwin
itf.1.networkmask=255.255.255.0

  • Block Driver Seriell

    [CmpBlkDrvSimpleCom]
Baudrate=57600              //Baudrate of serial interface
ComPort=1                   //Port number of interface
HalfDuplexAutoNegotiate=1   //RS485 half duplex mode
EnableRtsToggleHandshake=1  //Currently only used to set the RTS_CONTROL_TOGGLE handshake on
                                //MS Windows based systems. This is needed for some externals
                                                            //RS232/RS485 adapters to switch the data direction on the (half-duplex) line.v
EnableAutoAddressing                //Enable the auto addressing feature

  • Application

    [CmpApp]
CreateBootprojectOnDownload=0           //Creation of a bootproject at download
StoreBootprojectOnlyOnDownload=0    //Creation of a bootproject only at download
PersistentForce=0                               //Persistent Forcing
Application.1=Application               //Name of first boot application
Application.2=BootApp2                          //Name of second boot application
RetainType.Applications=OnPowerfail //Retain type: None, OnPowerfail, InSRAM

  • Scheduler

    [CmpSchedule]
EnableLogger=1                      //Activation of a logger for the scheduler
MaxProcessorLoad=80                 //Maximum load of CPU
Timeslicing.Mode=Internal           //Timeslicing Mode:
                                    //NONE: no timeslicing (default) behavior: internal timeslicing
                                    //EXTERNAL: external timeslicing
Timeslicing.PlcSlicePercent=80              //time slice of PLC in percents
Timeslicing.PlcSliceUs=4000                         //time slice of PLC in Us
Timeslicing.StartOnProcessorLoad=1   //Timeslicing depending on maximum processor load
SchedulerPriority=5                 //Priority of scheduler
SchedulerInterval=1000                              //Interval of schedulers in Us

  • Logger

    [CmpLog]
Logger.0.Name=StdLogger           //Name of first Logger
Logger.0.Enable=1                 //activation of logger
Logger.0.MaxEntries=1000          //Maximum number of log entries in internal queue
Logger.0.MaxFileSize=5000         //Maximum file size
Logger.0.MaxFiles=3               //Number of log files
Logger.0.Backend.0.ClassId=0x010B //ClassId of first backend
Logger.0.Backend.1.ClassId=0x0104 //ClassId of second backend
                                  //Ids read from CmpItf.h
Logger.1.Name=CommLog             //Name of second logger
Logger.1.Enable=1                 //etc.

  • Retain

    [CmpRetain]
Retain.SRAM.Address=0x10000000 //Physical start address SRAM
Retain.SRAM.Size //Größe SRAM

In addition to general settings, the components of the system adaptation interface may also have system-dependent settings. These settings are identified by separate abbreviations in the key

[component]
<shortcut of the customization>.<Key>=<Value>

  • Files

[SysFile]
FilePath.1=./Boot, *.app, *.ap_   //files with extension app or ap_ are stored in //folder ./Boot
FilePath.2=./var, *.ret, *.frc    //files (*.ret, *.frc) are stored in ./var

  • Timer

[SysTimer]
VxWorks.TimerSource=Auxiliary //Timersource of scheduler
                              //Auxiliary: Auxiliary-Clock
                              //System: System-Clock
                              //default: high prior task

  • Interrupt

[SysInt]
WinCE.UseIRQSysIntrMapping=1  //Mapping of an IRQ on a system IRQ

  • Shared Memory

[SysShm]
WinCE.MapPhysical=1          //setting flag MapPhysical
WinCE.DividePhysicalAddressBy=256 //calculation of physical address

1.10.2.5. Typical configurations of the CODESYS Control WinV3 runtime system

There are the following typical configurations of the CODESYS Control Win V3 runtime system:

  • Single tasking systems (embedded)

  • Timer based systems.

  • Multi tasking systems (full)

1.10.2.6. Embedded Runtime System

An “embedded runtime” we call a system that typically has only one main loop for the execution of all tasks in the runtime system (communication, IEC tasks, etc.). For this kind of runtime system, a minimal system is sufficient.

For this type of runtime system, the configuration can be the following:

ComponentManager]
Component.1=CmpIecTask
Component.2=CmpMgr
Component.3=CmpEventMgr
Component.4=SysMem
Component.5=CmpSettings
Component.6=CmpChannelServer
Component.7=SysExcept
Component.8=CmpMemPool
Component.9=CmpChecksum
Component.10=CmpAddrSrvc
Component.11=SysFile
Component.12=SysTime
Component.13=CmpMonitor
Component.14=CmpBinTagUtil
Component.15=SysShm
Component.16=CmpLog
Component.17=SysSocket
Component.18=CmpChannelMgr
Component.19=CmpRouter
Component.20=CmpSrv
Component.21=SysCpuHandling
Component.22=CmpRetain
Component.23=CmpCommunicationLib
Component.24=CmpScheduleEmbedded
Component.25=CmpBlkDrvUdp
Component.26=CmpApp

Timer runtime system

The timer runtime uses processor timers to operate separate cyclic tasks. This is typically used on small embedded controllers with several timers. The behavior is much better than the embedded runtime, because for example, the communication has no influence on some higher priority tasks (IEC tasks), because the communication is done in the main (background) loop and the higher priority tasks are executed in the timer interrupts.

For this type of runtime system, the configuration can be the following:

[ComponentManager]
Component.1=CmpIecTask
Component.2=SysEvent
Component.3=CmpMgr
Component.4=CmpEventMgr
Component.5=SysMem
Component.6=CmpSettings
Component.7=CmpChannelServer
Component.8=CmpScheduleTimer
Component.9=SysExcept
Component.10=SysTimer
Component.11=CmpMemPool
Component.12=CmpChecksum
Component.13=CmpAddrSrvc
Component.14=SysFile
Component.15=SysTime
Component.16=CmpMonitor
Component.17=CmpBinTagUtil
Component.18=SysShm
Component.19=CmpLog
Component.20=SysSocket
Component.21=CmpChannelMgr
Component.22=CmpRouter
Component.23=CmpSrv
Component.24=SysCpuHandling
Component.25=CmpRetain
Component.26=CmpCommunicationLib
Component.27=CmpBlkDrvUdp
Component.28=CmpApp

Full runtime system

As a full runtime we specified a system that is based on a preemptive multitasking operating system. Here the various operations can be executed by tasks with different priorities. So a very fine adjustable system behavior can be reached. A full runtime contains typically all of the available features of a CODESYS runtime.

For this type of runtime system, the configuration can be the following:

[ComponentManager]
Component.1=CmpIecTask
Component.2=SysEvent
Component.3=CmpMgr
Component.4=CmpEventMgr
Component.5=SysMem
Component.6=CmpSettings
Component.7=CmpChannelServer
Component.8=SysExcept
Component.9=CmpMemPool
Component.10=CmpChecksum
Component.11=CmpAddrSrvc
Component.12=SysFile
Component.13=CmpSchedule
Component.14=SysTime
Component.15=CmpMonitor
Component.16=CmpBinTagUtil
Component.17=SysShm
Component.18=CmpLog
Component.19=SysSocket
Component.20=CmpChannelMgr
Component.21=SysTask
Component.22=CmpRouter
Component.23=CmpSrv
Component.24=SysCpuHandling
Component.25=CmpRetain
Component.26=CmpCommunicationLib
Component.27=CmpBlkDrvUdp
Component.28=CmpApp

Gateway runtime system

For this type of implicit runtime system, the configuration can be the following:

[ComponentManager]
Component.1=SysTime
Component.2=SysTask
Component.3=SysEvent
Component.4=SysSem
Component.5=SysCom
Component.6=SysSocket
Component.7=SysExcept
Component.8=SysShm
Component.9=SysSemProcess
Component.10=SysCpuHandling
Component.11=SysInt
Component.12=CmpRouter
Component.13=CmpChannelMgr
Component.14=CmpChannelClient
Component.15=CmpBlkDrvUdp
Component.16=CmpAddrSrvc
Component.17=CmpGateway
Component.18=CmpGwCommDrvTcp
Component.19=CmpNameServiceClient
Component.20=CmpCommunicationLib
Component.21=CmpBlkDrvShm
[CmpRouter]
EnableParallelRouting=1
0.MainNet=ether x
0.NumSubNets=1
0.SubNet.0.Interface=BlkDrvShm
[CmpGwCommDrvTcp]
ListenPort=1217

Visualization runtime systems (target visualization CODESYS HMI)

For the Target-Visualization and the special target visualization CODESYS HMI the position and size parameters of the window as well as the update rate of the Target-Visualization can be configured in the runtime system ini-file in section CmpTargetVisu.

Example:

[CmpTargetVisu]
Application.Updaterate_ms=200
Application.WindowPositionX=50
Application.WindowPositionY=50
Application.WindowSizeWidth=200
Application.WindowSizeHeight=200
Application.WindowType=0
App2.WindowPositionX=300
App2.WindowPositionY=300
App2.WindowSizeWidth=200
App2.WindowSizeHeight=200
App2.WindowType=1

1.10.2.7. Create your own configuration with the RtsConfigurator

For your system, you may want to define a specific set of components, including standard components and own components such as IO drivers (see below).

As there are a lot of dependencies between the components, it may not be easy to find a valid combination of components. To solve this problem, you can use the tool “RtsConfigurator”. This windows tool checks the dependencies between the components according the m4 files. It helps you to select the components you need.

If you have a valid configuration, it can create the following output files for you:

  • A list of used components

  • A list of used C-Files

  • A template for a makefile

  • A *.cfg file for the component manager

  • A *.h file with definitions needed for you main*.c file

    (COMPO_INIT_DECL and COMPO_INIT_LIST)

  • A reference documentation for the selected components

Please check the RTSconfigurator.chm file for further details.