Слияние кода из проекта для ПЛК с этим проектом

utils.h

@@ -132,8 +132,11 @@ struct robot_regs {
 extern "C" {
 #endif
 
+#ifdef EMULATOR
 extern struct barrel barrels[BARRELS_COUNT];
-
+#else
+#define barrels ((struct barrel*)&barrels_array)
+#endif
 
 // почему-то компилер говорит что размер структуру сраный
 //extern struct robot robot1;
@@ -214,7 +217,65 @@ struct robot_code {
 };
 
 
+/* ======================== IO DEFS ======================== */
 
+#define ROBOT1_X 1
+#define ROBOT1_Z 2
+
+#define ROBOT2_X 3
+#define ROBOT2_Z 4
+
+#define VFD_REG_D0_ADDR 4096
+#define VFD_REG_M0_ADDR 2048
+
+/* ======================== ROBOT DEFS ======================== */
+
+
+
+
+#define MB_CMD_WRITE_FLAG 5
+#define MB_CMD_WRITE_REG 6
+
+#define VFD_REG_D0_ADDR 4096
+#define VFD_REG_M0_ADDR 2048
+
+// смещение регистров M относительно M0
+#define ROBOT_Z_CORRECT_STATUS_OFFSET 0
+#define ROBOT_Z_CMD_EXECUTED_OFFSET 1
+#define ROBOT_Z_CMD_UP_OFFSET 3
+#define ROBOT_Z_CMD_DOWN_OFFSET 4
+#define ROBOT_Z_CMD_CORRECT_OFFSET 5
+
+#define ROBOT_X_CORRECT_STATUS_OFFSET 0
+#define ROBOT_X_CMD_EXECUTED_OFFSET 1
+#define ROBOT_X_CORRECT_SENSOR_OFFSET 2
+#define ROBOT_X_CMD_MOVE_TO_ZONE_OFFSET 3
+#define ROBOT_X_CMD_MOVE_TO_OFF_POS_OFFSET 4 // встать в смещенную позицию
+#define ROBOT_X_CMD_MOVE_TO_COR_POS_OFFSET 5 // встать в точную позицию
+#define ROBOT_X_CMD_CORRECT_OFFSET 6
+#define ROBOT_X_CMD_CMD_PARKING_OFFSET 7
+
+
+// смещение регистров D относительно D0
+#define ROBOT_X_TARGET_ZONE_OFFSET 2
+
+// адреса регистров в частотнике
+#define ROBOT_Z_CORRECT_STATUS_ADDR VFD_REG_M0_ADDR
+#define ROBOT_Z_CMD_EXECUTED_ADDR (VFD_REG_M0_ADDR + 1)
+#define ROBOT_Z_CMD_UP_ADDR (VFD_REG_M0_ADDR + 3)
+#define ROBOT_Z_CMD_DOWN_ADDR (VFD_REG_M0_ADDR + 4)
+#define ROBOT_Z_CMD_CORRECT_ADDR (VFD_REG_M0_ADDR + 5)
+
+#define ROBOT_X_CORRECT_STATUS_ADDR VFD_REG_M0_ADDR
+#define ROBOT_X_CMD_EXECUTED_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_EXECUTED_OFFSET)
+#define ROBOT_X_CORRECT_SENSOR_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CORRECT_SENSOR_OFFSET)
+#define ROBOT_X_CMD_MOVE_TO_ZONE_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_ZONE_OFFSET)
+#define ROBOT_X_CMD_MOVE_TO_OFF_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_OFF_POS_OFFSET)
+#define ROBOT_X_CMD_MOVE_TO_COR_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_COR_POS_OFFSET)
+#define ROBOT_X_CMD_CORRECT_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CORRECT_OFFSET)
+#define ROBOT_X_CMD_CMD_PARKING_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CMD_PARKING_OFFSET)
+
+#define ROBOT_X_TARGET_ZONE_ADDR (VFD_REG_D0_ADDR + ROBOT_X_TARGET_ZONE_OFFSET)
 
 #ifdef __cplusplus
 }