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Script language manual (pdf, online) - MKT

1. The element can be addressed by its index as in the above example or by its name Example display elem BtnNext be RGB 0 i 255 i modify ist background colour display elem BtnNext b2 RGB 0 255 i i modify 2nd background colour In the last example BtnNext is the name of an UPT display element specified in the page definition table The script runtime determines which of the two addressing modes is used by the data type of the argument between the squared brackets Integer by index String by name display elem by id lt Control ID gt xyz Similar as the above display elem but accesses a display element by its control ID which needs to be defined in the page definition table Accessing a display element this way simplifies modifying it in an event handler in the script language because the control ID is passed in the handler s function argument list Details about this advanced topic are here display pause TRUE Stops updating the screen with the current programmed display page This can be used for a crude way of synchronizing the display to the script application Pause the display before calculating a new set of display values in the script and resume when finished with that MKT Dok Nr 85122 Version 2 0 81 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals display pause FALSE Resum
2. MKT Dok Nr 85122 Version 2 0 120 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals script_demos FileTest cvt Test and demo application for the file I O functions Different tests can be started by the graphic buttons on the first display page Test RAMDISK writes and reads a file on the device s RAMDISK Test Memory Card uses the SD memory card for the same test The function Test File Access written in the script language is used for both storage media Here is a shortened version of it func TestFileAccess string pfs_ path Part of the test program for file I O functions Taken from FileTest cvt in pfs_path path for the pseudo file system like ramdisk or memory card local int fh file handle local int i local string fname local string temp Build a complete filename with a path fname pfs_patht test txt First try to OPEN the file but don t try to CREATE i e OVERWRITE it fh file open fname O RDWR try to open existing file read AND write access if fh gt 0 then file seek fh 0 SEEK END Set file pointer to the END of the file write a separator between the old and the new part of the file file write fh r n data appended to file r n else file open failed so try to CREATE a new file fh file create pfs path
3. MKT Dok Nr 85122 Version 2 0 20 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 4 set the focus into your own document and press CTRL V to paste insert the text from the clipboard 6 7 2 3 3 7 Trace History invocation There are several methods to invoke the Trace History Display locally i e show it on the terminal s own screen Here for example how to invoke the Trace History Display in the MKT View II MKT View III 1 Draw the gesture U on the touchscreen to enter the device s shutdown system popup window Alternatively for devices without a touchscreen press F2 F3 simultaneously to enter the system menu 2 Select SETUP if not already there 3 In the Main system setup select DIAGNOSTICS 4 Select Trace History The number in parenthesis after the menu item shows the number of entries which are currently stored in the Trace History iagnostic menu 6 256 of 256 Fi quit F2 run 7F1 Tx 1B 4B Tx D BA Tx 53 70 65 65 64 28 6D 73 7F1 Tx ZF 6C 6F 6F 70 3D 38 38 Tx 38 31 38 Tx 1B 4B 7F1 Tx D BA Tx 73 75 70 64 Tx 65 3D 38 38 7F1 Tx 38 7F1 Tx 7F1 Tx 7F Rx Show version info all Boot loader estore BIOS defaults Error History TRACE History 256 Storage Directory FONT Directory Struct Sizes ANdb File History ANdb Message List Erase FLASH data Enable debug 000 Global Time 15191 d Disp updates 00168 a Invocation of the
4. kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 1 Introduction This document describes a scripting language which has been implemented in some programmable display terminals by MKT Systemtechnik The script language can be used to Combine signals i e generate calculated signals or supervise signals received from CAN or other buses implement protocols also for CAN which are not directly supported by the device firmware for example J1939 process events which due to their complexity cannot be achieved in the display pages Event definitions programmatic file access for example to implement custom specific event logs automatically generated error reports etc realize simple SPS like flow controls even though not for hard real time no guaranteed cycle time implementation of algorithms which are too complex for the diplay s Event definition which doesn t support loops etc For most applications you will not need the scripting language described in this chapter because the functions for which the display terminals were originally intended can be realized without scripting But in a few cases the display s programmable Event handlers page events and global events will not be sufficient This is where the scripting language can help The script language doesn t have anything to do with the older display interpreter This document describes the script
5. exp1 exp0 m5 m0 float Combines eight bytes into a IEEE 754 64 bit double precision floating point number The first 8 bit argument exp1 contains the sign and most significant 7 bits of the exponent The last 8 bit argument mantissa_0 contains the least significant bits of the mantissa can_receive integer Tries to read the next received CAN message from a FIFO When successful the message is copied into can_rx_msg and the result is 1 one Otherwise empty FIFO can_rx_msg remains unchanged and the result is 0 zero Prefix and namespace for other CAN related CAN commands and functions Not for devices with CANopen case integer CONSTANT part of a select case else endselect block Converts an integer character code 0 255 chr integer code usually from the DOS character set into a single character string clears the text mode screen here a buffer for multi line text displays eos cop Prefix and namespace for CANopen related commands and functions Only for evices with MKT Dok Nr 85122 Version 2 0 110 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals CANopen DEC reserved for an optimize
6. sets the file pointer offset is the absolute or relative file position measured in bytes fromwhere aka origin specifies the meaning of offset This parameter may be one of the following constants SEEK SET Position file relative to the beginning offset 0 first byte in the file SEEK CUR Position file relative to the current position SEEK _END Position file relative to the end offset 0 last byte in the file The value returned by file seek indicates the new absolute file pointer measured in bytes from the beginning For SEEK_END the offset may be zero i e warp to the end of the file or negative Positive offsets in combination with SEEK_ END would reference a position past the file s end which is illegal An example using file seek is in the File Test demo file close handle closes a file and releases the file handle MKT Dok Nr 85122 Version 2 0 71 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals An example for the file close function can be found under file create Never forget to close files Especially after a file has been written but not been closed yet there may be data waiting in an internal buffer which have not been flushed to disk yet Closing the file will flush all buffers and if it s a real disk file update the directory and the FAT file allocation table By default text files are assumed to be plain text with 8 bits per chara
7. If you ever encounter this error please report this error to the developer Wolfgang Bischer along with the sourcecode of the script which was causing it unknown error code lt number gt An error code has occurred for which there is no entry in the error message table yet Please report this error to the developer along with the error number MKT Dok Nr 85122 Version 2 0 117 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 4 Examples The programming tool s installer contains a few tests used during development and examples planned The following examples are part of programming tool s installer script_demos ScriptTestl cvt A very basic example used to test program flow controls especially select case operators built in keywords etc script_demos ScriptTest2 cvt A speed test for the script s runtime function Calculates the value of PI 3 14159 using an iteration loop script_demos ScriptTest3 cvt A slightly more advanced test application Used during development to test arrays type definitions scrollable text and CAN bus functions script_demos DisplayTest cvt Test application to control some display elements via script like display menu_mode display menu_index Also calls a very simplistic user defined procedure GoToNextField from a graphic button Saad ae ee A proc GoToNextField Called from the display on button display men
8. Since the serial port might have been reconfigured by the application script theres no easy way to tell the correct communication parameters here Usually either 115200 8 N 1 or 19200 8 N 1 should work MKT Dok Nr 85122 Version 2 0 19 138 Dok Nr 85122 Script Language for programmable CAN Terminals kt Systemtechnik COM1_19k2 HyperTerminal E O x Datei Bearbeiten Ansicht Anrufen bertragung Sending TRACE HISTORY press ESCAPE to stop a 266 1 00000444 Rx d 8 OB BB BO OO OO BO OO 0A 3 327 1 334 Rx d 8 00 00 OA OO OO BB BO BB 3 432 1 333 Rx d 6 23 45 BB 2C 1E 20 3 452 1 00000444 Rx d 8 5B 02 3D 04 AG 05 97 06 3 517 1 334 Rx d 8 01 00 80 OO 01 0O BO 0A 3 622 1 333 Rx d 6 5E 74 72 52 80 3D 3 641 1 00000444 Rx d 8 B6 O4 79 08 48 OB 24 OD 3 702 1 334 Rx d 8 01 00 00 OO 01 OO BO BB 3 807 1 333 Rx d 6 B9 7E 38 6B 6F 54 3 827 1 00000444 Rx d 8 10 07 B1 OC E2 10 2A 14 3 891 1 334 Rx d 8 01 00 00 OO 01 OO BO BO 3 997 1 333 Rx d 6 EB 60 29 73 58 62 4 016 1 00000444 Rx d 8 6A 09 E6 10 OC 17 88 1A 4 079 1 334 Rx d 8 01 00 806 BB 01 BB BO OO 4 183 1 333 Rx d 6 67 24 05 69 4C 66 4 203 1 00000444 Rx d 8 C3 OB C 15 84 1C 44 21 Werbunden 00 00 16 jAuto Erkenn 19200 8 N 1 RF GROSS NUM fAufzeichne 4 Trace History read via serial port and displayed in HyperTerminal Unfortunately in Windows Vista and Windows 7 HyperTerminal isn t included anymore In this case we r
9. elif A 5 or A 7 then print Five or Seven else print Some other value A MKT Dok Nr 85122 Version 2 0 57 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals endif 8 2 3 9 2 for to step next Loop using an index variable which runs from the specified start value to the specified end value Simple example for I 1 to 100 do something a hundred times next Optionally the stepwidth of the index variable in the example I can be specified using the STEP keyword for I 0 to 200 step 2 do something a _ couple of times next If the counter variable shall be decremented rather than incremented use a negative STEP value the compiler cannot use a negative stepwidth automatically because he doesn t see the start and end value at compile time For more examples study the LoopTest application 8 3 3 9 3 while endwhile Syntax while lt condition gt lt statements gt endwhile Loops while the condition checked at the beginning of each loop is TRUE non zero Simple example T 0 make sure I starts at some defined value while I lt 100 I I l1 some other statements R endwhile or END WHILE for IEC61131 similarity Note that the statements inside a WHILE ENDWHILE loop may be executed ZERO times 8 4 3 9 4 repeat until Syntax repeat lt statements gt until lt stop condition gt Loop with a ST
10. hex int value int number of digits Converts an integer value 1st argument into a hexadecimal string using the specified number of digits 2nd argument strlen string s Returns the number of characters in the string not the number of bytes especially not for UTF 8 Example strlen How long is this string returns25 strpos string haystack string needle int startindex Searches for the first occurrence of a search string needle in a larger string haystack beginning at the optionally defined start index zero based character index Returns a character index index zero first character in haystack or a negative integer if the needle couldn t be found in the haystack If the 3rd argument start index is omitted the function starts searching at index zero i e at the first character in the haystack Example haystack This test string is 38 characters long needle is string to be found in the haystack i strpos haystack needle find the first needle result i 2 i strpos haystack needle it 1 find the next needle result i 17 substr string s int start int length Returns a sub string of the first argument beginning at the zero based character index start and consisting of length characters If the parameter length is omitted the returned string result includes all characters from start up to and including the end of the
11. kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Script language for programmable displays Author Wolfgang Biischer MKT Systemtechnik Date 2014 03 21 ISO 8601 Master file lt WoBu gt lt ProgrammingTool gt help scripting 01 htm Note In the printable version of this file Doku art85122_UPT_Scripting_ pdf external links may not work properly With Internet Explorer it seems impossible to jump to the requested help topic from the script editor so please use a better browser Contents 1 Introduction 1 Principle 2 Future Plans 3 Unlockable Features extended script functions 2 Script Editor with Debugger 1 Editor Toolbar 2 Hotkeys and Context Menus of the Script Editor 3 Debugging 1 Breakpoints Single Step 2 Disassembly 3 Trace History 4 Symbol Table with variable display 5 Watch List shows values of a selection of variables 3 Language Reference 1 Numbers 2 Strings 1 Strings with different character encodings DOS ANSI Unicode 2 String usage and storage format 3 String constants with special characters 4 Strings with backslash sequences 5 String processing functions 3 Constants 1 Built in constants 2 User defined constants 3 Calculated constants 4 Constant tables arrays 4 Data Types built in and user defined 1 int float string byte word dword 2 anytype 3 tMessage tCANmsg tScreenCell tTimer 5 Variables 1 V
12. script_demos TrafficLight cvt Simple traffic light controller Demonstates the use of the onboard digital I O lines which only exist in a few devices Pedestrians State 2 R t r Regst Qt a peice Pedestrians can request green by pushing a button connected to the first digital input Alternatively a graphic button on the touchscreen can be used for this Three digital outputs are used for the cars red yellow green two digital outputs for the pedestrians red alias don t walk green alias walk The traffic light states are also displayed on the screen using bitmaps which change their colours depending on the current states of the digital outputs It also shows how to change the colour of a certain display element on the current display page through the script using display elem script_demos ErrFrame cvt Specialized CAN test allows to send and receive count error frames On each received CAN error frame this application produces an acoustic signal which may be a helpful testing utility Ideally error frames do not occurr on a CAN Controller Area Network but in practise they do happen Some poorly designed devices used to send a dominant bit sequence six or more dominant bits during startup This utility helps to spot such errors It can also be used to probe a network Send an error frame into the CAN and if there s someone else on the bus you will receive one error frame in res
13. 85122 Version 2 0 47 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 3 6 Arrays Variables and constants can both be declared as arrays The syntax is similar to the C programming language there is no array keyword Squared brackets not parentheses are used for array sizes and later when accessing the array elements as the array index As already mentioned in the chapter about variable declarations array indices run from zero to lt array size MINUS ONE gt Example 3D Array organized in pages lines and columns VAR int ThreeDimArray 10 20 30 ENDVAR Z 1 page index valid 0 9 y 2 line of page valid 0 19 x 3 column of line valid 0 29 ThreeDimArray z y x 1234 Notes on arrays The maximum number of dimensions in an array is THREE Four dimensional arrays are impossible Arrays of arrays are also impossible pointers fo arrays are impossible and pointers inside arrays are impossible at least as of 2010 10 14 e Certain data types like strings are problematic in arrays because a string is in fact just a pointer to a different memory area Thus the contents of an array cannot easily block copied Block copying an array of strings would only copy their addresses but would not duplicate their contents copy characters For that reason partial array references as in C are forbidden Trying to cop
14. CAN FIFO Usage Can m fifo usage trace enable 0 don t add more CAN messages to the trace history endif By default after power on the trace history is enabled for CAN1 and CAN2 which means all CAN messages registered for reception and all CAN messages transmitted by the device are appended to the history Setting trace enable 0 does not affect the trace print command the script can always print into the Trace History via command trace stop when full If this flag is set by the script the trace history will be automatically stopped as soon as the trace buffer is almost full This feature can be used to catch the initial part of a CAN conversation An example is in the application TraceTest cvt Select the items which shall be displayed in the trace history trace enable traceCANl1 traceCAN2 trace messages from CAN1 and CAN2 Let the TRACE HISTORY stop when the trace buffer is full instead of overwriting the oldest entries trace stop when full TRUE Note With the option trace stop_ when_full TRUE the trace history will be stopped internally by setting trace enable 0 in the firmware To resume acquisition set trace enable as shown in the example above By default after power on trace stop_when_full is FALSE trace num entries Returns the current number of entries in the trace history As long as the trace history is enabled this value may increase
15. Example to access a component of a structure via pointer typedef define data types and structs tMyStruct struct int iRefNo string sName endstruct end _ typedef war declare global variables tMyStruct myStruct declare a variable of type tMyStruct tMyStruct ptr myPtr declare a pointer to a tMyStruct endvar myPtr addr myStruct take address of myStruct and assign it to pointer myPtr MKT Dok Nr 85122 Version 2 0 45 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals myPtr iRefNo 12345 actually sets myStruct iRefNo myPtr sName Hase in C this would be myPtr gt sName 5 2 2 Passing function arguments parameters via pointer When passing arguments to functions procedures or event handlers pointers are often used instead of passing larger structures directly pass by reference instead of pass by value The reason is that a pointer only occupies four bytes in memory thus a pointer can be passed to a subroutine much faster than copying an entire structure in memory More on this in the chapter about User defined functions and procedures For example a CAN Receive Handler uses a pointer to a CAN message as argument which actually points to the CAN message in the system s CAN receive FiFo rather than copying the entire CAN message to the stack i e call by reference not call by value 5 3 3 5 2 Ac
16. If there are two or more case marks with nothing in between no executable instruction the first statement after the case marks is executed Here is a rather braindead example select X case 1 same handler for cases 1 2 and 3 case 2 case 3 print X One Two or Three case 4 print X Four else print X is less than one or larger than four endselect If a case mark shall actually do nothing use the break statement When used inside a select endselect block break actually jumps to the next endselect Example select X case 1 break do nothing case 2 break do nothing as well case 3 print X Three case 4 print X Four else print X is less than one or larger than four endselect A simple example for the select case construct is in the display application ScriptTest1 cvt A longer example for the select case construct is in the display application ScriptTest3 cvt Both applications are contained in the programming tool s installer MKT Dok Nr 85122 Version 2 0 60 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 8 8 3 9 8 wait_ms wait_resume Waits for something to happen while the CPU can perform other tasks like updating the display wait ms N blocks the normal script execution for the specified number of milliseconds N While the script is waiting the normal display program runs faster
17. as well as on a real target but the target must have a 32 bit CPU ARM and the firmware must be from July 2012 or later Example prints the current date and time into the Trace History trace print Date Time Lime unix to str YYYY MM DD hh mm ss system unix time trace enable With this formal variable flags the script can stop or resume the trace history for example to prevent CAN messages being appended after the script application found out that something went wrong already and all further CAN traffic is not relevant to track down the cause The trace enable flags trace enable is actually a bitwise OR combination of the following constants MKT Dok Nr 85122 Version 2 0 89 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals e traceCAN1 add CAN messages Ist bus to the trace history e traceCAN2 add CAN messages 2nd bus to the trace history traceCAN UDE add CAN via UDP TGSSHECS to trace NER traceUDP add generic ic UDP IP frames to the trace icine traceTCP add generic TCP IP frames to the trace history With trace enable 0 zero none of the above events will be added to the trace history i e trace stopped only trace print will be able to append more items to the trace Example script code trace enable traceCANl1 traceCAN2 trace messages from CAN1 and CAN2 if gan rx fifo Usage gt 500 then trace primt
18. extended CAN frame 29 bit E Ox18FEFSO00 Bus 1 extended CAN frame 29 bit exclude CAN ID 18FEF700 From the trace history G Ox18FEF600 Bus 1 extended CAN frame 29 bit unused entry unused entry J unused entry Clear the list of excluded CAN IDs v trace messages from CAN 1 v trace messages from CAN 2 trace CAN via UDP protocol trace generic UDP IP datagrams trace generic TCP IP traffic v trace display paused wl Ix CAN IDs excluded From the trace history m Clear trace history Ms Help about the trace history a Context menu to control the Trace History in the programming tool The menu shown above can be used to suppress certain CAN message identifiers in the Trace History This feature is often used to avoid flooding the display with non important but frequently transmitted CAN frames On a real target device the Trace History can be accessed inspected through the system menu Select Diagnostics TRACE History there Details about the system menu are in document 85115 System Menu and Setup in programmable CAN display terminals by MKT See also Trace History invocation in this document 6 3 2 3 3 3 Excluding certain CAN message identifiers from the Trace History To suppress blacklist a certain CAN message identifier for the display click on its hexadecimal identifier with the right mouse button in the trace display and select Exclude CAN ID from the trace
19. firmware will assume a return value of zero 0 which means the received CAN message will be passed to the system s default handler for CAN reception Meaning of any CAN receive handler s return value e FALSE 0 The handler did not process this message The system s default handler implemented in the firmware will copy the message into the CAN receive buffer from where it can be drained by periodically calling can_receive in the script s main loop MKT Dok Nr 85122 Version 2 0 107 138 ki Dok Nr 85122 Script Language for programmable CAN Terminals Systemtechnik TRUE 1 The handler has processed the CAN message The received message shall not be placed in the CAN receive buffer mentioned above A complete example with a CAN receive handler can be found in the application ScriptTest3 cvt 13 3 11 5 Advanced message handling functions At the time of this writing 2011 10 04 the following functions were not implemented yet but planned message register lt message_id gt lt flags gt registers a certain message to be processed handled by the script message deregister lt message_id gt de registers un registers a certain message i e informs the system that the script doesn t want to handle this type of message anymore message peek out tMessage msg Checks if one of the registered messages is waiting in the message queue If it is the message is removed from the queue and co
20. on the left side of the editor window The left mouse button simply toggles a breakpoint on off the right mouse button opens a context menu with advanced options Single step Stop the script using the Stop or single step button in the editor s toolbar and continue execution step by step with the single step button Inspect variables Move the mouse over the name of a global variable in the sourcecode and wait for half a second The program will look up the word under the mouse in the list of global script variables and show the result if it finds one This even works while the script is running at least for global variables Note Inspecting local variables is not as easy as global variables because during runtime global variables don t have a name just an address in the current stack frame and thus it s extremely difficult to retrieve their values because in contrast to global variables their memory location cannot be found in the symbol table Therefore the debugger can only look up local variables if the program is currently pausing in the user defined function or procedure to which a local varible belongs If user defined functions amp procedures call each other recursively the debugger can only inspect local variables within the current stack frame which is the stack frame to which the base pointer currently points Stack display While single stepping the status line of the editor may show the topmost
21. return Einhundertdreiundzwanzig else return missing translation ref nr itea rer nmr endselect endfunc Note Similar as for event handlers the function invoked from a backslash sequence should return as fast as possible to the caller Long loops file I O and other slow operations must be avoided Otherwise the device would appear to be non responsive or from the operator s point of view reacts sluggish or even crashes A watchdog in the runtime system terminates the function call if the function doesn t return to the caller within a few hundred milliseconds time specified in the chapter about event handling This also applies to functions invoked from the display interpreter via backslash sequence etc Such a limitation does not exist in the normal script context main loop due to the pseudo multitasking If the maximum time is not sufficient for whatever your function needs to do and if nothing else helps you can avoid this by feeding the watchdog in the script yourself but beware of the consequences sluggish response to user actions protocol timeouts etc See also More about interaction between script and display application Accessing display variables from the script Accessing script variables from the display interpreter Invoking script procedures from the display interpreter 3 8 4 Invoking script procedures from the display interpreter In a few rare ca
22. system unix_time_ boot Returns the system s date and time in Unix Time format at the time the system programmable display was booted and when the timestamp generator system timestamp was Zero system audio ptt Controls a relais for the audio output s Push To Talk feature Only exists in a few special devices system feed watchdog This command should only be used if really necessary for example if an event handler or a function invoked via backslash sequence in a display element s format string is expected to require more than 200 milliseconds for execution Fortunately in most applications this is hardly ever necessary because any long lasting operations can easily be moved into the script s main loop main task and in the event handler you will only set a flag variable which can be polled in the main loop Setting a variable takes much less than a millisecond so you don t need to feed the watchdog in a well designed event handler In the following paragraph the term event handler also applies to a function invoked via backslash sequence in the format string of a display element as in the GetText example Technical details follow Endless loops and long calulations must be avoided in event handlers because they will render the device inoperable or from an operator s point of view it crashes To avoid this in case of an erroneous script the run time system will terminate the function call if the fu
23. the bus number in the MSBits msg len 8 set the CAN data length code max 8 bytes 2 doublewords msg dw 0 0x11223344 set the first four bytes in the CAN message data as a doubleword 32 bits msg dw 1 0x55667788 set the last four bytes in the CAN message data as a doubleword can_transmit msg send the CAN bus message return TRUE TRUE the timer event has been processed FALSE would not fire more events endfunc end OnTimerl If a timer event handler returns TRUE 1 the expired flag will be cleared by the system and the timer event handler will be called again when the next interval has expired MKT Dok Nr 85122 Version 2 0 106 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals If a timer event handler returns FALSE 0 the expired flag will NOT be cleared and the event handler won t be called again i e single shot operation More examples for timer events in the script can be found in chapter 4 12 3 11 4 CAN Receive Handlers In addition to the polling method explained in the chapter about CAN functions i e cyclically calling can_receive from the main loop event handler can be implemented in the script which are automatically called on the reception of certain CAN messages precisely handlers called on reception of certain CAN message IDs This way the response time can be significantly red
24. usually makes a correct guess at least in the obvious cases MKT Dok Nr 85122 Version 2 0 49 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals In case of doubt about operator precedence use parentheses Don t leave anything to fate Especially for the bitwise and boolean AND and OR operators there are no different precedence levels there is no AND before OR as in C yet so you are forced to use parenthesis in cases like this Warning EngineRunning AND WaterTemp lt 5 OR WaterTemp gt 95 See also Keywords overview 6 1 3 7 1 The address taking operator amp or addr The ampersand when used as unary operator takes the address of the object right next to it This is similar as the address taking operator in the C programming language If MyVariable is the name of a variable local or global then amp MyVariable retrieves the address of that variable in memory This operator is typically used when passing arguments to functions by reference rather than by value i e pass the address of something to a subroutine instead of passing a copy of the value itself on the stack For example see inet recv The output arguments are in fact addresses thus the name of variables must be prefixed by the address taking operator in this special case We suggest to use the more descriptive addr operator instead of the ampersand
25. 11 4 CAN Receive Handler 3 10 4 2 CAN add filter lt filter gt lt mask gt lt receive_handler gt Similar to can add _id but this command registers an entire range of CAN message identifiers for reception The CAN receive filter operates as follows The CAN identifier of a received message is bitwise ANDed with the mask parameter The result is then compared with the filter parameter If all bits which are not zero in mask match the received message will be passed on to the script either to the optional receive handler or placed in the script s CAN receive Fifo In other words All cleared bits in mask are considered don t care i e ignored by the filter all bits set in mask must match between received ID and the filter value Example CAN add_filter Ox2ABCD00 0x2FFFFF00 receive extended IDs 0xOABCD00 to 0x0OABCDFF Note As in other CAN functions of the script language the extended flag which indicates a 29 bit ID is encoded in bit 29 and the bus number 0 3 is encoded as a two bit value in bits 31 30 of the ID Only one range of CAN message identifiers can be registered per interface in addition to the individually registered single message identifiers from can_add_id This function had to be implemented because J1939 encodes a lot of information for example the sender s Source Address SA inside the 29 bit CAN message ID This renders the CAN acceptance filtering wh
26. 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals boolean NOT operator negation Same as the C compatible operator unary not NOT The result is 1 one TRUE if the input is 0 zero FALSE otherwise if the input is non zero the result is zero boolean OR operator same as the C OR compatible operator The result is 1 one TRUE if any of the operands is non zero otherwise zero FALSE defines the following argument in a formal out argument list as output or input output for a procedure or function at Prints values into a multi line text panel on the pan current display page cPI constant value PI 3 14159 proc Marks the begin of a user defined procedure POS ptr Keyword for a typeless or fixed type pointer Ene poe N generates a pseudo random number between zero and N minus one Returns from a user defined function with a value return In older scripts returns from a subroutine invoked with gosub deprecated without a value eee begins a REPEAT UNTIL loop This kind of papu loop is executed at least once REM begins a remark in BASIC Better use the double slash same effect RGB mieni Composes a colour from red green and blue components RIGHF select
27. 2010 cPI number PI approximately 3 141592653589793238462643 cTimestampFrequency frequency of the system s timestamp generator in Hertz ticks per second dtUnknown data type code for unknown data type See notes on typeof dtFloat data type code for floating point dtInteger data type code for integer dtString data type code for string dtByte data type code for a single byte 8 bit unsigned dtWord data type code for a 16 bit unsigned word dtD Word data type code for unsigned 32 bit aka doubleword Frequently used when accessing objects in the CANopen OD via SDO dtColor data type code for a colour hardware dependent dtChar data type code for a single character data type code for an error used as return value by certain functions e g dtError cop sdo TRUE boolean true actually 1 one as integer value FALSE boolean false actually 0 zero as integer value keyEnter keyii keyboard codes Returned by the getkey function and used in some low level event handlers O_RDONLY file open flags Used in the function file open MKT Dok Nr 85122 Version 2 0 36 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals widget messages or sometimes windows message Used in event handlers Allows the script to intercept touchscreen and similar low level system events wmX YZ 3
28. 437 E SEJE BAHE MAA lit H m Cr fel EO I SIO a e a a B 6 Oe E L E i N eE IN al E Ee E LA Les kH HE Cid E ced kEi itd E lt Bee oleate Pe ES ES 2 Ss Ek OG M E E H T D fo U A dN Gl Ge 7 8 9 AL B_ C D E F eA CB A ai Ce Foe A CR Ea Fd w 3 a script_demos LoopTest cvt Demonstrates various loop commands like for to next Contains a simple animated colour text demo using loops gotoxy color RGB the print command and the display pause flag to prevent the display from being updated at the wrong time here to avoid flicker while filling the text screen buffer with new characters script_demos TimeTest cvt MKT Dok Nr 85122 Version 2 0 123 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Test application for the time conversion functions like time date_to_mjd and time mjd to date Also shows how to split a Unix Time into years months days hours minutes and seconds script_demos StringTest cvt Test application for string functions like strlen strpos substr etc script_demos StructArrayTest cvt Test application for an array of user defined structures with each struct containing integers floating point values and strings The array filling loop also served as a simple benchmark during development in October 2010 script_demos PageMenu cvt This demo application builds a menu showin
29. Applies to arrays and or nested structures If for example A is a one dimensional array A 1 2 is illegal too many array indices in this case bad input An input function or string parser couldn t handle the input for example could not convert the input characters into a number for without next next without for Often occurrs as a subsequent error when there was a problem in the matching for error disappears after fixing the problem in the for statement else without if endif without if e case without select endselect without select e endwhile without while e until without repeat no loop to exit from only callable from SCRIPT simple variables only e variable or element is READ ONLY unknown script command function not implemented yet e RPN eval stack overflow e RPN eval stack underflow illegal code pointer illegal sub token after opcode cannot use as LVALUE in assignment not an allowed ARRAY type The element left of an array subscript cannot be accessed like an array ARRAY type mismatch dimensions etc MKT Dok Nr 85122 Version 2 0 116 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals e name already defined The name you tried to use in a variable declaration type definition or similar is already in use e missing struct or endstruct e internal error SORRY
30. Bl 2 Disassemy z C3 1C 5465 PUSH Testing si oosoja 1 13 00 00 ASSIGN Info 010 FOR I 1 To 100000 STEP 2 0x0020 CO FF FF s 0x0023 13 01 00 ASSIGN A 0x0026 CO 01 00 PUSH 1 Ox0029 13 02 00 ASSIGN I 013 0x002C 16 39 00 JUMP 0x0039 Screenshow of script editor left with disassembly right Hint If you re interested the bytecode can be seen in the disassembly view In the programming tool open the script editor tab click on the menu item in the editor s toolbar and select Show Disassembly Bytecode 15 1 Compiling the sourcecode into bytecode The human readable sourcecode will translated into machine executable bytecode after loading a display program so as a user you don t need to care about this This translation process called compilation takes place in the programming tool as well as in the real target firmware because the bytecode running on the real target is not exactly the same as in the programming tool During compilation numeric expressions formulas are converted from the normal mathematic infix notation into postfix alias Reverse Polish Notation RPN You will hopefully never have to worry about this at least not as long as the compiler can parse your code Here is an example for a tokenized statement A 1 A 3 1 The first line contains the original sourcecode the second line shows the RPN which is almost the same as the bytecode in symbolic
31. TRUE on the stack COMP 0x27 pops two elements off the stack compares them for equality and pushes the boolean result zero for FALSE one for TRUE on the stack COMP lt gt 0x28 pops two elements off the stack compares them for non equality and pushes the boolean result zero for FALSE one for TRUE on the stack COMP gt 0x29 pops two elements off the stack compares them for greater than and pushes the boolean result zero for FALSE one for TRUE on the stack COMP lt Ox2A pops two elements off the stack compares them for greater than and pushes the boolean result zero for FALSE one for TRUE on the stack AND 0x2B pops two elements off the stack AND combines them boolean and pushes the result on the stack OR 0x2C pops two elements off the stack OR combines them boolean and pushes the result on the stack BIT_AND 0x2D pops two elements off the stack AND combines them bitwise and pushes the result on the stack BIT_OR 0x2E pops two elements off the stack OR combines them bitwise and pushes the result on the stack MKT Dok Nr 85122 Version 2 0 136 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals U MINUS 0x1D Inverts the sign of the element on top of the stack for example turn
32. appended to the binary data block with the command TxBuffer TxByteIndex 0x00 The post increment operator increments TxByteIndex by one after the access Concatenating strings via append is faster than adding them i e use append s1 Hello instead of s1 s1 Hello because in many cases append doesn t need to free and re allocate a block of memory for the string due to the internal memory management which allocates strings in chunks of N times 64 bytes leaving a reserve of up to 63 characters in memory chr N Converts an integer code N 0 255 usually from the DOS character set into a single character string If N is above 255 it is assumed to be a UNICODE value but you should better use unicode_chr _N for that purpose Example chr 32 returns the space character MKT Dok Nr 85122 Version 2 0 32 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals unicode_chr N Almost the same as chr N but unicode _chr N converts an integer code N 0 0x10FFFF into a single character unicode string regardless of whether this character can be rendered on the screen or not Example unicode_chr 0x20AC returns a string with the internal representation which is UTF 8 of the Euro Sign character CharAt string s int char_index Returns the code of the N th character in the string s As usual the index starts counting at zero for the first chara
33. because all CPU time can now be used for the display Without waiting in the main loop endless loop script and display update would still run side by side but the script s main loop would consume an unnecessarily large amount of CPU time Recommended waiting intervals for the script s main loop are 10 to 50 milliseconds Do NOT call wait _ms from event handlers and other interrupt alike functions See also system timestamp wait_resume lets the blocked script continue even if the interval specified in the WAIT_MS command has not expired yet Because the normal script execution is blocked the only place where WAIT RESUME makes sense is an interrupt function or in an event callback future plan See also system timestamp Contents Keyword List Quick Reference 9 3 10 Other functions and commands In addition to the program flow control commands from the previous chapter the script language also contains functions and commands for special purposes Some of them will be explained in this chapter while others like the obvious math functions random etc are only mentioned in the keyword list See also Contents string processing file I O functions CAN bus functions screen output system functions date and time conversions User defined functions and procedures 9 1 3 10 1 Timer in der Script Sprache The command setTimer starts a timer in the script language for example var tTimer timerl Declare an ins
34. but this is not necessarily the case for BASIC compatibility Deprecated not recommended for new developments For non declared automatic variables the data type was defined by their suffix like for integer amp for long integer for string and for floating point Again using non declared variables is deprecated and should be avoided Instead you should declare variables properly with data type before using them as explained in the following chapters Hint for developers Global variables can be inspected at runtime by the built in debugger values listed in the symbol table or remotely using the device s embedded web server script page Local variables cannot be inspected that way because they only exist during a function call and may exist in multiple instances on the stack 5 1 3 5 1 Variable declarations in the script As mentioned in the previous chapter any kind of variable should be declared along with its type prior to using it 3 5 1 1 Global script variables Only variables with user defined types array or anything else which is not a simple variable must be declared before use This is what the keyword VAR is for After the VAR place the type name before the name of the variable A variable definition block must end with the ENDVAR keyword alias END_VAR Example for the declaraction of some global variables please note the coding style indentation between var amp e
35. can set a breakpoint in this line by clicking on this indicator blue solid circle Been here since the program started Code was produced for this line by the compiler and it has been executed at least once since the program started During debugging you can set a breakpoint in this line by clicking on this indicator The Reset function clears all been here markers see toolbar buttons above large red solid circle A breakpoint has been set in this line and the program has not been here yet If the running program hits this breakpoint it will stop You can easily inspect variables then because their values won t change while stopped red circle with blue center A breakpoint has been set in this line and the program has been here since it was last reset A yellow triangle with black border Warning or error in this line Something went wrong in this line either during compilation or during runtime Check the error message in the status line To get more details about the error point the mouse on this symbol Note that while editing especially when inserting new lines in the sourcecode the code indicators will disappear Breakpoints remain on their fixed positions unfortunately they cannot move around automatically when the sourcecode is modifed or moved to another location Clicking into the sidebar line number or symbols shown above with the right mouse button opens MKT Dok Nr 85122 Vers
36. constants or user defined param1 first message parameter Usage depends on the message type param2 second message parameter Usage depends on the message type param3 third message parameter Usage depends on the message type For details about tMessage see the chapter on message handling tCANmsg Data type for a single CAN message Not to be confused with the tMessage type Used as pointer to tCANmspg as function argument to pass a received CAN message to a self defined CAN receive handler and optionally as function argument for the can transmit commmand Components of the data type tCANmsg are id Combination of bus number in bits 31 30 Standard Extended Flag in bit 29 and the 11 or 29 bit CAN ID in bits 10 0 or 28 0 tim Timestamp for received CAN messages this field contains a precise timestamp filled out by the CAN driver Len Length of the netto data field in bytes For CAN messages only 0 zero to 8 bytes are possible b 0 b 7 Data field as byte array eight times 8 bits w 0 w 3 Data field as word array four times 16 bits dw 0 dw 1 Data field as doubleword array two times 32 bits bitfield lt Bit Index des LSBs gt lt Anzahl Datenbits gt Bitfeld wie in den Variablen can rx msg und can_tx_msg To simplify communicating via J1939 protocol the following aliases for parts of the 29 bit CAN ID were added PRIO Message Priority
37. data memory blocks with up to 64 bytes per block are currently used the peak memory usage since the script was started was 85 out of 1000 possible entries This is a typical non critical example because all peak values are way below the maximum allowed sizes If any of the three parameters stack usage number of global variables or number of data blocks gets critically close to the maximum try to e reduce the stack size by using less local variables and less recursive procedure calls reduce the block memory consumption by decreasing the array sizes reduce the block memory consumption by using less strings or assign empty strings to string variables if you don t need their values anymore like Info clear this string to release its memory block MKT Dok Nr 85122 Version 2 0 13 138 kt Dok Nr 85122 Script Language for programmable CAN Terminals Systemtechnik Hint Note The Memory Usage display on the Script tab only shows the memory used by the script This hasn t got anything to do with the memory used for the UPT s programmable display for icons display pages etc The script uses its own memory pool so the UPT display will remain operational even if the script runs out of resources and stops due to a programming error The memory usage can also be checked in the script itself using the function system resources Disassembly display code window Shows the bytecode in
38. define this character as separator after creating the socket 9 8 8 3 10 9 8 JSON Javascript Object Notation Even though the script language is in no way compatible with Javascript it will support JSON planned for the end of 2013 or maybe early 2014 This will for example allow a seamless implementation of an interface to openABK offenes Anzeige und Bedien Konzept initiated by BMW Future plan With sufficient demand from other users there will be commands in the script language to communicate via openABK directly MKT Dok Nr 85122 Version 2 0 98 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 9 9 3 10 10 Interaction between Script and the CANopen Protocol Stack Note The functions described below are only available since August 2013 in devices with built in CANopen protocol stack and in the UPT Programming Tool II as simulator The following commands and functions with the prefix cop short for CANopen are implemented in the script language cop obd Index Subindex Data_type Accesses an object in the CANopen device s own local object dictionary OD Since no network operations are involved this function returns to the caller immediately Because in a CANopen device almost anything can be controlled via the OD the script can use this command as a formal assignment i e write access to modify its own behaviour regarding its CANopen communi
39. disassembled human readable form While this display is open single step in the debugger doesn t step through the sourcecode line by line but instruction by instruction through the bytecode More details in chapter 2 3 2 Script gt z amp 2l 2 2 el a 2 sassone i C3 1C 54 65 PUSH Testing si 13 00 00 ASSIGN Info 13 01 00 CO 01 00 13 02 00 16 39 00 Trace History Shows the last 255 events or even more with e CAN messages which have been sent transmitted by the device e CAN messages which have been received by the device Error messages and warnings by the device firmware or simulator Text messages and info lines generated by the trace print command Details about the Trace History follow in chapter 2 3 3 Watch Expressions Shows a user defineable selection of expressions at the moment limited to global script variables on the debugger panel These can be the current values of simple variables but also complete arrays and user defined types structs can be inspected this way Details about the watch list follow in chapter 2 3 5 In a debug session it helps a lot to have two monitors connected to the development PC Move the programming tool s main window to one monitor and the LCD simulator window to the other If you re not that lucky only one monitor make the size of the simulator just as large as it needs to be to see all pixels and use the option stay o
40. elements on the script s stack This function was mainly used during implementation of the script language but you can use it to examine the stack especially if your application makes heavy use of subroutines and you want to find out how the program got to the current point call stack For example after calling a subroutine with gosub Iteration in line 12 the top of the stack should contain a return address with the code location of the next instruction after the gosub The stack display would show Stack 1 CodeLinel3 which means there is only one item on the stack and the item is a code address for line 13 in the sourcecode Note that if the code address cannot be converted into a source line number the stack display shows CodeAddr0x0ABC which is the code location in hexadecimal form If necessary you can see the code at this address in the byte code listing By virtue of the debugger s stack display it s possible to study the evaluation of RPN reverse polish notation in the bytecode Note The topmost element on the stack is displayed first in the leftmost position of the MKT Dok Nr 85122 Version 2 0 12 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals stack display line Other elements which have been pushed to the stack earlier are displayed further to the right Other items on the stack may be Integer values indicated by the BASIC
41. history Alternatively items in the blacklist can be edited in hexadecimal form via context menu sub menu titled CAN IDs excluded from the trace history This menu also shows a complete list of all currently black listed CAN message identifiers Suppressing certain CAN identifiers as described above only affects the trace history display in the programming tool simulator but not the real device i e hardware like MKT View III which also has a built in trace history In a real device but also in the simulator the script itself can access the CAN ID blacklist via trace can_blacklist i 6 4 2 3 3 4 Accessing the Trace History via web browser The easiest method to check the Trace History in a real device is through your web browser for all devices with Ethernet and embedded web server In most cases you can access the device easily through its host name which is upt by default but the name may have been changed in the device s network setup The full URL would be http upt trace htm but the protocol name http MKT Dok Nr 85122 Version 2 0 18 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals is usually added by the web browser internally and not shown in the address bar Here for example the Trace History displayed in the author s favourite browser Embedded Web Server Trace History Mozilla Firefox lol x Datei Bearbeiten Ansicht Chronik Leseze
42. integer data type suffix Floating point values indicated by the BASIC floating point data type suffix String values in double quotes no data type suffix required Because the debugger disassembler isn t aware of user defined types not yet any other values on the stack are displayed as type X where X is a number indicating the data type not the value itself The hexadecimal code display may be necessary if for example the return address on the stack points to the command in the same line after the gosub This is one more reason why you should avoid multiple commands in a single line of sourcecode it makes debugging difficult Memory Usage Display After a test session in the simulator you should occasionally check your application s memory consumption especially if you use a lot of strings especially when using strings in arrays To show the memory usage in the simulator debugger click on the script editor s menu button and select Show Memory Usage The status line will now show the memory usage continuously updated while the script runs for example emory Usage 5 of 256 stack items peak 33 7 of 200 variables 62 of 1000 data blocks peak 85 which means 5 out of 256 items on the RPN stack are currently used the peak stack usage since the script was started was 33 out of 256 possible entries 7 out of a maximum of 200 global variables are used 62 out of a maximum of 1000
43. keys Note that not all keyboards support all possible keys some of MKT s keyboards only have function keys keyF1 to keyF3 others have only cursor keys keyUp keyLeft keyRight and keyDown and or keyEnter and keyEscape Enter alias Return sometimes this key is generated by pressing the rotary button For numeric keyboards use key0 to key9 Don t make any assumption about the actual key values they may be hardware specific Only use the kev constants The only value returned by getkey which will definitely never change in future is 0 zero which means no key has been pressed since the last call An example for the getkey function used in a select case list can be found in the test application TScreenTest cvt and in the QuadBlocks demo to control the game via keyboard For more advanced control for example to detect when a key has been pressed and released use the low level event handlers OnKeyDown and OnKeyUp instead See also display functions keywords contents 9 6 3 10 7 Date and Time conversions The following built in functions and procedures can be used for basic date and time conversions aka calendar functions time unix_to_str string format int unix_date and time This function converts a date precisely date and time in Unix seconds into a string The format is specified by means of a format string first argument like YYYY MM DD hh mm ss produces an ISO 8601 compliant represe
44. level and align the ending statement like next until endif to the same column as the matching beginning statement like for repeat if as in the example shown above If you consider comments and indentation leading spaces to emphasize nesting a useless waste of time stop developing software The following subchapters explain most of the script language s syntax elements Special commands keywords and runtime library functions are explained later See also Keyword list Operators numeric User defined Functions and Procedures Program Flow Control Other Functions and Commands 1 3 1 Numbers Numbers are integer by default Their notation is usually decimal but hexadecimal and binary is also possible see examples below Numbers may be integer or floating point 1234 isan integer number in decimal notation which is the default e 1234 0 is a floating point number because the compiler recognizes the decimal point OxABCDEF is an integer number in hexadecimal notation thanks to the Ox prefix e 0b10000001 is an integer number in binary notation the prefix Ob means binary Use integer numbers wherever possible But if an expression uses some floating point variables as input you should also use floating point numbers constants because the compiler will emit floating point constants as such if it s obviously a floating point notation This eliminates type conversions at runtime and makes the script run fas
45. number which is shown like a hyperlink to scroll the script editor to the line in which a variable or function procedure constant etc is defined j Upt Win1 programs script_demos quadblox c lol x 3n Run Stop Reset Help ll Pages Icons Settings Text Array Script Errors el e Ed Symbol table global variables Symbol table 104 of 1024 entries in use Idx Name Line Type Value 000 AddAToScore 189 proc 1 00594 001 Blockarray 52 V int 4 4 003 BlockColour 55 V int 0 004 BlockGotStuck 260 proc c 00784 005 Blockx1 53 V int 8 006 BlockY1 53 V int 13 008 Boardarray 51 V int 34 30 009 BoardHeicht aa V int ha 010 BoardWictt eee UM n 011 BoardxMax 012 BoardYMa ee A3 013 CheckForCollisi 228 proc 3 00683 014 CreateNewBlock 194 proc 1 c 0059F 015 DeleteLine 365 proc 1 c O00AB1 Screenshot of the script symbol table in the programming tool Help Clicking on one of the Values in the symbol table opens a small popup menu as shown in the above screenshot Show value in watch list will add the symbol usually a global script variable to the watch list shown in the next chapter Hint For devices with Ethernet connector and embedded web server like MKT View III global script variables can also be inspected via HTML browser MKT Dok Nr 85122 Version 2 0 23 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 8
46. of many selectable languages It also shows how to invoke script procedures from display interpreter commandlines script_demos OperatorTest cvt This application contains a test script for some advanced operations It was used during software development to check various operators mostly the assignment operator and other new functions script_demos ReactionTest cvt This application implements a simple reaction time test for a human operator The script first waits for a random time between 0 5 and 5 seconds then changes the display colour and measures the time until the operator hits any key or hits the touchscreen surface or turns rotates the rotary encoder knob Depending on your reaction speed the program suggests how to proceed Reaction time 564 ms Get a coffee script_demos TraceTest cvt This application contains a short script to test the Trace Historie using the Commands to control the Trace History from chapter 3 10 This includes but it not limited to Appending own messages via script to the trace history trace print Automatically stopping the trace history via script Excluding certain CAN messages from the trace history trace can_blacklist Showing the contents of the trace history on a text panel trace entry n Clearing the trace history by the operator via graphic button touchscreen Saving the trace history as a text file on the device s memory card script_demos CANopen1
47. on a text panel Script Test Simple File I 0 Test RAMDISK Test Memory Card e fi s by pressing one of the E above this text panel ote The MEMORY CARD SD card must have been inserted BEFORE the test hegins The test fails when the card is no inserted not initialized Script Test or not formatted with a suitable file system like FAT 16 or FAT 32 t Script Test Simple File I 0 Eee file access Test RAMDISK RAMD ISK Test Test Memory Card Card ries to OPEN en sailed iting test txt G a new file a Read from file on ramdisk First line in the test file Second line in the test file hird line in the test file Reached the END OF FILE marker Simple File I 0 Testing file access Test RAMDISK Test Memory Card rying to OPEN opened zuoges sf ul appending a Read from file on 2 Sry hp EE txt y ramdisk Third line in the test fi data appended to file First line in the test file Second line in the test file Third line in the test file Reached the END OF FILE marker script_demos TScreenTest cvt Test application for the text screen buffer with procedures to draw lines and frames in the text mode screen buffer tscreen This file was also used as a first test for local variables parameter passing in procedures and recursive calls during development proc FillScreenl string sFi 1iChar P
48. purpose file write handle data writes data to a file In most cases data will be a string one or more a string variables or a string expressions In fact binary data are not supported yet because they always turn into a nightmare because you need to worry about the host s endianness aka byte order different storage formats for all kinds of data types etc etc so forget about binary files for a while An example for the file write function can be found under file create file read handle destination variable reads data from a file usually binary Since binary files are not supported yet better use file read_line which makes processing text files easier file read_line handle reads a line of characters from a text file or a serial port and returns it as a string An example using file read_line can be found under file open To read the lines of a text file line by line you should open the file with the O_TEXT flag as explained in the file open command because strings read from a file read that way will have the proper character encoding type ceDOS ceANSI or ceUnicode file eof handle checks for end of file Returns FALSE 0 as long as the end of the file has not been reached yet and TRUE 1 when the end of file has been reached for example after file read_line has read the last line of a file An example using file eof can be found under file open file seek handle offset fromwhere
49. screen later write it into a file etc Thus x94 may print a German o diaeresis or o Umlaut on the screen but only if the font used to render the string is the old fashioned DOS font aka codepage 437 or codepage 850 A complete DOS character table Codepage 437 can be found here Rows and columns use hexadecimal numbers making it very easy to find the 8 bit hex code for any desired special character The Text Screen example uses some of those characters to draw lines and boxes on the text screen MKT Dok Nr 85122 Version 2 0 30 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 2 4 3 2 4 Strings with backslash sequences Besides the sequence x to insert a special character by its hexadecimal code the following backslash sequences have a special meaning in the script sourcecode Inserts a single backslash in the string r Inserts a carriage return character aka CR chr 13 n Inserts a new line character aka linefeed chr 10 x Inserts an 8 bit character by its hexadecimal code not Unicode See details in chapter string constants with special characters u Inserts a Unicode character code point specified as 4 digit hexadecimal value The compiler replaces the unicode value with an UTF 8 sequence Note that only very few of those 1114112 possible Unicode code points can later be rendered on the display Details in chapt
50. send int socket int timeout_ms input_arguments Used both on the client and server side Sends data to a remote socket peer If the network transmit buffer is full the command may block the caller up to lt timeout_ms gt milliseconds Regardless of being successful or not inet send will always return after that interval or earlier If the connection bandwidth it large enough inet send will not block at all because the actual transmission of data takes place in the background in a different task The return value indicates success 0 SOCK_ SUCCESS or a negative error code defined here 9 8 7 3 10 9 7 inet recv int socket int timeout_ms output_arguments Usable on both the client and server side Receives data from a remote socket Return value The number of bytes received if any or a negative error code one of the SOCK ERROR constants If the network receive buffer is empty the command may block the caller for up to lt timeout_ms gt milliseconds to wait for the reception of data The output arguments must be passed by reference not as usual passed by value To achieve this use the address taking operator amp as prefix before the names of the destination variable s Example from InetDemo cvt proc RunTcpClient minimalistic TCP client local int iResult MKT Dok Nr 85122 Version 2 0 97 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CA
51. small excerpt Abort Code Description MKT Dok Nr 85122 Version 2 0 100 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 0x05030000 Toggle bit not alternated 0x05040000 SDO protocol timed out 0x06010000 Unsupported access to an object 0x06010001 Attempted to read a write only object 0x06010002 Attempted to write a read only object 0x06020000 Object does not exist in the object dictionary 0x08000000 General error cop nmt_state Retrieves the current NMT state of the CANopen node built inside the programmable device The return value may be one of the following constants cNmtStateBootup 0 The CANopen device is initialising itself it cannot communicate and the object dictionary doesn t exist yet cNmtStatePreOperational 127 In the NMT state Pre operational communication via SDOs is possible PDOs do not exist so PDO communication is not allowed The CANopen device may be switched into the NMT state Operational directly by sending the NMT service start remote node or by means of local control cNmtStateOperational 5 All communication objects CANopen slang are active Transitioning to the NMT state Operational creates all PDOs the constructor uses the parameters as described in the object dictionary cNmtStateStopped 4 The CANopen device is forced to stop the commu
52. test txt 4096 create a file with pre allocation endif if fh gt 0 then successfully opened or created the file file write fh First line in the test file r n file write fh Second line in the test file r n file write fh Third line in the test file r n fh file close fh else neither file open nor file create were successful print r nCould not open or create a file return FALSE endif After writing and closing the file above open it again and READ the contents fh file open pfs_ path test txt O RDONLY try to open the file for READING if fh gt 0 then successfully created the file print r nRead from file on pfs path while file eof fh repeat until the end of the file temp file read_line fh read one line of text from the file print r n temp dump that line to the text panel Progress Progresstl endwhile MKT Dok Nr 85122 Version 2 0 121 138 Dok Nr 85122 kt Systemtechnik Script Language for programmable CAN Terminals print r nReached the END OF FILE marker file close fh else print r nCould not open file for reading return FALSE endif return TRUE endfunc TestFileAccess With some additional output from the print command and pressing the Test RAMDISK button the program produced the following output
53. text file on the memory card The same can be achived manually by the operator as explained here With each new file saved the file sequence number exposed as trace file_index is incremented by one Only certain devices support this feature trace clear Clears erases the trace history buffer 9 8 3 10 9 Interaction between Script and Internet Protocol Stack Most devices with an Ethernet port also have an integrated Internet protocol stack with TCP IP The functions and event handlers presented in this chapter can be used for a direct interaction between the script application and the IP stack For the normal use TCP IP used for the embedded web server it s not necessary to have special commands in the script for controlling the TCP IP stack For example files uploaded into the RAMDISK via web server HTTP POST can be processed by the script using the standard file I O functions and files which were written into the RAMDISK by the user s script can be read via web server HTTP GET from the device 9 8 1 3 10 9 1 Overview of Internet Socket API functions In addition to the web server which doesn t depend on the script language at all a script application can implement its own IP based functionality For this purpose the script language contains a small subset of the Berkeley Socket API The following list is just an overwiev of the most important socket based functions For details about Berkeley Sockets consult
54. the panel s graphic area is 200 pixels wide and 64 pixels high and uses an 8 by 16 pixel font the panel may show up to 25 characters per line 200 8 and four 64 16 lines of text Regardless of the actual panel size which may be different on each display page the background text buffer can store a maximum of 40 lines with 80 characters per line Since these limits may depend on the hardware possibly larger screens in future the script can poll the maximum allowed indices into tscreen cell Y X through tscreen ymax and tscreen xmax The colour of the character cells inside the text panel is controlled by the script not by the display page definition Each character can have its unique foreground and background colour The sample application LoopTest contains an example which uses foreground and background colours composed with the RGB function The example TScreenTest uses the text array as the playfield for a simple video game snake moving on the screen controlled via cursor keys which requires read and write access to the characters in the text buffer without modifying the colours See also multi line text panel in the display page definitions external link only works in the HTML based help system not in a PDF document 9 3 3 10 3 File I O functions are only implemented on systems with a suitable hardware not necessarily a memory card slot because the file I O functions can also access other media for exa
55. the serial port with a fixed baudrate append it after the device name as below hSeriall file open seriall 9600 open 1st serial port hSerial2 file open serial2 9600 open 2nd serial port The received strings are dumped to a text panel The LCD may look like this Serial Port Test z RS 232 Script Text m T panel Both ports available endi SEPGGA 184221 io 1839 1700 i 00923 IiE 6P RMC 084222 10038 4839 1700 N 00923 7850 E OPGGA 084222 00 4839 1700 N 00923 7850 1 GPRHC uae H A nn wis H EN nth fs script_demos InetDemo cvt Test demo and example application for the Internet functions in the script language Implements a simple TCP IP based client and server Also runs in the simulator integrated in MKT Dok Nr 85122 Version 2 0 128 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals the programming tool if you allow the program to act as a server in the windows security center personal firewall script_demos MultiLanguageTest cvt This application started as a test program for various script language extensions It uses the file I O functions to read textfiles stored in any of the device s FLASH memory files using the UPT s pseudo file system and a user defined function GetText which is called from the display in a backslash sequence to retrieve a text string in one
56. to get more help displayed in the web browser Unfortunately this only works with a good browser which can jump to scroll to a text mark anchor after loading the HTML document At the time of this writing 2013 08 Firefox and Iron Chrome appeared to be good browsers F7 Single step for debugging details in the next chapter Furthermore the editor supports all keyboard shortcuts implemented by Microsoft s Rich Text edit control MKT Dok Nr 85122 Version 2 0 10 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Right click into the script editor sourcecode to open its context menu For certain special functions the word in the sourcecode under the mouse pointer will be evaluated then for example to add the name of a global variable as an expression to the watch list or to get help about a certain keyword function or variable CANdh Variables Global Events Page 0 ScriptTest All Pages Icons Settings Text Array Script Errors gt z 4 Sy awl 8 Se 2 cf Sf BRI aI freccemovews sl 202 203 print Acting as J1939 server ECU sim f f Reset the simulated ECU with J1939 interface 204 ResetSimulatedEcuUii 205 gt iCmd CMD NONE Add ResetSimulatedECU to watch list 206 case CMD_START_CLIEN Go to the implementation of ResetSimulatedECL in line 247 for Ji 207 sim_server TRU Copy as clie 208
57. 0 characters A script may use a maximum of 256 different const endconst blocks The number of constants in these blocks is only limited by the available bytecode memory which is target specific usually 64 kByte total bytecode memory The old UPT display interpreter can access user defined script constants without the need to prefix the constant s symbol by script But this only works if the symbol does not exceed the maximum length of a display variable MKT Dok Nr 85122 Version 2 0 37 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals which is usually 8 to 16 characters The maximum length of a constant s name in the script itself is virtually unlimited 3 3 3 Calculated constants constants calculated at compile time not at runtime To force the evaluation of simple expressions as numeric constants at compile time use the hash character before the constant expression in parentheses Example The expression in the command N 1 2 3 will be evaluated calculated at compile time by the compiler itself In contrast to that N 14 2 3 will be calculated at runtime resulting in a slightly reduced execution speed The compiler s own formula evaluator is reduced to very basic calculations it doesn t support parentheses it doesn t support different operator precedences and it only works with integer constants symbolic or numeric 3 3
58. 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals If necessary a floating point value can be constructed from single bytes with exponent and mantissa via BytesToFloat or BinaryToFloat Floating point numbers can be formatted into strings via ftoa float to ASCH string a string of characters The characters of a string are stored in a separate memory region the length may vary during runtime In struct and array size calculations a string only seems to occupy four bytes in memory but this is just a pointer to the actual characters Details about the string type are here In addition to the three above basic types the following simple types can be used in struct or array declarations When used in calculations formulas expressions they are automatically converted to integer byte unsigned 8 bit integer value range 0 to 255 This type occupies one byte in arrays or structures It s actually the smallest type which can be used for arrays word unsigned 16 bit integer value range 0 to 65535 Occupies two bytes when used in arrays or structures dword unsigned 32 bit integer cannot be converted into 32 bit integer without losses only used for storage Occupies four bytes when used in arrays or structures Since November 2012 type conversions between the basic and simple types listed above are performed automatically during runtime as nece
59. 2 3 3 2 User defined constants In addition to the fixed constants shown above you can define your own constants This sometimes improves readability especially when you need the constant s value more than once in your script The keyword const begins a list of constant definitions the keyword endconst ends such a list Each constant is defined using the following syntax lt constant_name gt lt value gt or with the definition of the data type which may be necessary if the value isn t easily recognizeable or ambiguous lt data_type gt lt constant_name gt lt value gt or to define a constant array as described further below lt data_type gt lt constant_name gt array_size lt value gt Example please note the coding style indentation between const amp endconst const define a few constants C HISTORY BUF SIZE 1000 a decimal integer C_CANID RX A 0x333 a hexadecimal integer C CANID RX B 0x334 C CANID TX ACK 0x120 endconst end of constant definitions User defined constants must be defined at the begin of the script or at least before they are used Notes Use constants instead of magic numeric values which no one else besides you will understand especially in long select case statements and as control identifiers in message handlers Like the names of variables data types and similar elements the name of any constant is limited to 2
60. 2 3 5 Watch List shows values of a selection of variables In contrast to the symbol table display the watch list only shows a user defined selection of global script variables This works with simple script variables arrays and user defined types for experts the evaluation of arbitrary expressions is not supported yet New items can be added to the watch table is via the symbol table as explained in the previous chapter or via the script editor s context menu j Upt Win1 programs script_demos quadblox lol x m Run Stop Reset Help ll Pages Icons Settings Text Array Script Errors EEFI BlockColour _ U Blockx1 _ 8 BlockY1 la BoardHe igh 24 Delete entry Boardidth a 20 Show entry BoardsMax 7 l 19 Delete All entries BoardYMax Append more entries from Symbol Table 214384342 iStartTime _ 212913902 Screenshot of the script editor s Watch List in the programming tool Clicking on the name of a variable or in future an expression in the watch list opens a small popup menu as shown in the above screenshot The items in that menu are Delete entry deletes the previously clicked item from the watch list Hide entry temporatily hides the display of the value without deleting the item from the list For arrays and larger structures this can save a lot of screen space in the watch display Show entry Makes the value visible again after it was hidden as explained above Delet
61. 252 case ceUnicode string contains Unicode characters MKT Dok Nr 85122 Version 2 0 27 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals encoded as UTF 8 case ceUnknown the string s character encoding is unknown This means the encoding type has not been specified or doesn t matter because all characters in the string have code values below 128 in that case DOS ANSI and Unicode are almost identical endselect Note Just because the script language supports Unicode to be precise UTF 8 encoded strings doesn t mean your application will be able to render those characters on the display The fonts used by MKT s LCD driver date back from the days of DOS and only contain glyphs for the 255 characters defined in the old DOS character set Codepage 850 When showing an UTF 8 encoded string on the display the firmware will try to find a match for the Unicode code point Thus at least the common western characters like German Umlauts will appear correctly on the display regardless of the string s character encoding type ceDOS ceANSI ceUnicode Since V 0 2 6 2014 03 18 arrays and struct members of type string are always stored as UTF 8 internally because there are no individial character encoding flags stored in memory for each array element If for example a DOS or ANSI encoded string is assigned to an array element all ch
62. 3 3 4 Constant tables arrays For some applications it was necessary to store constants in arrays One could use an array variable for this purpose and fill the array at runtime using a long list of assignments But there is a more elegant method to achive this Constants can be defined like a formal array and thus be accessed like an array with read only access at runtime Such constant arrays could then be used to initialize fill variables arrays in a loop etc because each element of the array can be accessed through an index Example actually taken from the quadblocks demo CONST int BlockColors 7 seven block colours BlockColors 0 6 clBlue clRed clCyan clYellow clGreen clMagenta clWhite FF ENDCONST See also constants overview variable arrays 4 3 4 Built in and user defined data types The script language supports the following three basic built in data types e int alias integer signed 32 bit integer This is the preferred data type for most numeric operations and also to identify files handles and internet communication endpoints sockets e float 32 bit single precision floating point Contains an 8 bit exponent a 23 bit mantissa and a sign bit This type can store fractional decimals like 0 12345 In numeric operations it is much slower than integer due to the lack of a floating point unit in the target system MKT Dok Nr 85122 Version 2 0 38
63. Alias for CAN ID Bits 26 bis 28 EDP Extended Data Page Alias for CAN ID Bit 25 DP Data Page Alias for CAN ID Bit 24 PF PDU Format Alias for CAN ID Bits 16 bis 23 PS PDU Specific Alias for CAN ID Bits 8 bis 15 SA Source Address Alias for CAN ID Bits 0 bis 7 PGN Parameter Group Number with up to 18 bits Alias for DP PF PS tTimer Data type for a programmable timer with the following components period ticks Cycle duration of the timer measured in Ticks of the timestamp generator expired gt TRUE if the timer is expired otherwise 0 FALSE ts_ next Current value of the timestamp generator system timestamp at the next planned expiration of this timer cunning gt TRUE if this timer is currently running otherwise 0 FALSE user A freely useable 32 bit integer value assigned to this timer for example an event counter or an index see timer event demo MKT Dok Nr 85122 Version 2 0 40 138 Dok Nr 85122 Script Language for programmable CAN Terminals kt Systemtechnik The tTimer type is used by the setTimer command and passed as pointer to tTimer in the argument list when periodically calling a timer event handler Some of the script language functions may return different data types as their return value If the caller needs to examine the type of the result he can use the typeof operator operating on the returned value and use
64. At the moment 2011 09 doesn t work with FLASH memory gt O TEXT Open the file as a text file and check for a BOM byte order mark to find out the encoding type automatically Regardless of the file open mode 0 RDONLY O WRONLY O_RDWR O_TEXT the file pointer will be set to the begin of the file This behavious equals the _rtl_open command which may be familiar for C developers To append new data at the end of an existing file after re opening it the file pointer must be set to the end of the file before writing data to it Use the function file seek for this purpose Example to open a text file read it line by line and dump the lines to the screen var declare global variables int fh an integer for the file handle string temp a string named temp endvar fh t file open ramdiskstest cxt 0 RDONLY 7 if fh gt 0 then successfully created the file while file eof fh temp Pile resad line th print r n temp dump the line to the screen endwhile file close fh endif MKT Dok Nr 85122 Version 2 0 70 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 3 10 2 3 Writing to and reading from files After successfully creating or opening a file the file s handle integer value returned by file create or file open can be used to write to or read from the file The following script functions can be used for this
65. Both address taking operators have the same purpose 6 2 3 7 2 Increment and Decrement Operator The operator when used on the right side of an integer variable inside an expression increments the value of the variable after retrieving the current value This is similar as the post increment operator in the C programming language In a similar fashion decrements the value of the variable after retrieving the current value Example Jj itt first co i to j then increment i by one J py The above code has a similar effect but runs faster as the following i copy i to j j i 1 increment i by one a 3 The operator is often used to increment the index when filling arrays The index variable is initially set to zero and then incremented by one whenever a new item was appended to the array One of the examples for the append command also uses the operator to append data to an array TxBuffer TxByteIndext 0x00 append another ZERO BYTE In this example TxByteIndex is the array index for filling data into a byte array TxBuffer With each byte appended to the array TxByteIndex is incremented by one AFTER being referenced as index into the array MKT Dok Nr 85122 Version 2 0 50 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Back to the overview of operators MKT Dok N
66. Despite that some of the internal memory FLASH ROM and or RAM can be accessed like a file storage medium disk volume MKT Dok Nr 85122 Version 2 0 66 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals The principle of pseudo directories is the same as used for the file transfer In fact files created this way can be accessed through the file transfer utility or via embedded web server font_flash This is another onboad FLASH memory chip not a FLASH memory card used to store user defined fonts fnt but it can be used to store a few other files too When creating a file in this directory the maximum expected size must be specified in the 2nd argument of the file create function When closing the file again unused FLASH sectors will be available for other files again This also applies to the other flash folders listed here audio flash Yet another onboard FLASH memory chip not a FLASH memory card used to store audio files wav but it can also be used to store a few other files Note In a few devices which support audio output but don t have an extra FLASH chip to store the digitized audio the contents of the font_flash and audio_flash directory may physically be the same Files placed in this directory can be played back using the interpreter command audio play data_flash This is an internal FLASH memory chip not a FLASH memory card used for inter
67. KS_ CLOSING either side closing the socket but some network operations may be still pending SCKS_ CLOSED either side the connection is definitely closed by someone SCKS_ ERROR either side an unexpected error occurred connection broke down etc The application should close the socket and if necessary try to reconnect 9 8 3 3 10 9 3 Error codes for the Internet Socket Services The following internet socket related err codes are available as symbolic constants in the script language Their values are not compatible with error codes specified in the Berkeley socket services so don t make any assumption about the actual values except that SOCK _ SUCCESS is ZERO and all other error codes have negative values and use only these symbolic constants in your code SOCK_SUCCESS Success or operation completed Since this error code is not an error at all its value is zero SOCK ERROR General Error SOCK_EINVALID Invalid socket descriptor SOCK_EINVALIDPARA Invalid parameter SOCK_EWOULDBLOCK Caller would have been blocked if it was a blocking socket i e completion is pending SOCK EMEMNOTAVAIL Not enough memory in memory pool or too many handles or sockets in use MKT Dok Nr 85122 Version 2 0 95 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals SOCK_ECLOSED Connection is closed or aborted SOCK_ELOCKED Socket is locked in RTX environment SOCK ETIMEOUT Ti
68. N Terminals local string s ess iResult inet recv iClientSocket 20 ms amp s 3 if iResult gt 0 then received something gt process it print s endif endproc Regardless of being successful or not inet recv will always return after that interval or earlier In most higher internet protocol layers HTTP FTP lines of text are exchanged between client and server Thus the output arguments will almost exclusively be text strings Each line of text must end with lt CR gt lt LF gt Carriage Return followed by Linefeed aka New Line hexadecimal 0x0D 0x0A Thus the default separator when receiving strings from a socket using inet recv is this end of line marker Unfortunately some applications stubbornly ignore this To simplify the treatment of different END OF LINE markers inet recv uses the following end of string markers A zero byte is always an end of string marker as in the C programming language lt CR gt carriage return immediately followed lt LF gt also marks the end of a string on reception and both of these characters are appended to the end of the string e lt CR gt not followed by lt LF gt also marks the end of a string on reception and is appended as a single character to the end of the string lt LF gt linefeed 0x0A without a preceding lt CR gt is treated like a normal ASCII character and does not mark the end of a string unless you explicitly
69. OP condition checked at the end of the loop specified after the keyword until Example MKT Dok Nr 85122 Version 2 0 58 138 Mkr Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals I 0 make sure I starts at some defined value repeat I I l some statements until I gt 100 Note that the statements inside a REPEAT UNTIL loop are executed at least once 8 5 3 9 5 goto Unconditional jump Try to avoid using goto whereever possible Using too many goto instructions in your code will turn it into a difficult to maintain nightmare aka Spaghetti Code Or as Niklaus Wirth put it GOTO Considered Harmful To discourage the use of goto it doesn t not work inside user defined functions and procedures Simple and deliberately poor example IF divisor THEN GOTO ErrorHandler ELSE quot dividend divisor ENDIF some other code in the same subroutine ErrorHandler we shouldn t get here InfoS Something went wrong STOP 8 6 3 9 6 gosub return Simple subroutine call without parameter passing Deprecated see note below use procedures instead of gosub return Gosub works a bit like goto but places the address of the next instruction to be executed in the caller on the stack Return returns to the address on the top of the stack i e continues execution at the caller s next instruction Note Unlike user defined proced
70. ROCEDURE to fill the screen with a colour test pattern LOCAL int X Y old_ pause flag old pause flag display pause MKT Dok Nr 85122 Version 2 0 122 138 Dok Nr 85122 Script Language for programmable CAN Terminals kt Systemtechnik display pause TRUE disable normal screen output for Y 0 to tscreen ymax for X 0 to tscreen xmax qotoxy X Y setcolor clWhite RGB 11 X Y amp 255 9 Y X amp 255 37 6255 print sFillChar print a single character next next display pause old pause flag resume display output endproc end FillScreenl Furthermore TScreenTest cvt demonstrates how special DOS characters from codepage 437 or codepage 850 can be used to draw lines boxes and grids on a text screen This demo also contains a very simple video game which polls the keyboard to steer a worm or snake through a maze A similar principle can be used in your application to realize advanced animated graphics using the special graphic characters from a DOS compatible font like the one shown below o 2 4 6 8 A 1 3 5 7 9 B D 0_OB w A Us a A IDFR RELAY el 2_U RIM RSIS ODI MAGI 3_GTAS4S6MSSLIEIKE 4 GABCOBRAGHTYKUM S_PRRSMUMUUAMEAUNG Ik LU m OL E E m 6_MlablddeAlghl Tal rales wW Gaj E KI Ea BJEJEJEJE FE E 0 oy a lS BL A El a HELE Pa Oe Efi raf at a Bal Mme el SI fod BEIT ABS LC AME DOS characters codepage
71. SK is only possible if that file is still the last file written to the disk For this reason delete temporary files which your script may have created on the ramdisk as soon as possible Deleting it too late will not free the memory Remember that the RAMDISK is not battery buffered It will automatically be reformatted whenever the system is booted and all files in it will be lost To simulate the various STORAGE MEDIA in the programming tool real disk files are used The directories folders used for those files can be configured on the Settings tab in the MKT Dok Nr 85122 Version 2 0 68 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals programming tool Double click into the table to open a file selector if you need to change these entries Directories CAMKTIUPT_ProgTool2iprograms Help Files CAMKTWPT_ProgTool2thelp C AMKTWUPT_ProgTool2ticons CAMKTUPT_ProgTool2igallery_320_240_rm CAMKTWPT_ProgTool2 fonts CanTermFontConverter FontCvtl exe CAMKTWPT_ProgTool2 eds Can Logger Utility Can Logger Utility exe CAMKTIUPT_ProgTool2 audio Simulated MC C AMKTWPT_ProgTool2 sim_me Select help language MMI For example to access files in the audio flash folder copy the required files into that directory or change the directory location inside the programming tool to the place on your harddisk where the program tool can find the files It i
72. Show messages from CAN via UDP 0 1 1 Show CAN messages tunneled via UDP Ethernet 0 Default Don t show these messages Stop when buffer is full Special option to trace problems during startup network boot initialisation TRUE The trace history will be stopped when the history buffer is full Thus only the oldest entries are available FALSE The trace history will continue running even when the buffer is full thus only the newest entries are available The default setting is FALSE i e the trace historie will not be stopped at least not automatically and depending on the firmware only the last 255 or 511 entries can be viewed or exported MKT Dok Nr 85122 Version 2 0 22 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 7 2 3 4 Symbol Table with variable display In the programming tool the symbol table can be displayed on the right side of the main window Select the item Symbol table complete or Symbol table global variables in the combo box in the scipt editor s toolbar The complete symbol table also shows the names and locations of local variables which cannot be inspected The display with global variables only shows global symbols global variables of the script functions procedures and constants In the tabular display all symbols are sorted by name which makes this display a valuable tool for navigation Click on the Line
73. Syntax in the format string of a display line definition script lt function_name gt lt arguments gt where lt function name gt is the name of a user defined function defined in the script language and lt arguments gt are the arguments passed to the function The number of arguments and their data types must match the called function see example below Example for the format string in a display page definition script GetText 123 where GetText is the name of a user defined function written in the script language which takes an integer argument here a text reference number as input and returns a string as return value The maximum string length returned to the display interpreter this way is 1024 characters limited by the display s static string types not by the script language This MKT Dok Nr 85122 Version 2 0 53 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals example is based on the multi language demo script_demos MultiLanguageTest cvt func GetText int ref nr User defined function Returns strings in different languages Input ret nr reference number for a certain text may run from zero to 9999 Currently selected language in variable language which may be 10000 LANG ENG or 20000 LANG GER etc select rer nr language case case 23 LANG ENG return onehundredandtwentythree 23 LANG GER
74. Trace History via system menu and display on the device s local screen 26 20 1B FE 1B 1 1 1 1 1 1 1 1 1 1 1 1 1 ee AANWOONNWOONN The softkey Menu marked in blue in the above screenshot can be used to open the following menu Trace History Options 1 Exit Trace Display Back to Trace Display Have Trace as file Trace file index 86808 messages from CAN1 messages from CANZ CAN via UDP frames any UDP IP traffic any TCP IP traffic when buffer is full Menu with Trace History Options here on an MKT View II MKT Dok Nr 85122 Version 2 0 21 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals In most but not all devices by MKT the following entries are available in the menu shown above Exit Trace Display Leave the trace history display and return to the caller which is usually the system menu Back to Trace Display Leave the Options menu and switch back to the trace history display Save Trace as file Saves the trace history buffer as a plain text file on the SD memory card Details here Show messages from CAN1 0 1 1 Default Show CAN messages sent to and received from the first CAN interface 0 Don t show these messages and don t enter them into the history buffer from now on Show messages from CAN2 0 1 1 Default Show CAN messages sent to and received from the second CAN interface 0 Don t show these messages
75. a select case statement to implement different processing for each data type For this purpose use symbolic constants like dtFloat dtInteger dtString etc in the case marks and declare the variable for the return value as anytype e anytype Placeholder for the data type to declare a variable or function argument which can accept any type After assigning a certain value to such a variable the actual type can be examined with the typeof operator Example var anytype result endvar end of variable declarations result cop sdo 0x1234 0x01 read something via CANopen Service Data Object select typeof result what s the TYPE OF the returned value case dtInteger the SDO transfer delivered an INTEGER case dtByte the SDO transfer delivered a BYTE case dtString the SDO transfer delivered a STRING case dtError the SDO transfer returned an ERROR CODE endselect Besides the data types listed above own data types can be defined Example typedef tHistoryBufEntry this is the name of a user defined data type struct int iRefNo 1st member an integer variable int iSender 2nd member another integer float fUnixTimestamp 3rd a floating point variable string sInfo 4th member a string endstruct end typedef alias endtypedef end of the data type definitions Notes A block of typedefs ma
76. all Allows accessing the device s first serial port RS 232 like a file at least for read and write operations In rare cases the script may need to change the serial port settings when opening it This can be achieved by appending a string with the port settings after the pseudo devicename for example hSeriall file open serial1 9600 try to open Ist serial port and MKT Dok Nr 85122 Version 2 0 67 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals configure it for 9600 bits second Other examples for accessing the serial port s from the script language can be found here GPS Simulator Like all other extended script functions accessing the serial ports through the file I O functions is only possible if the extended script functions auf deutsch Erweiterte Script Funktionen have been unlocked serial2 Similar for the second serial port if such a port exists otherwise file open serial2 will return zero which is an illegal handle value An example for accessing this particular port from the script language can be found here GPS Simulator In the MKT View II the second serial port is a dedicated port for a GPS receiver This is not a standard RS 232 port Do not try to connected it to the PC with a standard 9 pole Null modem cable You may damage your PC because the 9 pole GPS connector feeds the supply voltage into the external GPS rec
77. an entry in a string table int valid QO invalid or deleted entry l valid int iRefNo string reference number integer string sInfo the string itself any length endstruct end of a structure definition endtypedef end of type definitions var declare GLOBAL variables here an array of structs tStringTableEntry StringTable 1000 endvar end of variable declarations Initially each tStringTableEntry only occupies 12 bytes 2 4 bytes for the integers plus 4 bytes for a pointer to a string object in some other memory area Later when the sInfo entries in the StringTab1le array are filled and the strings are not empty anymore each string will require additional memory In other words the amount of memory used by your script may increase at runtime Thus to make sure your application doesn t run out of memory later consider how many strings may be used by your application at runtime at worst case and how long each of those strings may grow because the compiler doesn t know this Let your application run in the programming tool s simulator and MKT Dok Nr 85122 Version 2 0 29 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals test every function in your script When finished examine the peak memory usage in the debugger and make sure the data memory usage isn t critically close to the maximum 2 3 3 2 3 String constants with special character
78. aracters with codes gt 127 will be converted to UTF 8 sequences automatically Thus when reading those strings from the array they have the encoding type ceUnicode If necessary the character encoding of string literals i e string constants in the script sourcecode can be specified by the following single lowercase letter prefixes When not speficied the compiler may decide to use ANSI or more likely UTF 8 gt a Text ANSI encoded characters precisely Windows CP 1252 8 bits per character d Text DOS encoded characters precisely DOS Codepage 850 8 bits per character e u Unicode Test Unicode precisely characters encoded in UTF 8 with a variable number of bytes per character Note The double quote character which marks the begin of a string constant literal must follow immediately after the prefix character a d u Example assigns a Unicode string literal to a string variable MyString u Falsches ben von Xylophonmusik qu lt jeden gr eren Zwerg Wherever possible special characters as in the german pangram above will be translated into their proper encoding by the compiler MKT Dok Nr 85122 Version 2 0 28 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals The character encoding of the script sourcecode is assumed to be ANSI Windows CP 1252 not DOS encoded characters This may change in the far future if the script editor in
79. ariable declarations in the script 1 Global variables 2 Local variables 3 Pointer variables 4 The attributes private public and logged MKT Dok Nr 85122 Version 2 0 1 138 Mkr Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 2 Accessing script variables from a display page 3 Accessing display variables from the script 6 Arrays 7 Operators 8 User defined functions and procedures 1 User defined procedures User defined functions Invoking user defined script functions from a display page Invoking script procedures from display interpreter commandlines Input and output arguments Recursive calls 9 Program flow control loops and branches 1 if then else endif 2 for to step next 3 while endwhile 4 repeat until 5 select case else endselect 10 Other functions and commands 1 Timer Displaying text on a multi line text panel cls gotoxy print amp Co File I O functions file create file open file write file read file close Transmission and reception of CAN messages via script CAN diagnostics Controlling the programmable display pages from the script System functions read the current timestamp keyboard LEDs I O ports etc 7 Date and time conversions modified Julian date etc 8 Functions to control the trace history 9 Interaction between Script and the Internet Protocol s
80. ation DisplayTest cvt Possible menu modes are defined as built in constants in the script language mmOff neither navigating nor editing mmnNavigate navigating between different fields on the page mmEdit editing the usually numeric value in an input field display elem lt Element Name gt visible The script can show or hide a display element by setting or clearing the visible flag Example MKT Dok Nr 85122 Version 2 0 80 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals display elem Arrow visible TRUE show the element named Arrow display elem Popup visible named Popup Note When a display page is loaded from ROM due to a page switch all elements are visible by default Making an element invisible which was previously visible causes an automatic update of the entire display page FALSE hide the element display elem lt Element Name gt xyz or display elem lt Element Index gt xyz This is the script language s equivalent to the display interpreter s function disp lt Element gt xyz follow the link for a list of accessable components here simpy called xyz Examples more in the display test application Show the NAME of the currently selected element pring r n Names cisplay clem display menu index na display elem i bc RGB 255 127 127 set background to lightred
81. ax By default automatic scrolling is disabled tscreen auto_ scroll FALSE which causes excessive lines to get lost not printed into the text buffer at all An example for an automatically scrolling text panel is in the Internet demo application tscreen vis width Returns the currently visible width in characters of the text screen which depends on the size borders and font of the first visible text panel element on the current display page For example if the text panel is 320 pixels wide without borders and uses an 8 pixel wide fixed font the visible width of the text screen will be 40 characters tscreen vis_ height Returns the currently visible width in characters of the text screen which depends on the size borders and font of the first visible text panel element on the current display page For example if the text panel is 240 pixels high without borders and uses a 16 pixel wide fixed font the visible width of the text screen will be 15 characters The QuadBlocks demo uses this function to automatically adjust the size of the playing field actually a text panel to the size of the screen if the application which was designed for a 320 240 pixel screen is loaded into a device with 480 272 pixels tscreen scroll pos x tscreen scroll pos y MKT Dok Nr 85122 Version 2 0 64 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Contains the current horizonta
82. ays the same as the device s IP address result inet listen int socket int nConnections Used on the server side and causes a bound TCP socket to enter listening state iAcceptedSocket inet accept int iListeningSocket Used on the server side Accepts an incoming call from a remote client and creates a new socket associated with the socket address pair of this connection The returned value is a new socket which should later be closed freed inet close to prevent running out of system resources his name inet getpeername int iAcceptedSocket Typically used on the server side after successfully accepting a connection This function shall retrieve the peer name IP address of the specified socket as a string Notes The Berkeley API uses a fancy structure to store the result for this function but here the result is a simple string In this context a peer is the guy at the other end of the line i e the remote client iSockState inet getsockstate int socket Retrieves the current state of the specified socket The result may be one of the following symbolic script constants SCKS _ see socket states result inet connect int socket int timeout_ms string destination Used on the client side and assigns a free local port number to a socket In case of a TCP socket it causes an attempt to establish a new TCP connection This function usually requires several hundred milliseconds depending on the network and the p
83. been received by the terminal Rx 3 Error messages and warnings by the system device firmware or simulator 4 Messages which have been printed into the history by the user application script 5 Other events when enabled by the trace enable flags Chapter overview Trace History display format Trace History usage Trace History invocation 6 1 2 3 3 1 Trace History display format The display format of CAN messages in the Trace History is half way compatible with Vector s widespread ASII format for CAN logfiles Thus even for devices without an integrated CAN logger snooper it is possible to trace CAN bus related problems which is especially helpful when implementing exotic CAN protocols in the script language CAN message format in the Trace History i Rx Byte Byte Byte Byte Byte Byte Byte Byte Timestamp Bus CAN ID Tx d Length 1 2 3 4 5 6 7 8 57 211 1 12345678 Rx d 8 F2 68 11 76 EE 86 6C 9D CAN Identifiers with 11 bit standard frames are displayed with 3 digits 29 Bit Identifier extended frames are shown with 8 digits as in the example Messages text lines entered into the history by command trace print can have any format only the timestamp in seconds with three decimal places are added automatically at the begin of each line The second counter starts at zero when the device is turned on or when the simulator is started reset 6 2 2 3 3 2 Trace History usage In the simulator integrated in the prog
84. bove features must be unlocked for the firmware for each device on which you want to use these features How to request an unlock code from the manufacturer for a particular function in a particular device is described in this extra document We apologize in advance for any inconvience caused by the unlock procedure but the company MKT cannot offer all these new features for free On the other hand customers who don t need these functions are not forced to pay for something which they will never need MKT Dok Nr 85122 Version 2 0 6 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 2 Script Editor and Debugger The script editor is on the Script tabsheet of the programming tool If that tab is invisible your hardware doesn t support scripts or the programming tool is too old Script gt x amp Ble 2 lt el Bl 2 bicassembiy z 54 65 PUSH Testing si ASSIGN Infos 010 FOR I 1 TO 100000 STEP 2 0x0020 CO PUSH 1 Olie 1 ASSIGN 012 NEXT PUSH 1 ais ASSIGN I In the script editor you can use the mouse to retrieve information about a certain keyword or sometimes about a variable Just point the mouse cursor over the keyword for which you need help and wait for two seconds don t press any mouse button for this If the editor recognizes a keyword under the mouse it will show a short hint text near the keyword or th
85. c etc Speed optimisations by the script compiler and in the runtime library more rigorous error checking in the script compiler 1 3 Unlockable Features for the script language Since 2011 08 02 only the standard script functions which were originally developed during the author s spare time for a his own hobby purpose are available without an extra fee The extended functions added to the script language for MKT Systemtechnik during the author s working hours at MKT Systemtechnik must be unlocked for a moderate fee to cover MKT s development expenses before they can be used These extended script functions include but are not limited to the following unlockable features e Reception and transmission of CAN messages through the script language CAN xyz File access functions for the script language file xyz which includes the serial port s and other objects which can be accessed like a file Script functions to communicate via TCP IP or UDP planned MKT Dok Nr 85122 Version 2 0 5 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals other hardware dependent specialized functions planned As long as these functions are not unlocked they will simply not work For example if the script in the programmable terminal tries to send a CAN message the message simply won t be sent Trying to open a file or a serial port will return an invalid handle All the a
86. cation Just a few examples Reconfigure the process data communucation via PDO Communication Parameter Object indices 0x1400 RPDO1 CommPar 0x1401 RPDO2 0x1800 TPDO1 0x1801 TPDO2 Reprogram the contents of the process data telegrams by virtue of the PDO Mapping Parameter Object indices 0x1600 RPDO1 Mapping 0x1601 RPDO2 Ox1A00 TPDO1 0x1A01 TPDO2 Reconfigure the SDO Clients used to communicate via cop sdo Object indices 0x1280 first SDO Client 0x1281 second SDO Client etc Reconfigure the SDO Server which allow other devices to access the terminal s OD Object indices 0x1200 first SDO Server 0x1201 second SDO Server etc An example using cop obd to modify the PDO mapping is in CANopen1 upt cop sdo Index Subindex Data_type Timeout in milliseconds cop sdo2 SDO Channel Index Subindex Data_type Timeout_in milliseconds Accesses an object in a remote CANopen device s object dictionary via SDO Service Data Object The simple variant cop sdo always uses the first SDO client cop sdo2 can use any of the SDO clients as far as supported in the firmware identified by the zero based SDO channel number Because network operations are involved these functions will take some time to complete During this time the caller script will be blocked for several milliseconds and the script will be switched into the waiting state The waiting time may be interrupted by event handlers For this reaso
87. cess the object to which the pointer points append a formal array index in squared brackets after the name of the pointer unlike C there is no operator for this The formal array index is almost always zero which means use the element to which the pointer points without offset In contrast to real arrays the runtime system cannot check the validity of the pointer s formal array index offset because a pointer only carries a data type along but not an array size Thus as in C the developer is responsible for the validity of a pointer If the formal array index is non zero it will be multiplied by the size of the pointer s data type to calculate the address offset which is added to the address to dereference the pointer for example multiply the offset by four for a pointer to integer For typeless pointers pointers to anything the formal array index must only be zero Examples to de reference a pointer aka access the data via pointer myPtrToInt 0 12345 pointer access as a formal array here index zero first array element myPtrToInt 1 0 here ILLEGAL because in this example myPtrToInt only points to ONE integer value When accessing a single component of a structure also a user defined type via pointer the pointer will automatically be dereferenced unlike C where you d use gt to access a struct component via pointer and to access a struct component directly
88. cess to a display variable from the script code must use the prefix display before the name of a display variable The system will make sure that the value of a display variable cannot be modified during the display page update or during the handling of programmed display events Example with Oeldruck being a display variable connected to a CANdb Signal if display Oeldruck va then print Oil pressure isn t valid else if display Oeldruck lt 1 2345 then print Oil pressure is too low endif MKT Dok Nr 85122 Version 2 0 46 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Note For reasons explained above accessing display variables from a script may slow down the script significantly because it may have to wait for the display Never use display variables inside the script for anything else than showing them on the display See also e Controlling the programmable display pages from the script page switching etc e More about interaction between script and display application Accessing display variables from the script Accessing script variables from the display interpreter Invoking script procedures from the display interpreter Invoking script functions from display pages to retrieve a text strings for the display used for internationalisation e Keywords Examples e Overview of this document MKT Dok Nr
89. cessing script variables from a display page Using the prefix script any simple variable in the script can be read from the display application This may be necessary in a few cases Generally yhou should not access script variables directly from the display pages to avoid inconsistencies reason display application and script are not synchronized per se the script runs in the background possibly in a multitasking environment and the display application doesn t know what the script is doing when it accesses the script s variable Some of the script examples use this feature to inspect variables on the terminal s screen See also Synchronisation between script and display by pausing the display while the script calculates a new set of results e More about interaction between script and display application Accessing display variables from the script Accessing script variables from the display interpreter Invoking script procedures from the display interpreter Invoking script functions from display pages to retrieve a text strings for the display used for internationalisation 3 5 3 Accessing display variables from a script In some cases the script code may need to read or modify the value in one of the display variables This is more complex than you may guess because the script may be called while the display is being updated especially if the display update is quite slow For this reason any ac
90. colour model not all of the 2 24 possible colour combinations can be exactly realized In such cases the firmware will try to pick the best possible colour Don t make any assumption about the format of the colour number returned by the RGB MKT Dok Nr 85122 Version 2 0 62 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals function it s hardware dependent The Loop Test application uses the RGB function to produce a colour pattern in a text panel gotoxy x y sets the text output cursor into column x line y where x must be an integer value between 0 and 79 and y between 0 and 24 The first argument is the zero based X coordinate text column the second argument Y is the text line number For example gotoxy 0 0 will place the text output cursor in the upper left corner of the text screen print prints a list of values numeric and or strings to the text screen The output cursor position X will be incremented for each printed character If the cursor reaches the end of a line it wraps to the next To print more than one value in a single call separate the values in the argument list with commas as in this example print nkesults A B C A B C Remember backslash n in a string constant means new line For numeric values integer or float print always uses the shortest possible notation without leading zeroes If you want fixed length
91. cript Language for programmable CAN Terminals value ftoa nDigitsBeforeDot floating point to ASCII nDigitsAfterDot SOFO stoneage jump instruction try to avoid whereever possible GOSUB old subroutine calls try to avoid ie bey sets the text output cursor in the specified y column x 0 79 and row y 0 24 Converts an integer value into a fixed length hex value nDigits hex hexadecimal string with the specified number of digits if leonina statement begins an IF THEN ELSE T ENDIF construct defines the following argument in a formal in E argument list as input for a procedure PNE reserved for an optimized increment operator inet prefix for socket based internet functions int integer data type 32 bit signed integer _ i Fast integer sine function Input range 0 0 to i aeien 1023 360 Output range 32767 to 32767 integer to ASCTI itoa wenei Converts an integer value into a fixed length a decimal string with the specified number of digits LEFF BEN ka defines a few local variables which exist on the stack until the end of a user defined function LOG EN MHB MOPE MOD next ends any for to step next loop MKT Dok Nr 85122 Version 2 0 112
92. cter Esoteric formats like doc or docx are not and never will be supported When specficying the O_TEXT flag in file open the runtime library will examine the file for a so called Byte Order Mark BOM to find out if the file s encoding types automatically and skip the BOM so the BOM will not be read by the first call of file read_line UTF 16 with big endian byte order BOM OxFE OxFF UTF 16 with little endian byte order BOM OxFF OxFE UTF 8 BOM OxEF OxBB OxBF not really a byte order mark in this case If the file contains Unicode text in one of the encodings listed above the strings returned by the file read_line function will be re encoded as UTF 8 not UTF 16 For more info about the byte order mark in text files see Byte order mark on Wikipedia See also Overview of file I O functions pseudo file system accessing files via web server string processing string processing keywords contents 9 4 3 10 4 Reception and Transmission of CAN messages via script Note Not all programmable terminals support the reception of raw CAN messages as explained in this chapter Devices with CANopen do not support the functions mentioned below The CAN functions in the script language may have to be unlocked before use on devices like MKT View II Use the command can add id or can add id filter to add some CAN bus identifiers for reception through the can_receive function or via CAN receive handler T
93. cter The result is a 32 bit Unicode value which for normal western characters is the same as the ASCII value codes 1 to 127 The CharAt function is aware of the string s character encoding type and supports UTF 8 Note that for UTF 8 there is a big difference between the character index and the byte index CharAt always treats the 2nd parameter as a character index not a byte index If lt char_index gt is negative or exceeds the length of the string CharAt returns zero which means there is no character at this index char_encoding string s Returns the string s character encoding type The result will be one of the following constants ceDOs DOS characters ceANST ANSI characters ceUnicode or ceUnknown ftoa float value int nDigitsBeforeDot int nDigitsAfterDot floating point to ascii Converts a floating point value 1st argument into a decimal string using the specified number of digits before and after the decimal dot Example Info Tire Pressure ftoa fltTirePressure 4 1 bar If the number of digits before the decimal dot is larger than required the string returned by ftoa will be padded with leading spaces not zeroes If the number of digits after the decimal dot is larger than required the string returned by ftoa will be padded with trailing zeroes not spaces If the number of digits after the decimal dot is zero the decimal point will also be omitted i
94. d decrement operator he eee Commands and functions controlling the eispray XYZ programmable display ea E Data type codes used in combination with the EREE typeofQ operator end of an if then elif else endif endif construct endwhile end of a while loop endselect end of a select case construct endproc marks the end of a user defined procedure endfunc marks the end of a user defined function part of an if then elif i elif construct else if eliminates the need for additional endifs part of an if then else endif construct or a else select case else endselect block depends on the context it is used in This operator performs a bitwise EXCLUSIVE OR combination of the two operands Often used to toggle invert one or more bits in a bitmask For example 5 0101 binary EXOR 3 0011 binary gives 6 0110 binary Notes EXOR A EXOR B intese The operator is NOT used as the binary operator 8 EXOR operator in the script language A B is reserved for A power B in future versions of this language There is no BOOLEAN EXOR because that would be the same as the not equal operator The bitwise EXOR operator is typically used to toggle bits as in this example file prefix for all file I O functions float data type for floating point values for begins a for to step next loop MKT Dok Nr 85122 Version 2 0 111 138 kt Systemtechnik Dok Nr 85122 S
95. d green blue shall not be modified pass 1 a negative value instead Examples system led 0 OxFF OxFF 0x00 0x00 1st LED permanently on RED system led 1 0x0F 0x00 OxFF 0x00 2nd LED slowly blinking GREEN system led 2 0x55 Ox3F Ox3F OxFF 3rd LED rapidly flashing BLUE system led 2 0x00 1 da 1 3rd LED off without changing the colour system led 2 OxFF 1 1 1 3rd LED on without changing the colour MKT Dok Nr 85122 Version 2 0 83 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals system dwInputs Access the system s onboard digital inputs as a 32 bit doubleword Depending on the target hardware up to 32 digital inputs can be read in a single access of course not all devices have onboard digital I O lines at all Bit zero reflects the state of the first input etc Use a formal assignment to read the current state of the digital inputs for example iDigitalInputs system dwInputs poll all onboard digital inputs if iDigitalInputs amp 0x00000001 then check bit zero first input print DigInl high else print DigInl low endif system dwOutputs Access the system s onboard digital outputs as a 32 bit doubleword Depending on the target hardware up to 32 digital inputs can be read in a single access of course not all
96. dditional values de Lee t like array indices may be popped off the stack P The to be written value will also be popped off the stack ADD 0x20 pops two elements off the stack adds them and pushes the result on the stack SUBTRACT 0x21 pops two elements off the stack subtracts them and pushes the result on the stack MULTIPLY 0x22 pops two elements off the stack multiplies them and pushes the result on the stack The resulting data type depends in the operands If both operands are integer the result is an integer If any of the operands is a floating point value the result will be a MKT Dok Nr 85122 Version 2 0 135 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals floating point value too DIVIDE 0x23 pops two elements off the stack divides them and pushes the result on the stack Note If both inputs are INTEGERS the result will also be an INTEGER value not floating point MODULO 0x24 pops two elements off the stack calculates their division remainder and pushes the result on the stack COMP gt 0x25 pops two elements off the stack compares them for greater or equal and pushes the boolean result zero for FALSE one for TRUE on the stack COMP lt 0x26 pops two elements off the stack compares them for less or equal and pushes the boolean result zero for FALSE one for
97. devices have onboard digital I O lines at all and for most devices it s impossible to set all digital outputs exactly at the same time due to hardware restrictions internal I O bus Bit zero reflects the state of the first input etc Use a formal assignment to read modify and write the current state of the digital outputs for example system dwOutputs system dwOutputs 0x0001 set the first onboard output system dwOutputs system dwOutputs amp 0x0001 clear the first onboard output system dwOutputs system dwOutputs EXOR 0x0001 toggle the first onboard output A sample script which uses digital onboard I O is the TrafficLight application system dwFirmware Retrieves the hardware specific firmware article number as a 32 bit integer value Example print FW Art Nr system dwFirmware Output when the above example is executed on different target systems FW Art Nr 11314 FW Art Nr 11315 an MKT View II with CANdb firmware FW Art Nr 11392 on on an MKT View II with CANopen firmware on an MKT View III with CANdb firmware on an MKT View III with CANopen firmware when running on a PC in the simulator FW Art Nr 11393 FW Art Nr 11222 system dwVersion Retrieves the firmware version number in the target device as a 32 bit integer value Format bits 31 24 major version number Hauptversionsnum
98. dio vol Reads or writes the audio output volume aka Speaker Volume The same parameter can be modified and permanently saved in the terminal s system menu The function is only implemented in certain terminals with an analog audio output see feature matrix A similar command also exists in the display interpreter Unfortunately the value range and scaling depends on the hardware For example the CVT MIL 320 uses a digital potentiometer with 128 linear steps not logarithmic value range 0 to 127 system beep frequency time volume freq_mod ampl_ mod Produce a simple sound using the system s built in beeper buzzer piezo speaker or similar Similar as the beep command in the older display interpreter frequency Tone frequency in Hertz A value of zero turns the tone off MKT Dok Nr 85122 Version 2 0 82 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals time length of the tone measused in 100 millisecond steps If this and all following parameters are missing or zero the tone will be endless until you turn it off with the command system beep 0 volume Relative volume loudness in percent ranging from 0 to 100 The beeper is controlled with a pulse width modulator which can be used to produce different output levels but the harmonic spectrum of the generated tone is also affected by the PWM duty cycle A volume of 100 produces the loudest possible tone w
99. e Otherwise the function returns a negative error code The filename may contain a pseudo directory to specify the storage medium The parameter max_size_in_bytes maximum expected size of the file measured in byte MKT Dok Nr 85122 Version 2 0 69 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals must already be specified when creating the file to avoid fragmentation of the storage medium see notes about the RAMDISK Example to create and write a small file in the RAMDISK with minimum error checking Var int fh file handle endvar fh file create ramdisk test txt 4096 max 4096 bytes if fh gt 0O then successfully created the file file write fh First line in the test file r n file close fh never forget to close files endif file open name 0 flags opens an existing file or a device When successful the function returns a positive handle an integer value which identifies the file or device Otherwise the function returns a negative error code Depending on the storage medium some not all depending on the medium of the following optional open flags are supported gt O RDONLY Open for read only i e the file can only be read but not written Works on all media gt O WRONLY Open for write only i e the file can only be written but not read Not supported yet gt O RDWR Open for read and write access
100. e else endselect stops the execution of the script s main program Only special calls from event handlers are possible after this command Note As in BASIC and IEC 61131 structured text and in contrast to languages like C and Java built in commands and keywords are case insensitive Some users prefer to write keywords in all UPPER CASE See notes about case insensitivy and recommended coding style In the broader sense user defined functions and procedures are also suitable very suitable to control the program flow Since the introduction of procedures and functions you should not use goto gosub and return in a new appication They only remain part of the language for backward compatibility 8 1 3 9 1 if then else endif Simple example if A lt 100 then do something if a_is less than onehundred else do something else endif In contrast to the rule exactly one line of sourcecode per instruction the condition between if and then may extend over more than one line of sourcecode This allows complex and nested constructs as presented in the examples section of this document To simplify a chain of else if and endif the elif else if command can be used as in the following example if A lt 0 then print Negative elif A 0 then print Zero elif A 1 then print One elif A gt 2 and A lt 3 then print Two to Three
101. e all entries Quickly removes all entries in the watch list Usefull after switching from one project to another before adding new items to the watch list Append more entries from symbol table Switches to the symbol table from which you can select more items usually global script variable to be displayed in the watch list Back to the overview about Debugging MKT Dok Nr 85122 Version 2 0 24 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 3 Language Reference The scripting language was once a subset of the BASIC programming language without line numbers and was later modified to be more PASCAL like Some elements were borrowed from other programming languages From PASCAL BASIC and IEC 61131 Structured Text this language inherited the case insensitivity so it s up to you to write keywords in upper or lower case but please don t mix upper and lower case for keywords and don t use Camel Casing if it makes no sense If there are CamelCased symbols in your program they should be self defined variables data types self defined functions or procedures but not standard language keywords Top level keywords of the script language are just for example but also as a quick reference if then else endif for to next while endwhile repeat until select case else endselect proc endproc func endfunc const endconst var endvar typedef endtypedef addr app
102. e all modified nv locations into the EEPROM system resources This function is just an aid for debugging It returns a combined indicator of remaining system resources measured in percent The value is the minimum of the following script related system parameters e Remaining stack space used for local script variables etc e Remaining dynamic memory heap available for the script If the system resources drop below 10 percent the script may contain a bug for example illegal recursion allocate too many strings or arrays etc The reason can be examined in the debugger simulator memory usage display integrated in the programming tool The function system resources works the same way in the real target as well as in the programming tool system timestamp MKT Dok Nr 85122 Version 2 0 85 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Retrieves the system s local timestamp generator value The same generator also produces the timestamps for the CAN driver thus by comparing system timestamp with the timestamp in a received CAN message you can tell down to the fraction of a millisecond how much time has elapsed since the reception of that message Together with the wait_ms Q command you can also use this function to synchronize the activity of the script Example Send a precisely timed answer for a CAN message display pause TRUE don t let the di
103. e assembled and sent from the script which is part of this test demo application For details see the online help system SCRIPTING_ 1 HTM To send CAN messages PERIODICALLY enter a nonzero value for the CAN Transmit Cycle nilliseconds To put the CAN network under sufficient stress this application can also transmit normal CAN messages to the bus The format is CAN message ID hex number of data bytes 0 8 and up to 8 bytes also hexadecimal Transmission can be initiated manually button Send CAN message in the Ist screenshot above or periodically using a timer event with an adjustable interval see 3rd screenshot above script_demos SerialPt cvt script_demos GpsRcv0l cvt script_demos GpsSim01 cvt Various tests for the serial ports most of them for the MKT View II which unlike most other devices has two serial ports The application GpsSim01 cvt was used to simulate a GPS receiver by reading lines from an NMEA log file from a text file line by line and sending them through the serial port The application GpsRcv01 cvt is more or less the counterpart It was used on a second MKT View II both connected through a modified Null Modem cable to display the recetved NMEA strings on a text panel Note Because the serial port is accessed through the file I O functions these demos only work if the extended script functions are unlocked MKT Dok Nr 85122 Version 2 0 126 138 kt Systemtech
104. e max allowed x coordinate of the text buffer column index Since 2013 03 20 tscreen xmax is also writeable see details in tscreen ymax The default value of tscreen xmax is 79 i e 80 characters per line indexed 0 79 tscreen ymax returns the max allowed y coordinate of the text buffer line index In the first implementation tscreen xmax was 79 and tscreen ymax was 39 but since 2013 03 20 the geometry of the text screen buffer can be adjusted within certain limits by assigning new values to tscreen xmax first and tscreen ymax second Most devices are limited to the following values tscreen xmax must not exceed 99 i e up to 100 characters per line The product of tscreen xmax 1 tscreen ymax 1 must not exceed 8000 because the text screen buffer was limited to 8000 tScreenCell elements in 2013 03 20 When modifying the geometry first set the lower of the two dimensions usually tscreen xmax so the product never exceeds the maximum Example tscreen xmax 39 only need 40 characters per line index 0 39 but tscreen ymax 99 100 lines 0 99 in the text screen buffer Note that unlike the two functions below tscreen xmax and tscreen ymax do not depend on the visible text panel element on the current display page tscreen auto scroll This flag can be set to TRUE by the display application to enable automatic scrolling of the text screen buffer whenever tscreen cy exceeds tscreen ym
105. e variable s name data type and current value The hint disappears as soon as you move the mouse again By default the editor uses syntax highlighting When enabled the language s built in keywords are shown in bold black characters comments are blue etc Note that the syntax highlighting is not always updated while you type In fact the syntax highlighting function needs a valid symbol table to identify the names of user defined procedures variables etc which only exists after the program has been compiled So after entering new sourcecode in the editor you may have to click the STOP RESET RECOMPILE button to update the syntax highlighting If you find this feature too annoying turn it off in the script editor menu see next chapter The editor will use plain black on white characters then The size of the script sourcecode may be limited to 32 or 64 kByte in some cases 256 kByte depending on the target system The maximum size of the bytecode produced by the compiler is 32 kByte on most targets The script editor isn t aware of such target specific limitations unless you inform the programming tool about the capabilities of the target device on the General Settings tab Max size of script sourcecode in kByte You can see the amount of source and bytecode memory occupied by the script in the status line on the bottom of the Script tab after compilation For example after a successful compilation the status line w
106. ecommend using PuT TY freeware terminal software to read the Trace History through the serial port if memory card or Ethernet is not available 6 6 2 3 3 6 Saving the Trace History as a file Last not least if your PC or your local network refuses to establish a TCP IP connection to the terminal you can alternatively retrieve the Trace History as a plain text file by saving it on the memory card First invoke the trace history on the device s own screen press the Menu button softkey there and select Save Trace as file The firmware will dump the trace memory as plain text files beginning with the name TRACE000 TXT With each new call of the Save as file function a new file will be written TRACE001 TXT TRACE002 TXT and so on The same function can be invoked directly from the script trace save_as_file The Trace History in RAM will be deleted when turning off the device because it is only buffered in RAM for performance reasons It cannot and shall not replace the CAN logger Snooper which is integrated in certain devices The trace accumulated in the simulator i e the programming tool can be copied into an own document and thus be saved as a file on the PC as follows 1 Set the focus into the trace history display via mouse click etc 2 press CTRL A select all or mark the interesting part of the trace via mouse 3 press CTRL C to copy the selected text into the windows clipboard as usual
107. egrated in certain devices To end a list of loggable variables use the attribut private The logged attribute doesn t mean subsequent variables are always logged In addition the option script variables declared as logged must be set in the CAN Logger Configuration to log such variables besides CAN messages and GPS data Global variables regardless of being private or not can be inspected during runtime by the built in debugger values listed in the symbol table or remotely using the device s embedded web server script page 3 5 1 2 Local script variables Inside user defined procedures or functions local variables can be declared see following example Local variables use the stack for storage thus they only exist inside the procedure function until it returns to the caller Example proc Test local int x y z define three local integer variables print x y Z endproc local variables x y z cease to exist at this point Note that there is no endlocal statement because LOCAL only applies to the declarations in the same line right next to the LOCAL statement To avoid running out of stack memory which is limited to a few hundred entries try to keep down the amount of local variables in your code MKT Dok Nr 85122 Version 2 0 43 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Especially if such procedures call each other recursi
108. eiver Refer to the hardware manual for details or if you are unable to find the hardware manual look here pinouts of a few serial port connectors Important Notes on the Pseudo File System PFS The PFS is not a normal file system not FAT NTFS ext2 3 Except for the memory_card device each file is stored as single contiguous block on the storage medium so they can be directly accessed via pointer by the CPU without the need to copy them sector by sector at least for read access For that reason certain operations which you may know from a normal file system are impossible here For FLASH files the expected file size must be specified upon creation It may be closed with a shorter size later but the file cannot grow larger than the pre allocated size while writing Write operation is only possible for new files i e after file create not after file open Deleting a single file may be possible but due to the large FLASH sector sizes 64 kByte or even 128 kByte the space occupied by the file cannot be freed because there may be multiple files stored in a single FLASH sector much in contrast to a normal file system where each file occupies at least one disk sector of 512 bytes Deleting a single file ina RAMDISK cannot move the other files in memory because other files may be accessed via pointer for reading as explained above Deleting a single file in a RAMDISK without re formatting the RAMDI
109. end float int local ptr string int string CAN cop CANopen display inet system time trace tscreen file wait ms wait resume More keywords can be found in the alphabetically sorted list For compatibility with the original BASIC like language colons can be used to separate commands in one line But we recommend to use only one command function call variable assignment loop statement etc per line Using one line per command also simplifies debugging because you can set breakpoints only at the begin of a line To mimick more modern programming languages a semicolon can also be used to separate two commands in one line But unlike C Pascal and Java the end of a line has a syntactic meaning it also separates two commands or statements so in most cases neither the colon nor the semicolon should be necessary if you follow the style recommended above use ONE LINE PER STATEMENT A few examples with the recommended style follow below Leading spaces have no syntactic meaning for the compiler but you should generously use leading spaces indentations to increase the readability of your code For example with a bit of imagination it s obvious what this code does Sum 0 0 calculate PI for Loop 1 to 10000 do 10000 iterations if Loop amp 1 lt gt 0 odd or even loop count then Sum Sum 4 0 2 Loop 1 odd else Sum Sum 4 0 2 Loop 1 even endif next print PI i
110. ent for more info and always remember to use your browser s back button to return to the point where you started reading After booting the programmable device or starting the built in simulator in the programming tool the script will start to run in the first line of sourcecode Typically the first part of your script program will contain a few initialisations like setting script variables to their default values etc After that a typical script will just sit and wait for something special to happen for example the reception of CAN messages or if any of the programmable display pages sets a signal for the script to do something We ll get back to the aspects of signalling and event handling later 2 1 2 Future Plans At the current date 2013 06 05 the script language still Jacks some important features which would make up a real programming language such as e Possibility to break from loops like the break statement in C or PASCAL Math functions like sin cos tan atan sqrt etc e Runtime error handling aka exception handling trapping of math errors array index violations etc Dynamic memory allocation for user defined objects of any size with object sizes only known at runtime not at compile time Functions to interact with the CAN Logger which only exists in a few other devices Multiple tasks implemented in the script language with different priorities semaphores mailboxes etc et
111. er strings with different character encodings Inserts a double quotation mark in the string without a backslash the double quote is the string delimiter so it cannot be a part of the string itself Don t confuse the backslash sequences inside the script language listed above with the backslash sequences in the display interpreter The simple control characters like new line etc have the same meaning in both types but the internal functions are entirely different See also Invoking script functions from a backslash sequence on a display page 2 5 3 2 5 String processing Strings can be concatenated with the operator formal addition Example var string Info Deklaration einer String Variablen endvar Info First part Info Info second part The following string processing functions had been implemented at the time of this writing 2013 11 05 append lt destination gt lt source gt lt index_variable gt Appends a string source to the end of another string destination or to an array of bytes Example 1 Appending a string to another string var string sl s2 declare two string variables endvar MKT Dok Nr 85122 Version 2 0 31 138 Dok Nr 85122 Script Language for programmable CAN Terminals kt Systemtechnik sl Don t mix apples s2 and oranges append s1 s2 Append s2 to sl result in sl Don t mix apples and orange
112. es updating the screen i e switches back to normal periodic screen update screen updated in the background while the script runs The test demo application LoopTest cvt uses the display pause flag to avoid flicker while filling the text screen with new data display redraw TRUE Sets a flag to let the UPT display interpreter update the current display page as soon as possible On completion the flag display redraw will be cleared automatically It is usually not necessary to force a display update this way because the display interpreter periodically compares the values of all numeric variables associated with the elements on the current display page and if a value has changed since the last update automatically redraws the element See also about interaction between script and display application Accessing display variables from the script Accessing script variables from the display interpreter Invoking script procedures from the display interpreter Invoking script functions from display pages to retrieve a text strings for the display used for internationalisation e Asynchronous event handling and how to intercept certain events in the script language 3 10 6 System functions etc Built in procedures or function begin with the keyword system They access some low level system parameters At the time of this writing 2011 09 29 the following system functions were implemented system au
113. fixed baudrate hSerial file open seriall 9600 display Portinfo Porti endif if hSerial lt 0 then could not open the serial port print e nCouldn t open the serial port stop endif print Reading from device file name hSerial r n while 1 endless loop to read and process received data Read the next bytes from the serial port not necessarily a complete LINE temp file read line hserial if temp then something received MKT Dok Nr 85122 Version 2 0 127 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Dump the received character s to the text panel if tscreen cy gt tscreen vise Height then gotoxy 0 1 wrap around endif print temp clreol prince Tyryn j3 clreol clear the next line to show last entry else nothing received now wait ms 50 let the display program work endif endwhile The script in the Serial Port Test application programs script_demos SerialPt CVT also uses the file I O API to open both serial ports which is possible in the MKT View II and reads anything received from both ports line by line In this case the script tries to open both serial ports with the same fixed bitrate Try to open the second serial ports like files In the MKT VIEW II device serial2 is the GPS port To open
114. form Sourcecode A 1 A 3 1 RPN bytecode 1 A 3 1 ASSIGN A RPN is evaluated from left to right Operands constant values and variables are pushed on the stack while operators like ADD or MULTIPLY usually pop two values from the stack and push the result back on the stack At the end of an RPN evaluation the top of the stack contains the result A list of bytecode operators can be found in the bytecode specification in one of the next chapters Hint MKT Dok Nr 85122 Version 2 0 132 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals If you are curious about RPN and why it s so much easier to evaluate for a machine than the classic infix notation search the net for an article titled Postfix Notation Mini Lecture by Bob Brown But again to use the script language you don t need to understand all the details The debugger s disassembly view also shows the bytecode with one instruction per line You can watch the execution of the code especially the evaluation of RPN expressions while single stepping and see how intermediate values are pushed on and popped from the stack During single step the stack contents are displayed in the editor s status line The bytecode concept may sound similar as the one used in a Java Virtual Machine but they are not compatible Each value on the stack carries it s data type along with the value which is not t
115. from caller to callee BP 4 Last function argument pushed last by the caller BP 5 First function argument pushed first by the caller BP 6 Function result aka return value Space for the return value is reserved by the caller by pushing a zero regardless of the return data type Because the Function result remains on the stack after cleaning up the argument list the return value is pushed first popped last In contrast to most built in functions runtime library functions user defined functions don t remove the function arguments Here the caller removes those arguments from the stack which he has pushed before the call and the callee only cleans up those stack entries which he has pushed there like local variables etc MKT Dok Nr 85122 Version 2 0 134 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 2 5 3 Bytecode specification very preliminary You only need to know what these bytecode instructions do if you need to single step through the assembly view For normal source level debugging skip this chapter you will rarely need it Note that most of the binary operators i e operators with two inputs know the data type of the operands because the stack contains the data type as well as the value each stack entry occupies EIGHT bytes for that reason strings are a special breed they are in fact pointers to a
116. g all the existing display pages in the application in a menu and allows jumping to the selected page in the menu script_demos EventTest cvt Test demo to handle low level events system events in the script language script_demos quadblox cvt Test application for two dimensional array variables and two dimensional array constants Also shows how to poll the keyboard or events fired by programmable buttons on a certain display page This demo is actually a simplified implementation of a once famous puzzle game with falling blocks which we don t call by its original name to avoid copyright hassle The cursor keys may be emulated with the graphic buttons for devices with touchscreen on the right side of the screen shown below yet another Falling Blocks game ut rotate ee gt drop ut Score 888888 The QuadBlocks demo was designed for a 320 240 pixel screen but it can automatically resize itself for displays with 480 272 pixels using the functions tscreen vis_ width and tscreen vis_ height For devices with 240 320 pixels aka portrait mode screen the script switches to a different display page than the for landscape mode by checking the horizontal screen resolution display pixels_x which may be 128 240 320 or 480 pixels depending on the target hardware MKT Dok Nr 85122 Version 2 0 124 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals
117. ge The script s runtime engine doesn t wait until the page switch has been finished The new page can be specified either as a page number deprecated or as a page s name favourized display page name Retrieves the name of the current display page read only display page_ index Retrieves the zero based index of the current display page read only Remember the first page of every display application has index zero not one To switch to a different display page from the script use display goto_page display num_pages Retrieves the number of pages which exist in the display application read only This function can be used to let the script run through a loop with all display pages as used in the page menu example display num_lines Retrieves the number of lines on the current display page read only This function can be used to let the script iterate through all elements on the current display page MKT Dok Nr 85122 Version 2 0 79 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals display page n name Retrieves the name of the n th display page read only Note that the page index n runs from zero to display num_pages minus one display exec lt command string gt Lets the display interpreter execute any display command This command must be used with caution It should be avoided if not absolutely necessary because it may severely slo
118. ger value will roll over from OxXFFFFFFFF to 0x00000000 after about 29 hours because the CAN driver s timestamp clock frequency is 40 kHz at least for the ARM 7 CPUs with an internal CPU clock of 72 MHz If you really need to convert a timestamp difference as 32 bit integer value into seconds or similar divide the difference by the constant cTimestampFrequency to get a timestamp difference in seconds Note that other script timer functions use the same timestamp See also system timestamp current time using the same unit b N Accesses the N th byte in the CAN data field as an 8 bit unsigned integer value range 0 to 255 MKT Dok Nr 85122 Version 2 0 75 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals dw N Accesses the N th Doubleword N 0 1 in the CAN data field A doubleword DWORD contains 32 bits the value range is 0x00000000 to OXFFFFFFFF hex Note that in contrast to the components listed further below the array index is a doubleword index not a byte index Thus the only allowed indices are 0 first doubleword and 1 second doubleword Example to copy the entire 8 byte CAN data field taken from ScriptTest3 CVT The 8 databytes are copied as two 32 bit integers because that s faster on an ARM CPU than a byte copying loop response dw 0 can rx _msg dw 0 copy first doubleword 4 bytes response dw 1 can rx msg dw l copy sec
119. gistered They will automatically be called when implemented in the script with the function parameters telling the script what exactly has happened for example which key has been pressed or released or the touchscreen coordinate etc For some other kinds of events arbitrary handler names can be used for example CAN Receive and Timer events But even in those cases we suggest to use consistent names beginning with On to tell event handlers from normal functions in the script language A few examples func OnCAN_ID123 tCANmsg ptr pRcvdCANmsg CAN Empfangs Handler activated by can_add_id func OnTimerl tTimer ptr pTimer Timer Event Handler started by setTimer The handler may return an integer value of 0 zero to let the default message handler process this event as usual or 1 one which means I have handled this event in my script and don t want to let the system handle it This way the normal keyboard processing can be almost completely disabled by returning 1 1 message has been handled Note MKT Dok Nr 85122 Version 2 0 104 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals If a user defined event handler doesn t use the return lt value gt statement the function returns with an integer value of zero This means if an event handler in the script language doesn t return with an explicit value the event will be handled by the s
120. h panel is visible on the current display page you will not see it on the screen immedately But despite that the text will become visible immediately without further print calls as soon as the display program switches to a page which contains a Multi Line Text Panel In the programming tool the contents of the text screen buffer can be displayed in der right half of the Script tab In the combo box in the upper right corner select Show buffer for Text Panels instead of Hide debug view To create such a text panel in the definition of one of your display pages enter the backslash sequence panel in the format string column on the display page definition tab or change the type of an already existing display line from Text which means a single line text display to Multi Line Text Panel Display Lines ScriptTest Display line properties Nr 5 Width foo Height e H J use as menu item Draw Mode noman 0 Font fens 5 ae E on Zoom X p vf gt Colors JE Hak 4 Text icon Button Bargraph Diagram Gc MKT Dok Nr 85122 Version 2 0 65 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Don t forget to make the size of the Multi Line Text Panel large enough The screenshot above shows the definition of such a text panel taken from one of the Script Demo applications in the programming tool s programs folder For example if
121. he case ina Java VM The amount of code memory RAM for the bytecode is limited on the target system As of 2010 08 03 the maximum size was 32767 bytes This figure may vary depending on the amount of RAM on the target system The stack size is also limited to a few thousand entries To reduce the code memory requirements of your script program Avoid unnecessary constant expressions like this one A 1 2 3 better use a calculated constant here Use integer variables if you don t need floating point last not least because the target CPU doesn t have a floating point unit FPU Beware that old BASIC interpreters used floating point if the data type isn t specified by the data type suffix We don t We use integer by default because on the target system integer calculations are much faster than floating point Integer constants ranging from 32768 to 32767 require less code memory space than larger values because there are different opcodes to push short and long values 5 2 The Stack Note for translators Please don t translate stack into Keller in german that s really misleading even though frequently seen these days In this context Stack means Stapel in German it hasn t got much to do with a german Keller cellar or basement Stack push paN pop top C TS C Ca bottom CL The stack is a classic Last In First Out buffer If a value or return add
122. hen use the can_receive function to check for messages waiting in the FIFO and to read the next message from the FIFO The received CAN message aka telegram will be copied by can_receive from the FIFO into a global variable structure named can rx msg As long as the script doesn t call can_receive again the contents of can_rx_msg will not change so the script can directly process the contents of can_rx_msg in any way 3 10 4 1 can_add_id procedure Adds the specified CAN message identifier to an internal list in the CAN driver so it will be received from now on and put in the script s CAN receive FIFO The script program only receives such messages with the can_receive function CAN Messages which are not registered for reception this way may be processed somewhere else for example in the CAN signal decoder or in the CANopen stack but not in the script The maximum number of CAN messages identifiers which can be registered for reception by the script 1s 32 since 2011 05 05 MKT Dok Nr 85122 Version 2 0 72 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Since 2013 05 can_add_id accepts an optional second parameter to specify the name of a CAN Receive Handler which can be written in the script language Example can_add_id 0x123 CAN Handler 1ID123 Call CAN Handler ID123 on reception of this message ID Details about CAN receive handlers in chapter 3
123. hor strongly suggests to use user defined constants for these identifiers The control ID also as symbolic constant not as a stupid magic decimal number must be entered in the field labelled Control ID in the UPT programming tool s page definition table display line properties If a control element doesn t have an ID i e the Control ID field is empty it will not fire a control event The control ID can also be used to access the display element from within the event handler using a statement like display elem by _id controlID xyz xyz component of the display element paraml first message parameter The meaning depends on the event type For evPenDown and evPenUp param is the touchscreen X coordinate param2 the Y coordinate both converted into client coordinates x 0 y 0 is the control s upper left corner For evKey param1 contains the keyboard code of the key sent to the control paramz2 second message parameter The meaning depends on the event type eg Y MKT Dok Nr 85122 Version 2 0 105 138 Dok Nr 85122 Script Language for programmable CAN Terminals kt Systemtechnik An example using OnControlEvent can be found in the EventTest application 11 3 11 3 Timer Events As already mentioned in the chapter about Other functions and commands the command setTimer starts a periodic timer in the script language The optional third parameter in the argument list is the name of a t
124. ich is implemented in silicon hardware in most microcontrollers almost useless because any non trivial J1939 node is doomed to receive almost everything this way The result from registering all CAN message identifiers for reception may cause an enormous CPU load so if you don t need it to implement J1939 in your scripts don t use can_add_id_filter at all 3 10 4 3 can_receive function Tries to read the next received CAN message from a FIFO When successful the message is copied into can_rx_msg and the result is 1 one Otherwise empty FIFO can_rx_msg remains unchanged and the result is 0 zero 3 10 4 4 can_rx_fifo_usage function Returns the number of CAN messages still waiting in the receive FIFO without reading a message A return value of zero means the FIFO is completely empty at the moment A return value of 2047 means the FIFO is completely full and if another message was received by the CAN controller it would be lost for the script MKT Dok Nr 85122 Version 2 0 73 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 3 10 4 5 can_transmit procedure Command to send a CAN message directly layer 2 This command comes in two different variants without and with a parameter in the argument list Variant 1 can_transmit without an argument list Tries to send the contents of can_tx_msg CAN message structure defined below The gl
125. ichen Extras Hilfe ay E CIAS i upt trace htm x WB LEO Eng Deu j Da Serana your device s host name here upt default z Remote Control Links MKT View I V1 0 480 272 TFT Trace History Display via Embedded Web Server Refresh this page manually Details here deutsch hier Time Bus ID Rx Tx d Len CAN data field hex 3 286 1 333 Rx d 6 5A DC 66 4E 88 SF 3 293 Date Time 2012 07 25 08 36 34 3 327 1 00000444 Rx d 8 1B OE ED 19 E 21 4C 27 3 388 1 334 Rx d 8 01 00 00 00 01 00 00 00 3 475 1 333 Rx d 6 99 SF 78 27 27 4F x Trace History read via embedded web server and displayed in a web browser In case of problems with the network connection or the web browser see Troubleshooting in the description of the embedded web server 6 5 2 3 3 5 Reading the Trace History via serial interface Alternatively and depending on the hardware the trace history can be read as plain text through a serial port and saved as a text file on the PC To read the trace history via serial interface RS 232 or Virtual COM Port use a terminal program like Hyperterminal and enter the command trace followed by carriage return Enter key The default baudrate for the serial interface is 19200 bits second for most devices with a real RS 232 port like MKT View 2 For device which only have a Virtual COM Port looks like an USB device adapter from outside try 115 kBit second
126. if you prefer not to declare variables as in ancient BASIC dialects use the dollar suffix to let the compiler know that your variable is a string In most places where the compiler expects strings you may also use a string expression like A some text B Example using a properly declared string variable var string MyString endvar MyString This is another string The script language contains a few string processing functions like itoa integer to ASCII hex integer to hexadecimal ASCII chr turns an ASCII value into a single character string 2 1 3 2 1 Strings with different character encodings For simple string variables not strings in arrays or structs the character encoding of a string may vary depending on the assigned value For simple string variables the string data type contains internal flags which specify the encoding For example if a string was read from a Unicode text file using the function file read_line the string will contain a sequence of UTF 8 encoded characters This way the character encoding type is passed along with the string when calling subroutines and functions or when assigning the string to another variable If necessary a string s character encoding can be queried as in the following example se lecr char encoding MysString case cebOS string contains DOS characters codepage 850 case ceANSI string contains ANSI characters Windows 1
127. ill show something like Compilation ok 1234 of 65536 bytecode locations used 6 kByte sourcecode After compilation of the script on the PC it can be tested with the debugger The debugger supports breakpoints single step a disassember the trace history and a display for the symbol table with variable values To simplify the development of scripts the editor contains several tools explained in the following chapters These include for example e the Toolbar buttons above the sourcecode editor e the sourcecode editor s context menu right click into the sourcecode e the sidebar s context menu right click into the line numbers MKT Dok Nr 85122 Version 2 0 7 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 1 2 1 The Script Editor Toolbar The toolbar contains the usual editor functions like find copy paste and cut using the windows clipboard like any other text editor In addition there are these graphic buttons gt RUN Starts execution of the script or continues execution at the last position If the script wasn t compiled after the text was modified in the editor it will be recompiled Execution may stop when the program hits a breakpoint or an error occurrs STOP RESET RECOMPILE Stops execution if running or resets recompiles the code if already stopped Clicking this button with the PC s shift key held down sets the execution p
128. imer event handler for example var tTimer timerl Declaration of a timer instance as a global variable of type tTimer endvar setTimer timerl 100 addr OnTimerl Start timerl1 with an interval of 100 milliseconds to call OnTimer1 periodically The function name of the timer event handler can be selected freely We recommend using a descriptive name with the prefix On as in all event handlers to tell handlers from ordinary functions Of course if a script contains multiple timer event handlers their names must be unique In the script language timers will fire events periodically as long as they are not stopped Whenever a timer s interval expires the timer s expired flag a component of struct tTimer is set in the timer variable If as in the example shown above the name of a timer event handler has been speficied that handler will be called shortly after the expired flag has been set The timer variable will be passed to the timer event handler as a pointer address so the event handler can easily access it to start or modify its own timer For that purpose the timer event handler must be properly defined as a function which expects the address of a tTimer object func OnTimerl tTimer ptr pMyTimer periodically called Timer Event Handler local tCANmsg msg declaration of a CAN Message as a local variable msg id 0x334 set the CAN message ID and optionally
129. ing and configure a few other script editor related parameters fh Find text Finds a string of characters in the script editor The string to find is entered in the usual find dialog Then click the Find Next button Weitersuchen in german MKT Dok Nr 85122 Version 2 0 8 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals ej Import script from a file Imports a script sourcecode from a plain text file All breakpoints in the previous script will be lost Export script as a file Exports the script sourcecode as a plain text file Breakpoints will be lost when saving and re loading the program Note that the script is saved as part of the terminal s display application upt or cvt so usually you don t need this function The only purpose is to transfer copy a script from one application to another The left border of the script editor shows sourcecode line numbers indicators for lines with executable code breakpoints etc Possible indicators on the left side of the sourcecode editor are green arrow pointing right Current instruction pointer Shows the next line to be executed Used during single step debugging small hollow gray circle There is executable code in this line but the program has not been here yet Code was produced for this line when compiling but it has not been executed yet since the script program was started During debugging you
130. integer expression begins a select case else endselect block Sets the foreground and background colour for setcolor output on the text screen SIN SHL binary operator Bitwise shift left Example N N SHL 8 MKT Dok Nr 85122 Version 2 0 113 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals multiplies N by 256 Bitwise shift right Example N N SHR 2 divides N by four Note SHR is considered an arithmetic shift right Negative numbers remain negative and PER ae aay positive numbers remain positive Thus SHR expands the sign from bit 31 and 0x80000000 SHR 31 gives the result OxFFFFFFFF not 0x00000001 SQORF SFR ste defines the counter s stepwidth in a for to e step next loop Pa Stops execution of the script Useful for prop debugging strin data type for a string of characters access a few system variables current system component name timestamp etc or invokes functions like system beep 3 data type name for a CAN message This type tCANmsg is also used for global variables like can rx msg time Date and Time conversions data type name for a system message can be tMessage used for event message handling in the script program to defines the counter s end
131. ion 2 0 9 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals the sidebar s own context menu It contains functions like Show execution point Show first error in line xyz Toggle breakpoint in line xyz etc Details about the sidebar s context menu are in the next chapter Clicking on the Menii Button in the script editor s toolbar opens the following menu which is mainly used while debugging al sl alel 2 elel Bl 2 Select Font Clear error markers Clear been to markers Remove all breakpoints Clear trace history Show trace history Show Disassembly bytecode Show Watches Show Stack usage in status line Show Memory usage Show execution point v use syntax highlighting editor Rich Text editor Target capabilities concerning scripts gt Save debugger display as file RTF S hg Screenshot of the debug menu on the script editor tab 2 2 2 Hotkeys and Context Menus of the Script Editor CTRL C Copy selected text into the windows clipboard CTRL V Paste text from the windows clipboard CTRL F Find text opens the usual non modal Find dialog CTRL Z Undo last editing step SHIFT CTRL Z Redo undo undo Fl Extended help about a keyword in the script editor sourcecode window Point the mouse on a keyword and wait until the bubble hint shows a brief information If the brief information is not sufficient press F1 while the bubble is visible
132. isplay interpreter If the time specified above is not sufficient for your event handler and staying in the handler for so long is unavoidable the maximum time spent in the handler can be prolonged by feeding a MKT Dok Nr 85122 Version 2 0 103 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals watchdog in the handler but this could have the side effects already mentioned before sluggish response to user input protocol timeouts etc 10 1 3 11 1 Low level system event handlers To react on or even intercept low level system messages define one or more of the following handlers in your script func OnKeyDown int keyCode a normal key has just been pressed func OnKeyUp int keyCode a normal key has just been released func OnEncoderButton int button rotary encoder button pressed or released func OnEncoderDelta int delta rotary encoder position changed by delta steps func OnPenDown int x int y pen has just been pressed on touchscreen func OnPenUp int x int y pen has just been released from touchscreen func OnPenMove int x int y pen coordinate on touchscreen changed WHILE pen down func OnGesture int gestureCode int gestureSize touchscreen gesture finished pen up again proc OnPageLoaded int iNewPage int iOldPage a new display page was loaded from FLASH The above handlers don t need to be re
133. ith a 1 1 duty cycle freqg_mod Frequency modulation Can be used to produce siren like sounds or chirps and whistles Unit is Hertz per 100 milliseconds If the value is positive the frequency increases as long as the sound is audible if the value is negative the frequency decreases ampl_mod Amplitude modulation Can be used to produce sounds which start with a low volume and then get louder Not very effective because of the pulse with modulation where a volume of 10 can hardly be distinguished from a volume of 50 Example system beep 150 20 50 100 produces a 2 second chirped tone which rises from 150 Hz to 2150 Hz 150 Hz 2 seconds 100 Hz 0 1sec system click_ vol Only for devices with touchscreen Reads or writes the touchscreen click volume The same parameter can be modified and permanently saved in the terminal s system menu system led index pattern red green blue Only for devices with multi colour LEDs Sets the blink pattern and RGB colour mixture for the specified LED as usual indices begin at zero not one Parameters index O first LED topmost on the MKT View 2 2 third LED pattern 8 bit blink pattern Each bit controls a 100 millisecond interval After a cycle of 8 100 ms the whole cycle starts again The 8 bit blink patterns of all LEDs are synchronized red green blue specifies the 3 8 bit colour mixture s xamples If a certain LED parameter pattern re
134. l gt and during the NMT state Operational if supported gt 1 Destroy TPDO by setting bit valid to lb of sub index Olh gt of the according TPDO communication parameter gt 2 Disable mapping by setting sub index 00h to 00h gt 3 Modify mapping by changing the values of the corresponding sub indices gt 4 Enable mapping by setting sub index 00h to the number mapped objects gt 5 Create TPDO by setting bit valid to 0b of sub index Olh gt of the according TPDO communication parameter local dword dwCommParValue a 32 bit unsigned integer variable aka dword cop error code 0 Clear old first error code aka SDO abort code If the following CANopen commands work as planned cop error code remains zero If something goes wrong cop error code could tell us what and why it went wrong In the original script in script demos CANopenl upt it is checked after each obd access MKT Dok Nr 85122 Version 2 0 130 138 Dok Nr 85122 Script Language for programmable CAN Terminals kt Systemtechnik dwCommParValue cop obd 0x1800 0x01 save original value of PDO communication parameter cop obd 0x1800 0x01 dwCommParValue 0x80000000 make ist transmit PDO invalid CiA Destroy TPDO set bit 31 cop obd 0x1A00 0x00 0x00 clear TPDO1 mapping table CiA Disable mapping cop obd 0x1A00 0x01 0x40050108 1st mapping ent
135. l and vertical scrolling position for the display of the virtual text screen on a text panel With tscreen scroll_pos_x 0 and tscreen scroll_ pos_y 0 the upper left corner of the text panel will show the character in the first column x 0 and the first line y 0 of the virtual text screen text buffer An example for the usage of the scroll position can be found in the application ScriptTest3 cvt function ScrollIntoView By calling the user defined function ScrollIntoView in that demo the last line printed into the text buffer is made visible by bringing the scroll position close enough to the current cursor position By virtue of a bargraph with write access the vertical scroll indicator can even be used as an interactive control element to scroll the text manually as far as the size of the screen buffer permits tscreen modified is TRUE as long as the screen buffer has been modified but not updated on the LCD yet The script can set it tscreen modified TRUE to let the system redraw the text screen as soon as possible for example after modifying the screen buffer with the tscreen cell property The system will automatically clear this flag when a text screen update is done This function is also used in the TScreenTest example to force an update of the screen and to find out if and when the screen has been updated Note The output will be printed into the text buffer for a multi line text panel If no suc
136. language not the display interpreter the latter was used to define global and local events for the display which were relevant for the display application The script language is compiled once not interpreted while it runs using a proprietary bytecode which makes it much faster than the display interpreter but a bit less flexible Throughout this document sourcecode means the text which you typed into the script editor The sourcecode will be compiled into bytecode The bytecode is then executed on the target device or in the programming tool s simulator Since 2011 08 02 certain extended script functions may have to be unlocked after been paid for MKT Dok Nr 85122 Version 2 0 4 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 11 1 Principle From a user s point of view the script is just a list of instructions and program flow control commands entered with a simple text editor which is integrated in the programming tool As a user read the chapter about the script editor integrated in the UPT programming tools study a few examples listed at the end of this document and use the language reference to write your own scripts If you are already familiar with programming languages and know what procedures operators arrays strings integer and floating point numbers are you will only need to look at the keyword list occasionally Otherwise follow the hyperlinks in this docum
137. m return atb endfunc Summe Sum2 1 2 invoke the user defined function Note that the function header doesn t specify a type for the return value The reason is just a future plan Script functions may return different types of results similar to JavaScript not Java In a user defined function the return command followed by a value will return to the caller with the specified value as the function s result aka return value If the program counter reaches the end of a function endfunc without a return instruction the function returns 0 zero as an integer value Functions with certain special names can be called as event handlers In that case the function call will interrupt the normal program flow at any point and the function s return value defines whether the event shall be processed by the system using the system s default message handler or not You will find other less simplistic user defined functions and procedures in the script examples 7 3 3 8 3 Invoking script functions through a backslash sequence from a display page Since 2011 08 user defined functions written in the script language can be invoked from a display page to replace the text in one of the display page s format strings For the display interpreter the function call must be embedded in a backslash sequence in a display format string so the display interpreter recognizes it as a function call not ordinary text
138. me structure as can_rx_msg The only difference is that can_rx_msg is used for reception while can_tx_msg is used for transmission from the script s i e the device s point of view Typically both are used in the implementation of a simple CAN protocol handler The script test application ScriptTest3 cvt contains a few examples for the reception and transmission of CAN messages through the script interpreter Notes and hints To test the script s CAN functions in the programming tool connect your PC to the CAN bus using one of the supported CAN interfaces The script language s CAN RX FIFO also works in the simulator using live data received from the CAN bus If that is not possible no CAN bus available in the lab or no suitable CAN interface on the PC use the programming tool s CAN playback utility It allows you to play back recorded CAN messages stored in a simple text file into the simulator emulator as if they were received from a real CAN interface A valuable tool for the development of CAN protocols in the script language is the Trace History which most devices support also those without an integrated CAN logger snooper The history can be read out remotely via web browser for example using the URL http upt trace htm In contrast to external CAN diagnostic tools the trace history display distinguishes between sent and received CAN messages from the device s point of view which an normal external CAN bu
139. meout on a socket during address resolution name lookup connection set up or whatever SOCK_EINPROGRESS Host Name resolving in progress SOCK ENONAME Host Name not existing No connection could be made because the target machine actively refused it SOCK ENOTSUPPORTED a particular function or a combination of options is not supported yet Note A function to convert these error codes into human readable text is contained in the Internet Demo application script_demos InetDemo cvt The following chapters contain details about some of the internet related functions in the script language 9 8 4 3 10 9 4 inet socket int address_family int socket_type int protocol This function creates a new socket of a certain socket type identified by an integer number and allocates system resources to it The returned value traditionally called a socket in resemblance to a telephone socket is an integer value which identifies the communication endpoint It must be stored in an integer variable until the socket is closed i e unplugged again Negative return values indicate an error see error codes listed here Parameters address family One of the AF_ constants similar to the Berkeley socket API AF_ INET Internet Protocol V4 This is currently the only supported address family socket_type One of the SOCK_ constants similar to the Berkeley socket API SOCK STREAM Stream socket Connection oriented for e
140. mer MKT Dok Nr 85122 Version 2 0 84 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals bits 23 16 minor version number Nebenversionsnummer bits 15 8 revision number bits 7 0 build nummer Example print FW Version 0x thex system dwVersion 8 gt output FW Version 0x01020304 if the firmware version was V 1 2 3 build 4 system serial_nr Retrieves the device s serial number as an integer value If a device doesn t support unique serial numbers stored in an EEPROM the result is zero Example print Serial Number itoa system serial nr 5 system nv 0 31 Accesses one of the 32 non volatile values like the nv function in the UPT display interpreter The same restrictions concerning EEPROM cell endurance apply Details here Setting a new value as in the following example doesn t immediately write the value into the system s configuration EEPROM but into a latch system nv 0 12345 write 32 bit integer into the non volatile memory latch To store the contents of the 32 latches integer values permanently in the EEPROM and you are really sure that no other nv values need to be set in future carefully invoke the following command to write the contents of he latches into the sluggish EEPROM which may take a considerable amount of time depending on temperature and fitness of the EEPROM chip system nv_save writ
141. more lt To Be Completed gt 14 3 12 Keyword List lt Incomplete Not all of the following keywords are really implemented yet Most likely functions without a hyperlink have not been implemented in the compiler and or in the runtime library yet gt Even though the script compiler is not case sensitive basic keywords which always exist in the language are written in UPPER CASE in the table below while non standard keywords which only may exist in a few but not all devices are written in lower case Crossed out 74 means the keyword may exist in future versions but was not implemented at the time of this writing See also Quick Reference Operators Keyword Argument list Return Remarks or syntax value _ returns the absolute non negative value ABS ABS number numeric 1 23 is L23 ACOS number float arc cosine The result angle is in radians boolean AND operator same as the C compatible operator amp amp AND pens iia The result is 1 one TRUE if both operands are non zero otherwise zero FALSE ASIN number float arc sine The result angle is in radians addr variable pointer Returns the address of the specified variable l Appends a string source to another string or apend C Lees binary block dest Result in dest i l ascii to integer Converts a decimal string into atoi
142. mple a ramdisk in some devices or a part of the built in data FLASH memory in other devices All file access functions begin with the keyword file to avoid namespace pollution The file I O functions in the script language may have to be unlocked before use at least on devices like MKT View II File I O function overview follow the links for details file create name max_size_in_bytes creates a new file with the specified name for write access file open name o flags opens an existing file only for read access file write handle data writes data to a file file read handle destination variable reads data from a file usually binary file read_line handle reads a line of characters from a text file and returns it as a string file seek handle offset fromwhere sets the file pointer file eof handle checks for end of file file close handle closes a file and releases the file handle file size handle returns the size of an opened file measured in byte Don t miss the notes on the pseudo file system about restrictions of writing files and how to simulate the pseudo file system in the programming tool See also File Test demo uses most of the file I O functions listed above 3 10 2 1 Pseudo directories folders in the programmable device Most of MKT s programmable devices don t really support subdirectories or folders Many devices don t even have a memory card interface built inside
143. n cop sdo must not be used in event handlers itself Use cop sdo only in the script s main task main loop The SDO clients and thus cop sdo in your scripts support read and write access For read access use cop sdo on the right side of an assignment operator LVALUE for write access use it on the left side RVALUE as in the following examples MKT Dok Nr 85122 Version 2 0 99 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Object 0x1018 subindex 0x01 Vendor ID part of the Identity Object see CiA 301 my vendor id cop obd 0x1018 0x01 dtDWord read vendor ID from this device s own OD his vendor id cop sdo 0x1018 0x01 dtDWord read vendor ID from a REMOTE device s OD cop error code 0 Clear old first error code abort code before the next SDO access cop sdo od_index subindex iWriteValue try to write into remote object via SDO if cop error code lt gt 0 then if the previous SDO accesses were ok cop error code is zero print r nSDO access error abort code Ox hex cop error_code 8 show abort code hex endif iReadBackValue cop sdo od_index subindex dtInteger try to read from a remote object via SDO if iWriteValue lt gt iReadBackValue then print r nSDO error Read back value iReadBackValue is different from written value iWriteValue e
144. n implemented Operator Alias Precedence Remarks A POW _ 5 highest reserved for A power B not bitwise EXOR 4 multiply 4 divide MOD 4 modulo remainder 3 add 3 subtract lt lt SHL 3 bitwise shift left gt gt SHR 8 bitwise shift right p compare for equality lt gt 2 compare for not equal CEE 2 other compare operators or 1 lowest logical boolean OR amp amp and logical AND BIT OR 1 bitwise OR amp BIT_AND 1 bitwise AND a binary operator EXOR 1 bitwise EXCLUSIVE OR NOT 1 boolean negation BIT NOT 1 bitwise NOT complement addr variable amp prefix 1 Retrieve the address of a variable suffix 1 post increment suffix 1 post decrement Avoid using a single character as the compare equal operator You should also avoid using the single character as the assignment operator Suggestion to resolve this ambiguity Use to assign a value right of the operator to a variable left of the operator This operator is borrowed from PASCAL Use to check for equality This operator is borrowed from the C programming language which also inspired Java many years later Without this the compiler would have to guess if means assign or compare for equality It
145. n result return value is the MJD time mjd_to_date in int mjd out int year out int month out int day This procedure converts splits a Modified Julian Date number MJD into a normal Gregorian date consisting of year 1858 2113 month 1 12 and day of month 1 31 All outputs are specified as outputs in the argument list there is no function result aka return value The Modified Julian Date MJD is commonly defined as the number of days since midnight November 17 anno 1858 1858 11 17 00 00 00 in ISO 8601 format It is widely used to calculate differences between dates becauses the difference between two MJDs is the number of days between their calendar dates The MJD can easily be converted into a Unix time because the UNIX BIRTHDATE 1970 01 01 as MJD day is 40587 In contrast to MJD the Unix time counts the number of seconds since that birthdate so the conversion from MJD to Unix seconds is straightforward see example programs script_demos TimeTest cvt 9 7 3 10 8 Commands to control the Trace History The following procedures and functions can be used to control the Trace History from the script Their main intention is for debugging development and to track CAN bus problems trace print lt Parameter gt Prints the specified parameters strings and numeric values as a single line of text into the device s Trace History This is possible in the simulator programming tool
146. n top for the LCD simulator window You can then move the simulator into the upper right corner of your screen where it doesn t obscure any vital parts of the script editor The simulator will remain visible even after maximizing the tool s main window and even when the keyboard focus is not on the simulator but inside the script editor See also Debugging via Embedded Web Server and HTML Browser MKT Dok Nr 85122 Version 2 0 14 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 4 2 3 1 Breakpoints and Single Step mode Breakpoints can stop the execution of the script To set or delete a breakpoint click on one of the excutable code markers on the left side of the editor window For Single step operation you can either stop the script using the Stop or single step button in the editor s toolbar or use a breakpoint to let it stop there After that continue execution step by step with the single step button In disassembly mode see next chapter single step mode applies to single bytecode instructions rather than single lines of sourcecode Hint Some devices like MKT View H II with Ethernet port and embedded web server support debugging without the UPT programming tool That remote debugger is operated via web browser and TCP IP HTTP HTML Javascript it also supports setting multiple breakpoints during normal operation and single stepping To operate it enter
147. nal data storage display pages imported bitmaps etc Except for an upload of a single upt or cvt file via a modified YMODEM protocol this directory is not accessable memory card This pseudo directory can be used to access the removable FLASH memory card usually an SD card If this entry is missing in the pseudo root directory the device or firmware doesn t support such a storage medium The contents of the memory_card folder will be empty if no card is inserted or the card s file system is not supported In the programming tool the device memory_card is simulated by default as a subdirectory named sim_mce simulated memory card on the local harddisk The path to that device is configurable ramdisk This pseudo directory can be used to store temporary files for example bitmap files which may be displayed on the screen without permanently saving them in FLASH memory When creating a file in this directory the maximum expected size must be specified in the file create function The File Test demo uses this pseudo disk drive to create a text file write a few lines into it close it open it for reading and read back the lines which had previously been written Note that all files in the ramdisk get lost when the device is turned off or switched into power down mode In addition to the storage media listed above the following devices may be accessed like files whether they exist depends on the hardware seri
148. nction event handler doesn t return to the caller fast enough i e in less than 200 milliseconds In the normal script context there is no such limit because the pseudo multitasking guarantees that the device stays responsive even if the script gets stuck in an endless loop without calling any waiting function If the maximum event handler execution time is not sufficient the forced termination can be avoided with a command like this system feed_watchdog 500 Feed the script s watchdog for another 500 milliseconds As already mentioned this consequence of doing this may be a sluggish user response but also protocol timeouts because as long as the event handler is busy the device will not do much else So whereever possible avoid this command and re write your event handlers so they return to the caller as fast as possible Then you won t need to feed the watchdog at all getkey Reads the next key from the UPT s keyboard buffer The same buffer is also used by the display interpreter s kc function so reading a key through getkey also removes it for the kc function and vice versa If the keyboard buffer was not empty getkey will return a non zero value Usually this value is one of the key constants which you can use in a select case list to implement handlers for MKT Dok Nr 85122 Version 2 0 87 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals the individual
149. ndif print r n My name is cop obd 0x1008 0 dtString Michael Caine No but print r n His name is cop sdo 0x1008 0 dtString the Manufacturer Device Name A complete example using cop sdo is in CANopen1 upt SDO clients are usually configured in the programming tool as explained here The various CANopen SDO Protocols are specified in CANopen CiA 301 cop error_code This variable will be set when an SDO protocol error abort code is indicated locally or via CAN from a remote server The error code is usually displayed as an 8 digit hexadecimal value see excerpt from CiA 301 below or can be translated into a human readable string with a select case list as in the demo CANopen1 upt ErrorCodeToString If an SDO transfer is completed without an error the value stored in cop error_code does not change As long as cop error_code is nonzero the value will also not change even if a subsequent error occurrs Together with cop error_code the variables cop error_index CANopen OD index of the object which caused the error and cop error_subindex subindex of the object which caused the error will be updated To clear or acknowledge the error in the script set cop error_code to zero as in the following example cop error code 0 Clear old CANopen error code usually an SDO abort code here 0 no error The CANopen SDO Abort Codes are specified in CANopen CiA 301 Here s a
150. ndvar var global variables accessable from all subroutines int nHistoryEntries declares an integer variable tHistoryBufEntry History 100 declares an array of tHistoryBufferEntries Note the indices for an array with 100 entries run from 0 ZERO to 99 MKT Dok Nr 85122 Version 2 0 42 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals logged The following variables may be recorded by the built in CAN logger Signals from J1939 PGN 61443 Electronic Engine Controller 2 int AccelPedalKickdown SPN 559 Accelerator Pedal Kickdown Switch int AccelPedalPositionl SPN 91 Accelerator Pedal Position 1 private The following variables shall NOT be logged int iSomeInternalStuff endvar Between the keywords var and endvar i e within the declaration of global script variables the following attributes can be speficied they apply to the varibles declared after the attribute private The subsequent variables shall only be accessable inside the script they shall not appear in the selection lists for defining display pages and they shall not be logged public The subsequent variables shall be accessable outside the script too The programming tool will include them in the selection list for defining display pages logged The subsequent variables may be recorded by the logger which is int
151. nication altogether except node guarding and heartbeat if active Details about the NMT state machine of a CANopen device could be found in CiA 301 formerly known as DS 301 Version 4 2 0 Februrary 2011 chapter 7 3 2 pages 83 to 85 The restrictive terms of use in CiA 301 don t allow us to duplicate that information here so please obtain a copy of that document from CiA yourself cop node_id Retrieves the CANopen node ID 1 127 of the device on which the script is running The value is read only To modify a device s node ID use the system setup cop SendNMTCommand int node_id int wanted_nmt_state Sends an NMT message to the CANopen network to switch the desired node s into the wanted NMT state Valid CANopen nodes IDs are 1 to 127 In addition for the NMT Network Management protocol node ID zero can be used to address all nodes in the network MKT Dok Nr 85122 Version 2 0 101 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals If the node ID matches the local node ID the local node also transits to the new state The NMT state can be one of the following constants which are also used for cop nmt state cNmtStateBootup force re booting Bootup actually sends the Reset Node command to one or all slaves cNmtStatePreOperational switch one or all slaves into the Pre Operational state cNmtStateOperational switch one or all slaves into the Operational sta
152. nik Dok Nr 85122 Script Language for programmable CAN Terminals GPS Receiver Simulation __ _ Receiver Simulation R Mie ae i SOPRME 085206 o0 A A836 9867 fe i0936 HAND E 60 0 0 25096 Ay SGPGGA 085206 00 34836 8867 H 00936 2417 E M SGPRMC 085207 00 4836 2833 N 00936 2667 S OPGGA 085207 00 4836 8833 W 00936 2667 E GPRMC 085208 00 A 4836 8800 0 H 00936 Bin EPGGA 085208 00 436 8800 N 00936 2917 E stent 085209 00 A 4836 8783 N 00936 ne A A PEEN 1 aise Hae Le 6936 34 f M009 SGPRMC 082841 00 A TAC 00923 7833 E 0 2 0 250906 Ax To access the serial port from the script language use the device names seriall the first serial port or serial2 the 2nd serial port in the MKT View II this port is decicated for the GPS receiver Here is a sourcecode snippet from the GPS receiver demo GpsRev01 CVT Try to open the second serial port like a file In the MKT VIEW II device serial2 is the GPS port Note Do NOT modify the serial port s baudrate here The system has already set it according to the System Setup GPS Rev Type 4k8 9k6 hSerial file open serial2 if hSerial gt 0O then successfully opened the GPS port display PortInfo Port2 else Could not open the 2nd serial port This happens on a PC which has no dedicated GPS port Try the FIRST serial port instead with a
153. ns from CiA CAN in Automation most important CiA 301 MKT Dok Nr 85122 Version 2 0 102 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 9 10 3 10 11 Extensions of the script language for J1939 The support for SAE J1939 in the script language isn t finished yet Until then some preliminary information about how to implement parts of the J1939 protocol can only be found in the documentation in German language 10 3 11 Event Handling handling system messages and similar events in the script As a replacement for the event definitions in the display interpreter the script language can be used to react when the user does something on a display page press a key operate the touchscreen or the rotary encoder The script may even intercept certain events i e disable the default message handler for that event In the script language system messages events can be handled by simply adding your own message handler The return value of a message handler function tells the system if the message shall be discarded because your script has processed it and doesn t want the message be passed to the default message handler More on this later Let s begin with the lowest level of message processing Keyboard events rotary encoder events and depending on the device capabilities touchscreen events Similar restrictions also apply to calling the script from the d
154. ntation with date and time without a T between date and time because the T is ugly see next example YYYY MM DDThh mm ss _ would be fully ISO 8601 compliant but looks ugly DD MM YYYY produces an unlogic date format which is unfortunately common in Germany MM DD YYYY another unlogic but unfortunately common date format MMM DD YYYY similar but less ambiguous Three letters not digits for the month MMM all in upper case expands to JAN FEB MAR APR MAY JUN JUL AUG SEP OCT NOV DEC Mmm DD YYYY similar as the traditional american date format but only three letters for the month Mmm mixed upper lower case expands to Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec We suggest to use ISO compatible date and time formats only especially if you are a German company with customers on the other side of the pond What do you and what would your customer make of 3 12 2001 The 12th day of March or the 3rd day of December Example MKT Dok Nr 85122 Version 2 0 88 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals print It is now time unix_to_str YYYY MM DD hh mm ss system unix time time date_to mjd in int year in int month in int day This function converts combines a date consisting of year 1858 2113 month 1 12 and day of month 1 31 into the Modified Julian Date MJD defined futher below The functio
155. obal variable can_tx_msg is filled with contents by the script and transmitted my calling can_transmit can tx msg id 0x334 set CAN message ID and bus number in the upper bits can_tx_msg len 2 set the data length code number of data bytes can tx _msg b 0 0x11 set the first data byte can tx msg b 1 0x22 set the second data byte can _ transmit send the contents of can tx msg to the CAN bus Variant 2 can_transmit called with a parameter argument Instead of using the global variable can_tx_msg a variable preferrably a local variable of type tCANmsg is filled by the script and the address of that variable is passed as an argument to the procedure can_transmit lt address of the message to be sent gt The following example calls can_transmit with parameter from a CAN receive handler after assembling the transmitted message in a local variable responseMsg func CAN Handler A tCANmsg ptr pRcvdCANmsg A CAN Receive Handler for a certain CAN message identifier Must be registered via can_add_id along with the CAN message ID Interrupts the normal script processing and must RETURN to the caller a s a p Uses a LOCAL variable for transmission not can tx msg Thus can tx msg can safely be used in the script s main loop even if the main loop may be interrupted at any time by this handler local tCANmsg re
156. ointer into the line of the cursor caret in the editor text X SINGLE STEP F7 aka Step In Executes the next command which is marked with a green arrow on the left side of the editor text Especially useful after hitting a breakpoint If the current line marked by the green arrow contains the call of a subroutine procedure or function written in the script language this command will step into the subroutine STEP OVER F8 Also used to single step through the script under debugger control In contast to the normal single step command F7 aka Step In Step Over executes a complete subroutine procedure or function written in the script language inclusive anything called from there T STEP OUT Executes the rest of the current subroutine function or procedure until returning to the caller Typically used in combination with the Single Step aka Step In command View CPU debugger code window Opens the disassembly view on the right side of the script editor tab Used for hardcore debugging to track down stack problems etc While the disassembly view is open the single step function executes one virtual machine code instruction per step not one script line Script editor menu Opens a popup menu with the less frequently used special functions mostly related with debugging see one of the next chapters In this menu you can also enable disable the editor s syntax highlight
157. olour code black the lower bar shows the slowest timer here index 8 colour code gray To measure the timing jitter an additional timer event is used which cyclically transmits a CAN message func OnCANtxTimer tTimer ptr pMyTimer a TIMER EVENT HANDLER local tCANmsg msg use LOCAL variables not globals in event handlers msg id 0x335 set CAN message identifier for transmission msg len 8 set CAN data length code max 8 bytes 2 doublewords msg dw 0 0x11223344 set four bytes in a single doubleword move faster than 4 bytes msg dw 1 0x55667788 set the last four bytes in the 8 byte CAN data field can_transmit msg send the CAN message to the bus return TRUE TRUE the event has been handled here FALSE would not fire more timer events endfunc The timer for this event handler is started in the initialisation part of the script as follows Start another timer for periodic CAN transmission Jitter can be checked with a CAN bus analyser setTimer CANtxTimer 100 ms addr OnCANtxTimer OnCANtxTimer called every 100 ms When tested on an MKT View III a jitter of approximately 5 milliseconds could be observed with a CAN bus tester Most of this jitter is caused by the cooperative not preemptive multitasking within the script language The jitter may be reduced in future versions of the device firmware 2013 06 05
158. on t care about the actual value it may be hardware clBlack dependent Like the other colour constants below this colour can be used in the setcolor command bright white This is the second and last standard colour available on clWhite ALL targets clBlue pure saturated blue clGreen pure saturated green clRed pure saturated red clLtBlue Light Blue clLtGreen Light Green clLtRed Light Red clCyan cyan colour mixture of blue and green clMagenta red purple aka fuchsia sometimes called pink which in fact it s not clYellow yellow colour clOrange Orange clBrown Brown Dummy colour value only usable as back or foreground colour of certain clTransparent i display elements MKT Dok Nr 85122 Version 2 0 35 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals csOff Cursor Shape Off text cursor invisible endo Cursor Shape Underscore text cursor visible displayed as an underscore csSolidBlock Cursor Shape Solid Block text cursor visible displayed as a filled block csBlinking Cursor Style Blinking slowly flashing text cursor cCanRTR RTR flag Remote Transmission Request for the CAN bus cFirmwareCompDate firmware compilation date as a string for example Aug 25
159. ond doubleword 4 bytes Unlike the components of can_rx_msg and can_tx_msg listed further below the DWORD wise access explained above is also possible for normal varibles declared as type tCANmsg also via pointer 116 N Accesses the N th and N 1 th byte in the CAN data field as a 16 bit signed integer using Intel byte order aka Little Endian or least significant byte first The sign is expanded from bit 15 into the upper bits of the 32 bit integer result so the range is 32768 to 32767 ul6 N Accesses the N th and N 1 th byte in the CAN data field as a 16 bit unsigned integer using Intel byte order aka Little Endian or least significant byte first Unlike 116 the sign bit is not expanded so the result ranges from 0 to 65536 i32 N Accesses the N th to N 3 th byte in the CAN data field as a 32 bit signed integer using Intel byte order aka Little Endian or least significant byte first Note that the above three methods to access a CAN data field are very fast but they cannot cross arbitrary bit boundaries thus their syntax mimicks a BYTE ARRAY not a BIT ARRAY The bitfield method explained further below is slower but more versatile m16 N Similar to i16 but uses big endian byte order aka Motorola format m32 N Similar to i32 but uses big endian byte order aka Motorola format bitfield lt index of the signal s least significant bit in the CAN message gt lt number of bi
160. other literature or study the examples further below iSock inet socket int address_family int type int protocol Creates a new socket of a certain socket type identified by an integer number and allocates system resources to it The returned value traditionally called a socket in resemblance to a telephone socket is an integer value which identifies the communication endpoint It must be stored in an integer variable until the socket is closed i e unplugged again Most functions listed below expect the socket number as their first input argument inet close int socket Causes the system to release resources allocated to a socket In case of TCP the connection is terminated MKT Dok Nr 85122 Version 2 0 92 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Unlike the other socket API functions inet close does not return a value If certain network operations are still outstanding a closed socket may not be available immediately for other tasks i e given back to the pool of free sockets For example a socket which was successfully CONNECTED to a remote peer will first enter the CLOSING state before being really CLOSED result inet bind int socket int port_number Used on the server side and associates a socket with the specified local port number In contrast to the Berkeley socket API inet bind doesn t care for IP addresses because the server s IP address is alw
161. pied into msg and the function returns 1 one TRUE Otherwise if there is no message waiting in the queue the function returns immediately with result 0 zero FALSE message get out Message msg int iTimeout_ms Checks if one of the registered messages is waiting in the message queue If it is the message is removed from the queue and copied into msg and the function returns 1 one TRUE Otherwise if there is no message waiting in the queue the function waits for the arrival of the next message If during the specified timeout value in milliseconds no message arrives the function returns with result 0 zero FALSE Besides the blocking waiting behaviour there is no difference between message peek and message get message post lt receiver gt lt message_id gt lt param1 gt lt param2 gt lt param3 gt Places a message in the message queue for the specified Receiver which may be something like a window future plan Note that unlike message send message post returns immediately before the receiver has actually processed the message message send lt receiver gt lt message_id gt lt param1 gt lt param2 gt lt param3 gt Sends a message to the specified Receiver future plan or with iReceiver 0 to the system s default message handler Note that unlike message post message send does not return until the message has actually been processed in other words it blocks the calle
162. ponse Otherwise you know this CAN bus is dead The length of the error frame in microseconds can be modified in the edit field labelled Pulse Time The default 12 microseconds will only give an error frame if the CAN bus runs at 1000 or 500 kBit second To cause an error frame for lower bitrates increase the number of microseconds MKT Dok Nr 85122 Version 2 0 125 138 Dok Nr 85122 Script Language for programmable CAN Terminals Maki Systemtechnik Script Demo 7 CAN Error Frame Tester Help on the CAN Error Frame Tester This application is completely driven by the built in Bi Send Error Frane SCRIPT LANGUAGE see details in the tool s help systen Pulse time 0012 ps It allows the TRANSMISSION of CAN error frames which may be helpful to test the robustness of a CAN network F2 Send CAN message gt and examine if when and hou many error frames occur Ke 128 eea e1 ar oe 0er RECEIVED error frames are signalled by an audible whistler through the internal speaker of the display terminal F3 CAN Snooper Node You will hear the signal when leaving this help page 6 error frames SENT t Clear OK 1 error frames received 29 msgs reud 4951 sent Help on the transmission of CAN messages You can modify the CAN message identifier the number of data bytes and the up to 8 CAN message data bytes in the edit fields below the Send CAN message button The CAN message will b
163. pt it is not saved in an extra file You will find the examples in the tool s subdirectory programs script_demos not to be confused with the windows Programs Program Files Programmi folder there is no such language dependent nonsense directory inside the programming tool Sometimes the windoze file selector will enter that directory immediately Otherwise find your way to the directory where the last version of the programming tool has been installed on your PC MKT Dok Nr 85122 Version 2 0 131 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 5 Bytecode Note This chapter is considered worth reading but it is not essential to use the script language It s up to you to read it or ignore it If you like to know what s going on under the hood please proceed o To increase the execution speed of the script the sourcecode is translated from plain text ASCH into a tokenized binary code bytecode For various reasons the bytecode isn t the same as the microcontroller s native machine code because in that case the script couldn t be easily simulated and debugged in the programming tool But the microcontroller can execute this code much faster than interpreting the sourcecode directly unlike the display interpreter which interprets event definitions and expressions directly without RPN and without tokenisation Script gt z A x Sle 2 lt el
164. puts are written back to the variable from which they were read before the call by the caller This has the side effect that the modified output value does NOT have an effect on the caller s variable until the procedure or function returns In other words all outputs become effective at the same time in the moment the function procedure returns to caller MKT Dok Nr 85122 Version 2 0 55 138 Dok Nr 85122 Script Language for programmable CAN Terminals kt Systemtechnik 7 4 3 8 6 Recursive calls In this context a recursive call means that a procedure or user defined function may call itself as long as there is sufficient stack memory available For each call instance a new set of local variables which includes the parameters in the argument list is allocated on the stack and freed when the procedure or function returns to the caller To understand recursive function calls look at the PrintDecimal example from a previous chapter again proc PrintDecimal int i if i gt 10 then PrintDecimal i 10 endif print chr 48 i 10 endproc In a sample call PrintDecimal 123456 the first instance is created with 1 123456 as a local variable on the stack Because i is greater than ten the procedure calls itself recursion with i 12345 For the second recursive call a new instance is created occupying additional stack space In that instance 1 is
165. r This is not possible with all message types especially not with those messages which can only be handled in different tasks or even interrupt service handlers The tMessage structure will be specified here in a future version of this document Most likely it will be similar to but not compatible with Borland s TMessage type The message IDs not to be confused with CAN message IDs are defined as constants in the script language Their prefix depends on the message class For example messages beginning with wm have a similar purpose like windows messages even if there is no Windows under the hood of the programmable displays Some of these messages can be used for interaction between the script program and the graphic user interface Most notably wmTouchPenDown wmTouchPenMove wmTouchPenUp wmTouchDbIClick low level touchscreen messages wmeEnterDb IClick double click with the Enter button whatever the enter button is it may be a real key or the rotary encoder button MKT Dok Nr 85122 Version 2 0 108 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals wmEncoderBtnDown wmEncoderBtnUp wmEncoderDblClick wmEncoderMovedDelta low level rotary button events Note Depending on the flags parameter specified in the message register command you can completely intercept certain message types by the script so they will not be handled by the system any
166. r 85122 Version 2 0 51 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 7 3 8 User defined functions and procedures Procedures can replace gosub return subroutines since 2010 10 Their main purpose is to give a script a cleaner structure allow parameter passing through a well defined argument list after the procedure name and allow recursive algorithms by virtue of local variables on the stack Unlike user defined functions procedures do not return a value directly to the caller and thus cannot be used in expressions 7 1 3 8 1 User defined procedures Here is a simple example for a user defined recursive procedure which prints a decimal number to the text screen taken from the TScreenTest example Please note the indentation between proc and endproc and use a similar coding style in your own scripts The compiler doesn t care for these leading spaces but they make the sourcecode much easier to read proc PrintDecimal int i Simple RECURSIVE procedure to print a decimal number if i gt 10 then PrintDecimal i 10 print upper digits recursively endif print chr 48 i 10 print least significant digit endproc end PrintDecimal Example to call the procedure defined above explained in the chapter about recursive calls N 123456 PrintDecimal N call user defined procedure Internally shortly before the call of
167. ramming tool the Trace History can be displayed on the right side of the Script tab To achieve this select Show Trace History in a combo box on the script toolbar Script Errors Show Trace History paused 57 066 1 334 Rx d 6 01 00 00 00 01 00 00 00 57 127 1 00000444 Tx d 6 74 7F lE EA 6F 84 1F 2B 57 192 1 00000444 Rx d 8 99 OF OC 72 2A C8 OC E7 57 211 1 12345678 Rx d 8 F2 68 11 76 EE 86 6C 9D 57 232 1 00000444 Tx d 6 7E 7E DS DA Al 8C 1C 47 57 232 1 333 Tx d 6 6E 17 CC 2E 7A 44 57 257 1 334 Rx d 8 01 00 00 00 01 00 OO 00 57 320 1 00000444 Tx d 8 DE 7D 21 CC BA 98 D SE Trace History displayed in the programming tool MKT Dok Nr 85122 Version 2 0 17 138 Mkr Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals After selecting Show Trace History paused you can scroll back through the history as long as the limited trace memory permits Switching to Show Trace History running will permanently append new entries at the end of the display and the vertical scroller will automatically be moved to the end of the list so the newest entry is always visible Right click into the Trace History in the programming tool opens the following context menu 1 4 OxOCFO0400 Bus 1 extended CAN frame 29 bit B Ox0CFO0300 Bus 1 extended CAN Frame 29 bit C Ox18FEEFOO Bus 1 extended CAN frame 29 bit D 0x18FEF200 Bus 1 extended CAN Frame 29 bit E Ox18FEEEOO Bus 1
168. ress or similar is pushed to the stack it gets well STACKED not cellared on top of the other stack elements The topmost element on the stack can be popped off the stack which means read and remove it from the stack These are the only operations performed on a basic stack MKT Dok Nr 85122 Version 2 0 133 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals To inspect the stack while debugging your code in the programming tool use the stack display Keep an eye on the stack usage especially if you program uses a lot of user defined procedures or functions with local variables and recursive calls In the script language the stack is used to evaluate RPN expressions to store return addresses during function and procedure calls and local variables Local variables are allocated on the stack by pushing a dummy value usually zero to the stack and saving the address of the first local variable in a register frequently called the base pointer The local variabes of the currently active function or procedure are stored in a so called stack frame which is explained in the next chapter 1 1 5 2 3 Stack Frames for function arguments and local variables As mentioned in the previous chapter the stack is also used as a storage for local variables A special register called the Base Pointer BP similar purpose as in the 8086 CPU from which the name was borrowed point
169. rns to the caller thus only set pointers to global script variables which remain at fixed addresses In many cases pointers can be replaced by arrays or self defined data types Main advantage of a pointers In the script language a pointer only occupies four bytes 32 bits in memory thus it can be easily copied and passed as argument to subroutines functions procedures event handlers Depending on the size of the target object copying a pointer can be much faster than copying duplicating the object itself For linked lists trees and similar data structurs pointers are almost inevitable 5 2 1 Assigning the address of a variable to a pointer To set a pointer to a certain variable the address of a variable or whatever must be taken This can be achieved by the operator function addr The term addr lt variable gt returns the address of the variable inside the argument list Example for the declaration and initialisation of a pointer to have it pointing to a simple variable var declare global variables MKT Dok Nr 85122 Version 2 0 44 138 Mkr Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals int myIntegerVar declare an integer variable int ptr myPtrToInt declare a variable with a pointer to an integer value endvar myPtrToInt addr myIntegerVar assign address of myIntegerVar to pointer myPtrToInt To de reference a pointer i e ac
170. ror register captured by the CAN driver s interrupt service handler when the last CAN error interrupt occurred Since the format of the CAN controller s error register is extremely hardware dependent specifying the meaning of the bits in that register would be far beyond the scope of this documentation For MKT View II with CPU LPC2468 see NXP s UM10237 LPC24XX User Manual Chapter 18 8 4 Interrupt and Capture Register For MKT View III with CPU LPC1788 see NXP s UM10470 LPC178x 7x User Manual Chapter 20 7 4 Interrupt and Capture Register pages 514 to 517 in UM10470 Rev 1 5 For devices with other controllers and in the programming tool simulator the value returned by CAN err_register is meaningless err frame counter lt port gt Retrieves the number of error frames received on the specified port since power on Strictly defined it s the number of bit stuffing errors signalized by the CAN bus controller A bit stuffing error means six or more dominant bits on the physical layer Ideally there should be no error frames on a CAN at all The error frame counter allows to check this PulseOut lt port gt lt duration in microseconds gt MKT Dok Nr 85122 Version 2 0 78 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Generates a pulse dominant state on the specified CAN port with the specified length duration in microseconds Rarely u
171. rotocol because often the TCP IP protocol stack must resolve the remote server s IP address or name using ARP and or DNS The second parameter timeout_ms specifies the maximum number of milliseconds after which inet connect must return with or without success The return value indicates success 0 SOCK_ SUCCESS or a negative error code defined here result inet send int socket int timeout_ms input_arguments Sends data to a remote socket If the network transmit buffer is full the command may block the caller up to lt timeout_ms gt milliseconds If the connection bandwidth it large enough inet send will not block at all because the actual transmission of data takes place in the background in a different task result inet recv int socket int timeout_ms output_arguments Receives data from a remote socket Returns the number of bytes received if any or a negative error code one of the SOCK_ ERROR constants If the network receive buffer is empty the command may block the caller for up to lt timeout_ms gt milliseconds to wait for the MKT Dok Nr 85122 Version 2 0 93 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals reception of data The output arguments must be passed by reference using the address taking operator Details about receiving data via inet recv are here Examples for the socket style API can be found in the following subchapters and in the applica
172. ry map object 0x4005 subindex 1 8 bits cop obd 0x1A00 0x02 0x50010108 2nd mapping entry map object 0x5001 subindex 1 8 bits cop obd 0x1A00 0x03 0x51050108 3rd mapping entry map object 0x5105 subindex 1 8 bits cop obd 0x1A00 0x00 0x03 enable mapping by setting the number of mapped objects cop obd 0x1800 0x01 dwCommParValue amp OXxX7FFFFFFF make 1st transmit PDO valid CiA Create TPDO clear bit 31 print r nNew PDO mapping table r n ShowPdoMap cTPDO 1 PdoNumber show the new PDO mapping table function implemented in CANopenl upt endproc TestPdoMapping script_demos J1939sim cvt The script in this example simulates an ECU electronic control unit from which a few parameters can be read via J1939 protocoll script_demos VT100Emu cvt This example emulates a VT100 or VT52 Terminal using the simulated text screen text panel Works with CAN up to 8 characters per CAN message and the serial port RS 232 An overview of the most important VT100 and VT52 Escape Sequences can be found on the MKT CD available online in Document Nr 85141 VT100 VT52 Emulation fiir MKT Ger te so far only available in german language but the Escape sequences should be easy to grasp To load one of these examples into the programming tool select File Load Program in the programming tool Remember any script is part of a display application cvt or u
173. s The compiler doesn t know for what a string will be used later It doesn t know anything about languages fonts character sets For this reason it doesn t try to convert any special characters especially not German umlauts etc If you know the string will be displayed on the LCD screen later using one of the DOS compatible fonts replace the Umlaut etc with the hexadecimal equivalent backslash x followed by two hex digits in the double quoted string constant or use the prefix d DOS before the double quoted string to let the compiler convert the string from the sourcecode format which is usually ANSI into DOS Examples Test x99rtliche Bet x84ubung x9Abelkeit string with hex codes for O if a DOS font is used for rendering Test d Ortliche Bet ubung kann belkeit hervorrufen string converted into DOS characters by the compiler Hexadecimal codes for certain special characters in DOS fonts as used in most of MKT s programmable displays Hex Character Code here ANSI pate 84 a a diaeresis 94 o diaeresis 81 u diaeresis 8E A diaeresis 99 O diaeresis 9A U diaeresis DF B German sharp s Beware The script language isn t aware of the font used to render a character on the screen The compiler doesn t know what will happen with a string later if you will print it on the
174. s print sl show result on a text panel In the example above with destination string the third function argument index is neither required nor recommended Example 2 Appending multiple strings to a binary block array of bytes var byte TxBuffer 1024 declare an array of bytes int TxByteIndex index variable for TxBuffer endvar TxByteIndex 0 begin filling TxBuffer 0 here append TxBuffer First string r n TxByteIndex Note append will increment TxByteIndex by the NUMBER OF BYTES appended to the buffer TxBuffer TxByteIndex 0x00 append a ZERO BYTE as string end marker append TxBuffer Second string r n TxByteIndex TxBuffer TxByteIndex 0x00 append another ZERO BYTE append TxBuffer Third string r n TxByteIndex StartSendingBlock TxBuffer TxByteIndex nBytes user defined procedure In this example the 3rd function argument index_variable is an integer variable which is incremented by the number of bytes appended to the destination in each call of the append command The array TxBuffer is filled with multiple strings which are delimited by a ZERO byte as in the C programming language Because in the script language a zero byte also marks the end of a string the trailing zero cannot be part of the netto contents of the string itself Thus in the example shown above the string delimiter is
175. s or leading zeroes as in date and time displayed on the screen use the itoa function integer to ascii to convert the numbers into strings with leading zeroes and a fixed width Example from TimeTest cvt shows a calendar date in ISO 8601 format print itoa year 4 itoa month 2 itoa day 2 tscreen wrapper object for the text screen buffer tscreen ce11 Y X accesses the character cell in the Y th line and X th column of the text screen buffer as a tScreenCell structure Most built in fonts use DOS compatible character sets from codepage 437 so the text screen has limited graphic capabilities see TScreenTest example tscreen cx returns the text output cursor s current x coordinate zero based column index tscreen cy returns the text output cursor s current y coordinate zero based line index tscreen cx and cy are read only To modifiy the cursor position use gotoxy column line tscreen cs Cursor Shape Cursor Style Defines ifand how the text output cursor shall be displayed The script can use a bitwise combination of the following constants for this purpose csOff Cursor off default csUnderscore csSolidBlock csBlinking The VT100 Emulator example uses this feature to emulate an old fashioned virtual terminal s cursor display MKT Dok Nr 85122 Version 2 0 63 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals tscreen xmax returns th
176. s 1 234 into 1 234 NOT Ox1E Turns the element on top of the stack into it s one s complement for example zero boolean FALSE is turned into one boolean TRUE and vice versa JUMP 0x04 0x05 absolute jump to the specified short or long address POPJZ 0x06 POP and Jump if Zero to the specified address Pops one hopefully numeric value off the stack and jumps to the specified address if the value is ZERO This instruction is frequently emitted by the compiler to produce IF THEN ELSE and REPEAT UNTIL constructs PROC 0x70 Begin of a user defined procedure The operand field contains information about the procedure s stack frame and the offset from the function s start and end so it can easily be skipped in memory ENDPROC 0x71 End of a user defined procedure Cleans up the procedure s stack frame and returns to the caller CALL PROC 0x72 Calls invokes a user defined procedure Expects NO return value FUNC 0x73 Begin of a user defined procedure Similar to a procedure but a function returns a value ENDFUNC 0x74 End of a user defined function Cleans up the function s stack frame and returns to the caller Leaves the result special location on the stack unchanged RETFUNC 0x75 Pops one value off the stack copies it into the function s return value clean
177. s from the script Accessing script variables from the display interpreter Invoking script functions from display pages to retrieve a text for the display used a backslash sequence in the display element s format string Event handling in the script language as a replacement for the events defined in the UPT display pages 3 8 5 Input and output arguments By default all parameters in a procedure s or function s argument list are inputs which means the procedure can read their value but cannot modifiy the value in the caller s variable Only arguments after the keyword out in the formal argument list may affect the caller s variable Arguments declared as in input or without in out cannot affect the caller s variables in any way last not least because the script language doesn t support pointers or call by reference yet Example proc AddInteger in int A int B out int Result Result A B endproc VAR int N ENDVAR AddIinteger 1 2 N CALLof the procedure defined above Output copied to N when returning The in keyword was only added for clarity to emphasize that an argument is NOT an output but input read only from the procedure s point of view Note that the parameter passing mechanism for arguments declared with the out keyword doesn t have anything to do with pointers or call by reference as known from other programming languages In fact arguments declared as out
178. s monitor can t from his point of view all CAN messages are received MKT Dok Nr 85122 Version 2 0 77 138 kt Dok Nr 85122 Script Language for programmable CAN Terminals Systemtechnik 3 10 4 7 Special CAN bus diagnostic functions Most of the following special CAN functions only work on certain targets but not in the programming tool simulator The first function argument is usually the CAN port number Use one of the following integer constants for the port number cPortCAN1 lst CAN bus cPortCAN2 2nd CAN bus The application script_demos ErrFrame CVT uses some of these functions to test a CAN bus with error frames CAN CAN CAN CAN CAN CAN rx_counter lt port gt Retrieves the number of CAN messages received through the specified port since power on tx_counter lt port gt Retrieves the number of CAN messages sent through the specified port since power on err _ counter lt port gt Retrieves the number of any errors and warnings counted by the CAN driver s interrupt service handler since power on The counter includes comparably harmless errors for example bit stuffing errors which sporadically occur even in a good CAN network This function is only intended for diagnostic purposes the expectable error rate depends largely on the bus load and on the environment EMC err register lt port gt Retrieves the last content of the CAN controller s er
179. s roughly Sum Suggestions about the coding style not mandatory but the highly recommended by the author MKT Dok Nr 85122 Version 2 0 25 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Use at least two space characters per indentation level Any function body between proc and endproc shall be indented too Only the main code typically at the begin of the script executed immediately after program start and the keyword pairs const endconst var endvar proc endproc func endfunc shall not be indented because they always sit at the script s main level there are no nested functions as in Pascal It s not necessary to write keywords in upper case Keywords were sometimes written in upper case in this document when it seemed important to mark them as such because bold or italic characters don t work in a plain text file Since the script editor can automatically highlight keywords the author of the script language uses keywords in lower case and only user defined CONSTANTS in UPPER CASE This is what most C programmers prefer Don t ever use tabs in sourcecode because different editors use different default settings some editors use 8 characters per tab some use 4 others 3 by default etc so using tabs in sourcecodes will sooner or later turn everything into a mess which can often be seen in open source projects Use two or three spaces per nesting
180. s to the base of the stack frame of the currently active function Through the base pointer that part of the stack area stack frame is accessed like a random access memory using the base pointer plus an offset For example the bytecode instruction PUSH BP 2 reads the value of the BP register adds an offset of two reads a value from that address and pushes it on top of the stack In effect it copies some value from one stack location to another and increments the stack pointer In constrast to the stack pointer SP which always points to the top of the stack the base pointer BP remains constant within an instance of a user defined function or procedure Here is an example for the stack frame inside a function with a few local variables positive offsets and two function arguments negative base pointer offsets Note that the stack entries with negative offset for the base pointer don t strictly belong to the callee s called function s local stack frame but for simplicity they can be accessed through the BP BP n means the n th element addressed through the base pointer treating the stack frame like an array for simplicity BP 2 third local variable BP 1 second local variable BP O first local variable allocated by the callee BP 1 old base pointer saved on the stack pushed by callee BP 2 return address on the stack pushed by caller BP 3 Number of arguments passed
181. s up the function s stack frame and returns to the caller After that after returning the caller will find the return value on the new top of the stack CALL FUNC 0x76 Calls invokes a user defined function In contrast to a procedure call expects a return value After returning from callee to the caller the function s return value result remains on the RPN stack MKT Dok Nr 85122 Version 2 0 137 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Note There may be many opcodes missing in the above table which have not been documented here due to a lack of time of the software development engineer See also Overview link to an external file only works in the online help html not in the PDF variant of this file MKT Dok Nr 85122 Version 2 0 138 138
182. s very advisable that while developing your application you make a list of all files which your application may need later during runtime on the real target Such files may include but are not limited to the following The display application itself cvt or upt user defined fonts fnt bitmaps bmp which your application may expect in any of the pseudo file folders not the normal bitmaps which are imported in the programming tool because those icons will be saved and transferred along with your cvt or upt file e audio files wav text files txt in different languages For example see the MultiLanguageTest In that application the script reads the texts from an external file to separate the display program and the displayed text strings Remember to backup and distribute all those files along with your application 3 10 2 2 Creating or opening a file file create name max_size_in_bytes creates a new file with the specified name for write access If the file already exists it will be overwritten If it doesn t exist it will be created with an initial length of zero The second parameter maximum size in bytes is used for files in the RAMDISK to pre allocate the maximum required file size in advance This avoids fragmentation if multiple writeable files are opened simultaneously When successfull the function returns a positive handle an integer value which identifies the fil
183. sed for example to send CAN error frames six dominant bits which is impossible with a normal CAN controller The function only works on a suitable target LPC ARM 7 not on a PC and not on any Linux based system A sample script which uses this procedure is in the ErrFrame application in the script_demos folder It was designed to send CAN error frames to check if certain CAN testers were able to detect such CAN bus errors For example see the ErrFrame CVT application Do not use this function in a critial environment vehicle etc unless you are absolutely sure about the possible consequences 9 5 3 10 5 Controlling the programmable display pages from the script Any procedure or function beginning with the keyword display controls the programmable display pages in some way An important function is to pause the display output temporarily for example to ensure the consistency auf Deutsch Widerspruchsfreiheit of the screen while the script prepares some values which always belong together Without such precautions due to semi multitasking of the script and the display some of those values shown on the display may be old and others may be new display goto_page lt page gt Switches to the specified display page Caution Due to the script s semi multitasking the actual page switch will not happen immediately but at the next time when the display interpreter has the chance to update the current display pa
184. ses you may need to invoke a procedure or a function written in the script language from a display interpreter commandline For example call your script from the Reaction of a programmable button Definition of a button in the UPT display application btn 2 German 60 script SetLanguage LANG GER The prefix script tells the display interpreter that a procedure or a function written in the script language shall be called In the example shown above SetLanguage is the name of a user defined procedure called when the button is pressed MKT Dok Nr 85122 Version 2 0 54 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals There a some restrictions of what may be done in a procedure or function called from the display interpreter Most important The procedure must not block the caller for more than a few dozen milliseconds as explained for Event Handlers written in the script language Reason In contrast to the normal script execution the display interpreter cannot wait for a long time when updating a display page or checking for display events the system would seem to freeze from the operator s point of view For details about the maximum time spent in the called function see system feed_watchdog A complete example can be found in the Multi Language Test See also More about interaction between script and display application Accessing display variable
185. setcolor display aml 209 cls pats 210 print Acting as J1939 client Tester Screenshot of the script editor with context menu after right click on a certain word Right click into the Sidebar with line numbers and code execution indicators opens another context menu 507 select pMsq PGN Ta 508 en a 509 Toggle breakpoint in line 508 x aoo 510 Define Conditional Breakpoint AFE 511 Clear been here markers ere 512 Remove all breakpoints PGN zas Show execution point e 2 Show First error cin line 0y eae 515 in 516 Help E oi ors 4 nad Screenshot of the sidebar s context menu opened by right clicking on a line number MKT Dok Nr 85122 Version 2 0 11 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 3 2 3 Debugging No non trivial program will be free of errors right from the start The programming tool has some basic debugging capabilities listed below To debug the code you must run it in the programming tool A bit of remote debugging on the real target is possible via web browser HTTP During a debug session the screen may be split into two areas with the sourcecode in the left half and some other information in the right half e g Bytecode Symbole or single Variables Breakpoints Breakpoints can stop the execution of the script To set or delete a breakpoint click on one of the excutable code markers
186. source string If length is specified and positive the result will never have more than length characters If start or length are negative the result will be an empty string More examples for the string processing functions listed above can be found in the String Test application lt To Be Completed gt MKT Dok Nr 85122 Version 2 0 34 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals See also Keyword list file I O table of contents 3 3 3 Constants 3 1 3 3 1 Built in constants A few constants are hard coded inside the script compiler Don t rely on the actual value that s why we don t show them in the table below For the sake of readability most constants are prefixed with a lower case c for constant Despite that the script compiler is case insensitive Constant name Description Character encoding type for strings with DOS characters actually DOS ceDOS Codepage 850 For historic reasons this is the encoding used by most of MKT s build in bitmap fonts ceANSI Character encoding type for ANSI characters in fact Windows CP 1252 ceUnicode Character encoding type for Unicode strings Dania E Dummy ehatactsr encoding type for strings which do not contain any obvious special characters black colour d
187. special string memory Mnemonic Hex Opcode Remarks Pushes a constant or a variable to the stack Data type is encoded PUSH various types in the lower bits of the opcode lt value gt 0xC0 0xC6 Constants may be integer float or string the value follows immediately after the opcode in code memory Pushes the value of a local variable function argument or similar aoa element to the top of the stack BP is the virtual base pointer register n is an offset added to the PUSH BIMI depending on base ae ier i i y Usually positive offsets indicates a local variable negative offsets are function arguments or similar various PS Pops one element off the top of the stack and copies it to a local POP BEI i i on variabe or similar see PUSH BP r Pops one element off the top of the stack and assigns it to the ASSIGN a n specified variable lt var gt de ane t Global variables are identified by a unique non negative 8 or 16 P bit reference number ee Read access for arrays and or components of various structures RD type Depending on the complexity of the source additional values de na t like array indices may be popped off the stack P The read result will be pushed to the stack similar as PUSH C Write access for arrays and or components of various structures WR lt dest gt t is Depending on the complexity of the destination a
188. splay interpreter interfere for a short time Tdiff can rx _msq tim system timestamp timestamp difference between now and a certain CAN message reception Tdiff 1000 Tdiff cTimestampFrequency convert to milliseconds wait ms 100 Tdiff wait until 100 ms have passed since CAN msg reception can transmit display pause FALSE resume normal display operation Note This example isn t 100 percent bullet proof It only works if this code is executed within 100 milliseconds after the time of a CAN message reception To mininize the risk of wasting too much time for the display update the display should be paused immediately after reception of the CAN message which shall be answered Remember that the display terminal isn t a programmable logic controller with guaranteed maximum latencies even if there is a fast pre emptive multitasking kernel running under the hood The 32 bit timestamp is generated by a hardware timer which starts at zero during power on and then increments at a hardware depending frequency specified as constant cTimestampFrequency The timer frequency is typically in the range of 40 kHz so a signed 32 bit number will overflow from 0x7FFFFFFF large positive value to 0x80000000 very negative value after about 231 40000 Hz 53687 seconds or 14 hours Despite that the 32 bit integer arithmetic as in the example shown above will still give a valid DIFFERENCE between two time
189. sponseMsg a local variable with type CAN message responseMsg pRcevdCANmsg 0 copy the received CAN message into the response responseMsg id pRcvdCANmsg idt l response CAN ID received CAN ID 1 Note The upper two bits in tCANmsg id contain the zero based BUS NUMBER can_transmit responseMsg send a response via CAN immediately return TRUE returning TRUE means the received message was processed HERE do NOT place it in the script s CAN receive FIFO endfunc end CAN Handler A somewhere in the initialisation Register a received CAN ID and install a CAN receive handler for it can_add_id C_CANID RX A addr CAN Handler A MKT Dok Nr 85122 Version 2 0 74 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals An example for the periodic transmission of CAN messages is in the application TimerEvents cvt look for OnCANtxTimer Please note that this procedure usually returns immediately before the transmission actually took place because all transmitted CAN messages not just those sent from the script are first placed in an interrupt driven CAN transmit buffer This is the reason why can_transmit cannot return a status like transmission complete etc To send RTR frames Remote Transmit Request bitwise OR the constant cCanRTR in the length field of the message Only use this function if you know exactly what
190. ssary Example var int i declaration of an integer variable float f declaration of a floating point variable endvar i 1234 integer value assigned to an integer variable f i integer value automatically converted to float in older versions an explicit conversion was required here lik float i convert integer to float then assign to f Furthermore there are a few built in structure definitions belonging to the built in data types like e tScreenCell Data type describing one cell of the text screen buffer Components of this structure are Char character code usually ASCII or even DOS character set 0 255 oF lags reserved for future use 2010 09 27 bFontNr reserved for future use 2010 09 27 bZoom reserved for future use 2010 09 27 g color foreground colour each character cell has an individual colour bg color background colour tMessage Data type used by the message handling functions Components are receiver identifies the receiver of the message if any may be zero for broadcast messages MKT Dok Nr 85122 Version 2 0 39 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals sender identifies the sender of the message If the sender is not a windowed control but the system this value may be is zero msg message type code integer Should be one of the wm windows message
191. stamps even if a timestamp wrapped from 0x7FFFFFFF to 0x80000000 or from OxFFFFFFFF to 0x00000000 This is the reason why you must not convert a timestamp into seconds or any other unit before calculating a timestamp difference First calculate the difference as in the example above Tdiff can_rx_msg time system timestamp then convert the timestamp difference into any unit you like as in the example Tdiff 1000 Tdiff cTimestampFrequency system unix_time If the system is equipped with a battery buffered real time clock RTC this function returns the system s current date and time in Unix Time format The Unix Time aka Unix Second is defined as the number of seconds since midnight January Ist 1970 1970 01 01 00 00 00 Beware of the Unix Millenium Bug Year 2038 Bug which will affect any system which as many of today s Unix Linux systems use a signed 32 bit integer to store the Unix Time For details see the TimeTest cvt example The system terminal doesn t care about timezones so we suggest you let the built in real MKT Dok Nr 85122 Version 2 0 86 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals time clock run in UTC universal time Only in that case system unix_time and system unix_time_boot see below can really return date and time in UTC as it should See also time unix_to_str Date and time conversions Modified Julian Date MJD
192. still greater than ten so the recusion continues until i is less than ten actually it will be one then which is the most significant digit which is printed to the screen first This results in the following call history gt means calls lt means returns to caller PrintDecimal 123456 gt PrintDecimal 12345 gt PrintDecimal 1234 gt PrintDecimal 123 gt PrintDecimal 12 gt PrintDecimal 1 no further recursion prints 1 lt procedure returns to the caller caller now prints 12 modulo 10 2 fee now prints 123 modulo 10 3 ee now prints 1234 modulo 10 4 e ier now prints 12345 modulo 10 5 Pr instance finally prints 123456 modulo 10 6 lt Recursive calls can also involve more than one procedure calling each other Even though they may be an elegant solution in some cases their stack usage is hard to predict So in many cases loops and similar constructs see next chapter are a better more robust alternative MKT Dok Nr 85122 Version 2 0 56 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 8 3 9 Program flow control The script language supports program flow commands like e if then else endif e for to step next e while endwile checks the condition at the begin of the loop body e repeat until checks the condition after the loop body i e loop runs at least once e select cas
193. string integer an integer number Performs a bit wise AND operator Same as amp f in the C language BILANG ABIE AMN EEE For example 5 101 binary BIT_AND 3 011 binary gives 1 001 binary Performs a bit wise OR combination of two operands Same as in the C language BIOR BLL URT KREET For example 5 101 binary BIT_OR 3 011 binary gives 7 111 binary MKT Dok Nr 85122 Version 2 0 109 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals BIT NOT unary operator integer Performs a bit wise NOT operation on the operand on the right side of this unary operator Also known as complement Example BIT_NOT OxFFFF0000 gives OxOOOOFFFF as result For compatibility with the C language the BIT_NOT operator is the same as the tilde The bitwise NOT operator is often used to invert bitmasks as in this example BytesToFloat exp m2 m1 m0 float Combines four bytes into a IEEE 754 32 bit single precision floating point number The first 8 bit argument exp1 contains the sign and most significant 7 bits of the exponent The last 8 bit argument mantissa_0 contains the least significant bits of the mantissa BinaryToFloat 32 bit DWORD float Almost like BytesToFloat but the four bytes are passed as a single 32 bit binary in ittle endian byte order aka Intel format BytesToDouble
194. t 49999 OR I lt gt 100001 THEN 0x002C 1633 00 SURP 020039 Screenshow of script editor left with disassembly right ASSIGN A Immediately after the script was stopped via breakpoint or when stepping through the bytecode in the disassembler the current execution point green arrow sometimes doesn t seem to move in the sourcecode window The resson is that each line of sourcecode usually consists of multiple bytecode instructions Thus to execute a single line of sourcecode multiple single steps may be necessary by pressing F7 To close the disassembly window and resume normal single step mode line by line not instruction by instruction use the combo box in the upper right corner of the script editor tab and select Hide Debug View instead of Disassembly etc MKT Dok Nr 85122 Version 2 0 16 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 6 2 3 3 Trace History The trace history can be used any time to check the events listed below in chronological order It is implemented in the firmware of most devices if the device supports scripting but also in the programming tool simulator Typically up to 255 entries can be stored in the history more newer entries will overwrite the oldest part as in a FIFO first in first out Events which can be recorded in the history are 1 CAN messages which have been sent by the terminal Tx 2 CAN messages which have
195. tack 10 Interaction between Script and the CANopen Protocol stack 11 Extensions of the script language for SAE J1939 11 Event Handling in the script language 1 Low level system event handlers OnKeyDown etc 2 Events originating from UPT display elements Control Events 3 Timer Events 4 CAN Receive Handlers 12 Keyword List with built in commands functions data types etc 13 Error messages f NNW N NM WN MKT Dok Nr 85122 Version 2 0 2 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 4 Examples calculate PI display control timer events file I O text screen loops arrays error frames operator test reaction test trace test CANopen J1939 VT100 VT52 Emulator 5 Bytecode information for advanced users not required to use the script language 1 Compilation of the sourcecode into bytecode 2 The Stack for subroutines intermediate results function calls arguments and local variables 3 Bytecode specification Mnemonics and Opcodes See also links to external documents only work in HTML but not in the easily printable PDF version of this document E Manual for the programming tool main index of the programming tool s help system feature matrix to check if scripting is supported for a particular device firmware display interpreter commands display interpreter functions MKT Dok Nr 85122 Version 2 0 3 138
196. tance of a timer as a global variable of type tTimer endvar setTimer timerl 200 Start timerl for a 200 millisecond interval here without a timer event handler To check if a timer is expired i e programmed time is over the script can poll the expired flag in the tTimer structure as in the following code snippet MKT Dok Nr 85122 Version 2 0 61 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals if timerl expired then timerl expired FALSE clear the expired flag it will be set again 200 ms later system beep 1000 1 short beep 1000 Hz 1 times 100 ms duration endif Note As long as the timer isn t explicitly stopped i e timer running isn t FALSE it will keep on setting the expired flag periodically every 200 milliseconds in the example shown above Regardless of when exactly the expired Flag has been cleared by the application as in the above example the timer keeps running synchronously in the background As optional third parameter setTimer accepts the address of a Timer Event Handler Any number of timer event handlers can be implemented in the script language and if a handler s address is passed to setTimer the handler will be invoked periodically Details about that in the chapter about Timer Events 9 2 3 10 2 print gotoxy cls amp Co output into a multi line text panel The following commands can be
197. te cNmtStateStopped switch one or all slaves into the Stopped state Return value if cop SendNMTCommand was called as a function TRUE ok FALSE error function not available illegal node ID illegal NMT command See also cop nmt_state Retrieves the device s own momentary NMT state cop SetPDOEvent int pdo_comm_par_index Sets an event flag for a certain PDO which may cause immediate transmission The PDO is identified by the CANopen OD index of its PDO communication parameter for example 0x1800 first transmit PDO 0x1801 second transmit PDO etc If setting a PDO s event really causes an immediate transmission depends on the PDO s transmission type The transmission type is usually defined in the programming tool s PDO communication parameter dialog It may be also affected by a TPDO s optional inhibit time which limits the maximum frequency at which a PDO can be transmitted Return value if cop SetPDOEvent was called as a function TRUE ok PDO event flag was successfully SET FALSE error function not available illegal CANopen OD Index etc See also The display terminal s own local CANopen object dictionary OD Object 0x5001 in the CANopen OD PDO mappable Keyboard Matrix Bits Features of programmable terminals with CANopen V4 PDO Mapping Defining the contents of Process Data Objects SDO Abort Codes Error codes used when communicating via CANopen SDO CANopen specificatio
198. ted missing left parenthesis missing right parenthesis missing LEFT square bracket missing RIGHT square bracket missing operand type conflict division by zero illegal value function unknown function permanently unavailable function temporarily unavailable illegal array index or similar missing component unknown component function failed bad array subscript illegal pointer or reference comma or closing parenthesis expected expecting a semicolon expecting a comma name expected var name expected expecting an assignment expecting a data type MKT Dok Nr 85122 Version 2 0 115 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals expecting an integer value undefined variable out of memory structure or block too large illegal channel number label not found e return without gosub call stack overflow call stack underflow e call stack corrupted Occurrs for example when a user defined function tries to return to the caller but finds no valid return address on the stack value exceeds program memory size or negative address In fact the call stack is the same stack used for RPN calculations so if a calculation illegally overwrites a return address such errors may occur name or symbol too long Names of variables functions data types constants etc are all limited to 20 characters subscript or indirection too long
199. ter Example with Sum being a floating point variable and Loop an integer Sum Sum 4 0 2 Loop 1 does not calculate the same result as Sum Sum 4 2 Loop 1 Look at the right term in the above formula It contains only integers When the compiler produces bytecode for the right term it will use integer numbers because they are much faster on the target MKT Dok Nr 85122 Version 2 0 26 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals system This also includes the DIVIDE instruction If both operands are integers the division will be an integer too If one or both inputs for the DIVIDE operation are floating point numbers the division itself will be performed using a slow floating point operation If you definitely need a floating point operation use floating point numbers constants as in the upper example shown above BTW the example is taken from the application ScriptTest2 cvt contained in the installation archive which calculates the number PI using the Gregory Leibniz formula To convert binary data like received CAN messages from a sequence of bytes into floating point numbers use functions like BytesToFloat BinaryToFloat or BytesToDouble 2 3 2 Strings String constants must be enclosed in double quote characters as in most programming languages except Pascal To declare a variable as a string use the keyword string or
200. tervals The activity of each of these timers is visualized as a horizontal coloured bar on a text panel local int i x y local tMyTimerControl ptr pCtrl debugTimer pMyTimer 0 copy the argument into a global variable for debugging Watch TimerEventCount TimerEventCount 1 global counter for ALL timer events i pMyTimer user user defined index of this timer here 1 0 29 pCtrl addr MyTimerCtrl i address of a user defined timer control struct x pCtrl iEventCount tscreen vis_ width y i tscreen cell y x bg_color ResistorColours i tscreen cell y x 1 bg_color clWhite tscreen modified TRUE pCtrl iEventCount pCtrl iEventCount 1 count the events fired by THIS timer T return TRUE TRUE the event has been handled here FALSE would not fire more timer events endfunc OnMyTimer On each timer event a counter for that timer is incremented and the counter value is displayed as a horizontal colour bar on a Text Panel MKT Dok Nr 85122 Version 2 0 119 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Timer Event Test 7 Demo page TimerEventCount 990000246 MainLoopCount 900000110 Waiting in main loop Screenshot from the Timer Event test application The upper bar shows the fastest running timer index 0 c
201. the device s host name or numeric IP address in the browser s address bar followed by script d d is the option for Sourcecode Debugger For some stupid browsers you may have to add the transport protocol before the address for example http upt script d Details about remote debugging are here external link MKT Dok Nr 85122 Version 2 0 15 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 5 2 3 2 Disassembler display code window Only for advanced users The disassembly view can be opened through the script editor s toolbar chip icon It s an extra display panel on the right side of the editor which shows the bytecode in disassembled human readable form While this display is open single step in the debugger doesn t step through the sourcecode line by line but instruction by instruction through the bytecode This makes it possible to see how numeric expressions formulas are evaluated in the RPN Reverse Polish Notation and how subroutines functions are invoked with parameter passing via the stack Script gt x sl Ble 2 e el S 2 Disassembly X 008 Info Testing simple FOR TO NEXT C3 1C 54 65 PUSH Testing si oogoj 1 13 00 00 ASSIGN Infos 010 FOR I 1 TO 100000 STEP 2 Ox0020 CO FF FF g O11 lo A Atl 13 01 00 012 NEXT 0x0026 CO 01l 00 PUSH 1 013 0x0029 13 02 00 ASSIGN I 014 IF a lt g
202. the procedure the value of N is read pushed to the stack The procedure or function uses the value on the stack like a local variable Inside the procedure 1 name of the local variable here function argument has its own storage location for each new call If you re interested in the details The virtual machine which executes the script code uses a register called BP base pointer to access function arguments as well as local variables In contrast to the rule exactly one line of sourcecode per instruction the headline of a user defined procedure or function function prototype in C may extend over more than one line of sourcecode Example from the TimeTest demo proc SplitUnixSeconds in int unix seconds one input six outputs out int year out int month out int day out int hour out int min out int sec Procedure to split Unix Seconds into year 1970 2038 month 1 12 day of month 1 31 hour 0 23 minute 0 59 and second 0 59 MKT Dok Nr 85122 Version 2 0 52 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals 7 2 3 8 2 User defined functions User defined functions work almost the same as user defined procedures The main difference is that a function returns a value to the caller Simplistic example User defined function to add two integer values func Sum2 int a int b adds two integers returns the su
203. the programming tool can be convinced to emit its content in UTF 8 instead of Windows CP 1252 Until then use Unicode escapes after backslash u for all characters which you don t find on your PC s keyboard Example MyString u Falsches u00DCben von Xylophonmusik qu uQ0E41t jeden gr u00F6 u00DFeren Zwerg More examples can be found in the String Test application 2 2 3 2 2 String usage and storage format Most characters in a string are internally stored as an 8 bit number A zero byte marks the end of a string but you don t need to care about this because the compiler adds the zero automatically when encountering a string constant in the sourcecode Depeding on the string s character encoding type characters with a code value above 127 may occupy one or more bytes in memory 8 bit DOS or ANSI characters are stored as such in memory A few of those 255 possible codes are reserved for special control characters line carriage return and new line see backslash sequences further below In addition since September 2011 strings can optionally stored as UTF 8 sequences in memory During runtime string memory is dynamically allocated from a common memory pool The amount of memory required depends on the number of strings used in your application and their individual lengths For example consider an array of structures declared as typedef tStringTableEntry user defined data type struct structure for
204. tion script_demos InetDemo cvt which contains a small socket based TCP client and server written entirely in the script language Details on some of the inet functions follow in the next chapters 9 8 2 3 10 9 2 Internet socket state diagram The following diagram shows the basic states of a socket and their transistions Not shown here for clarity Transitions into the unrecoverable error state unused or closed jesor ACCEPTED CONNECTED The current state of a socket can be retrieved with via inet getsockstate lt socket gt The result an integer value is one of the following symbolic constants in the script language SCKS NOT IN USE this socket is currently not in use SCKS_ CREATED socket has been created but neither listening server side nor connecting client side yet SCKS_ LISTENING server side called inet listen but not inet accept yet MKT Dok Nr 85122 Version 2 0 94 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals SCKS_ACCEPTED server side called inet accept with success Note that accept allocates a new socket from a pool thus the accepted socket is not the same as the listening socket and there is no transition from LISTENING to ACCEPTED for the listening socket SCKS_ CONNECTING client side trying to connect to a remote server SCKS_ CONNECTED client side successfully connected to a remote server SC
205. toa int value number of digits integer to ascii Converts an integer value lst argument into a decimal string using the specified number of digits 2nd argument Example Info Timestamp itoa system timestamp 8 If the value doesn t fit into the specified number of digits the result string will only contain the least significant digits Example itoa 1234 2 returns 24 as string not 1234 If the number of digits is not specified or zero itoa will produce just as many digits as required without leading zeroes See also ftoa which emits leading spaces instead of zeroes atoi string value int number of digits int start_index ascii to integer Converts a decimal string into an integer value a numeric value using the specified number MKT Dok Nr 85122 Version 2 0 33 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals of digits 2nd argument optional or the entire string An optional third argument can be used to specify the start index index of the first character to be parsed Examples atoi 1234567 returns 1234567 as an integer value atoi 1234567 3 returns 123 integer 3 digits atoi 1234567 3 2 returns 345 3 digits beginning at start index 2 Indices start counting at ZERO not ONE The first character in a string is at index zero The atoi function recognizes a trailing minus character for negative numbers
206. ts gt Accesses a part of the data field in a CAN messages as a bitfield containing an unsigned integer value in Intel byte order least significant byte first Note that regardless of the signal type bits in a CAN message are always numbered according to the following table As usual for binary numbers the most significant databit is on the left side in this graphic representation the numbers for 8 bits within a byte always runs from 0 MKT Dok Nr 85122 Version 2 0 76 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals LSB right to 7 MSB left The green cells in the following table show an example defined as can_rx_msg bitfield 18 15 Intel byte order LSBit at bit 18 in the CAN frame and 15 bits for this bitfield Support for signals with Motorola byte order most significant byte first was not projected by the time of this writing Table X Numbering of bits in a CAN data field green 15 bit signal example bitfield 18 15 bit 7 bit 6 bit 5 bit 4 bit3 bit2 bit 1 bit 0 byte 7 6 5 4 3 2 1 0 14 10 9 17 16 byte 5 47 46 45 44 43 42 41 40 byte 6 55 54 53 52 51 50 49 48 byte 7 63 62 61 60 59 58 57 56 The global variable can_tx_msg has exactly the sa
207. u_mode mmNavigate switch to select navigate mode display menu_index to next field endproc end GoToNextField Q display menu_index 1 8 switch script_demos TimerEvents cvt Test and demo for Timer Events This script uses an array of timers programmed with different cycle times const define a few constants C NUM TIMERS 10 number of simultaneously running timers int ResistorColours 10 ten colour codes 0 9 clBlack clBrown clRed clOrange clYellow 0 4 clGreen clBlue clMagenta clDkGray clLtGray 5 9 e endconst typedef tMyTimerControl struct int iEventCount float fltMeasuredFrequency endstruct endtypedef MKT Dok Nr 85122 Version 2 0 118 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals var declare a few GLOBAL variables tTimer MyTimer C_NUM TIMERS an ARRAY of timers for the stress test tMyTimerControl MyTimerCtrl C_NUM TIMERS an array of self defined timer controls endvar Start the timers for the timer stress test for i 0 to C_NUM TIMERS 1 MyTimer i user i use the index as user defined ID for this timer setTimer addr MyTimer i 37 20 i ms addr OnMyTimer next fp PRR Sr Sse at a SS RS Se ee SSeS as5 func OnMyTimer tTimer ptr pMyTimer another TIMER EVENT HANDLER Shared by timers which run at different in
208. uced in comparison with the polling method The following example shows a simple CAN message handler and the code to register that handler by calling can_add_id lt CAN ID gt lt name of the handler gt func CAN Handler ID123 tCANmsg ptr pRcvdCANmsg CAN Receive Handler for certain important CAN message identifiers Interrupts the normal script processing and must to the caller a S a p select pRcevdCANmsg id Take a look at the CAN message identifier case 0x123 message ID 0x123 hex case 0x124 message ID 0x124 hex case 0x125 message ID 0x125 hex return TRUE handled here do NOT place this message in the script s CAN RX Fifo endselect return FALSE did NOT handle this message here let the system place it in the script s CAN RX Fifo endfunc end CAN Handler ID123 A CAN receive handler will be called shortly after the reception of a matching CAN message which interrupts the normal script processing and other functions of the programmable terminal For technical reasons this interruption may only require a few dozen milliseconds see details in the yellow info box in the chapter about event handling in the script language While the handler is being executed the device cannot perform other tasks If the event handler function doesn t voluntarily return to the caller within 500 milliseconds its execution will be suspended to keep the device operational The system
209. up to almost trace max_ entries MKT Dok Nr 85122 Version 2 0 90 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals trace max_entries Returns the maximum number of entries in the trace history This value is constant for a certain device but it may depend on the device firmware due to memory constraints The example in TraceTest cvt details below uses this value as argument for a modulo operation to limit the circular buffer indices iTailindex iTailindex 1 trace max entries trace oldest_index Returns the trace buffer index where the OLDEST entry has been stored Due to the circular nature of the buffer the oldest entry isn t necessarily at index zero trace head index Returns the trace buffer index where the NEXT newest entry will future be stored It also marks the endstop when listing the trace buffer in the script itself Example from the application TraceTest cvt iTailIndex trace oldest index start listing trace entries HERE while iTailIndex trace head_index print trace entry iTailIndex r n dump next entry to screen iTailIndex iTailIndext 1l trace max entries increment tail index iTailIndex wraps from max entries minus one to zero because the trace buffer is organized like a CIRULAR ARRAY endwhile Note If trace head_index is equal to trace oldest_index the trace history is empt
210. upt MKT Dok Nr 85122 Version 2 0 129 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals Only for the UPT Programming Tool II and for devices with integrated CANopen protocol stack CANopen Script Test page Local CANopen OD E Local 0D Remote OD PDO Map MKT ARM Terminal Manufacturer device n x 84D4B54 Vendor ID Bx 88B2ZC81 Product code BxBBBBBBBC Revision number x88808888 Serial number Object does not exist in dictionary x 8808181 COB ID used by TPDO 6x488058108 ist mapped ob ject Current page number The graphic buttons Local OD Remote OD and PDO Map above the text panel launch different subroutines in the script The scrollers on the right side and below the text panel can be operated via touchscreen to scroll the visible part of the larger virtual text screen vertically and horizontally Here is a slightly shortened variant the sourcecode of the PDO Mapping Test which reprograms the mapping of the first transmit PDO 1 proc TestPdoMapping demo to reprogram this device s own PDO mapping Reprogram a CANopen slave s PDO mapping table How to do it CORRECTLY quoted from CiA 301 V4 2 0 page 142 143 gt The following procedure shall be used for re mapping gt which may take place during the NMT state Pre operationa
211. ures stoneage gosub return subroutines don t have their own stack frame therefore you cannot define local variables in such subroutines Wherever possible use procedures and avoid gosub return as well as you should avoid goto Gosub only exists for compatibility reason 8 7 3 9 7 select case else endselect This construct may replace a long nested sequence of if then else statements but only compares INTEGER CONSTANTS in the case marks Since September 2013 case supports an extended syntax A complete range of values can be specified as case lt Value1 gt to lt Value2 gt The code after that case label is executed if the select value is between and including Valuel and Value2 Thus case 4 to 6 in the following example checks if X is 4 5 or 6 Simple example using a bit of pseudo code do_something MKT Dok Nr 85122 Version 2 0 59 138 ki Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals X can rx msg id select X case 1 do something if X equals_one case 2 do something if X equals_two case 3 do something if X equals three case 4 to 6 do something if X is between four_and_six else do something if X is none of the above endselect Note In contrast to the C programming language there is no break statement required at the end of each case block The program doesn t fall through from one case to the next with one exception
212. used to display text on a multi line text panel on any of the programmable display pages using a panel element in the display page definition cls clear screen Here Clears the contents of the text screen buffer Precisely the buffer is filled with space characters and all cells are set to the current foreground and background colour The script doesn t have direct access to the graphic video RAM clreol clear to end of line Clears the rest of the current text buffer line beginning at the current output cursor position The cursor position itself is not affected by this command setcolor foreground background Set the drawing colours for following text output into the text buffer Sets the colour for subsequent calls of print cls and clreol You should not use numeric colour values because the colour codes may be hardware dependent but any of the colour constants listed here If any of the two colours shall not be modified pass a negative value as function argument e g 1 don t modify RGB red component green component blue component Function to compose a colour value integer number from red green and blue components Besides the colour constants like clWhite this is the only recommended method to define colours in your script program The value range for each of the three colour components is 0 to 255 regardless of the display s actual number of bits per pixel Depending on the display s
213. value in a for to r step next loop trace print enable Trace History control tscreen component name text screen buffer object tScreenCell data type name for a text screen cell defines a new data type usually a structure t f l typedef composed of basic data types Retrieves the momentary data type of the ified variable declared as anytype ieee specified variable declared as an e The result is usually a data type constant for example dtInteger MKT Dok Nr 85122 Version 2 0 114 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals until end criterion ends a REPEAT UNTIL loop waits for the specified number of milliseconds wait ms milliseconds before continuing with the next script instruction while See also list of built in data type names which are reserved keywords too list of built in constants list of built in operators some of them are also reserved names keywords no special characters 3 13 Error messages The following list is very incomplete due to a lack of time Most error messages should speak for themselves syntax error An error has occured usually during compilation which cannot be further diagnosed by the compiler missing argument The argument list of a function or procedure call contains less arguments than expec
214. vely they will consume a lot of precious stack memory because each new call occupies one stack frame which contain function arguments and local variables on the stack As soon as a function returns to the caller its local variables in fact stack locations are freed automatically and their addresses become invalid See also Debugging Stack Display 5 2 3 5 1 3 Pointers pointer variables and address operations Similar as in the C programming language variables can be declared as Pointers for special purposes But as in C and as explained further below pointers must be treated carefully because the runtime system cannot check exactly if a pointer points or still points to a valid location and if the type of the pointer is really compatible with the target location Example for the declaration of a variable with the type Pointer to Integer int ptr myPointerToInteger declaration of a typed pointer Purposes of pointers may be e the manipulation of binary data blocks which are neither simple array nor described as a structure passing large data blocks by reference to avoid lengthy and slow block copy operations When using pointers use them only if really necessary make sure that the pointer s address is still valid when you de reference use it beware that the address of any local variable gets invalid as soon as the function in which the local variable was declared retu
215. w down the script This may happen because the display commands are interpreted not compiled Example display exec bl 0 tur the display s backlight off via display interpreter To avoid calling the display interpreter from the script use flag variables which can be polled in global or local events by the display This way the script will not be slowed down or even blocked for dozens of milliseconds by the execution of the display command A safe example for the display exec command can be found in the traffic light demo display pixels_x Retrieves the width of the LC display measured in pixels read only Used in the QuadBlocks demo to switch to a display page designed for landscape or portrait mode of the screen display pixels y Retrieves the height of the LC display measured in pixels read only display fg color Returns the default foreground aka text colour of the current display page In the programming tool this colour value is defined in the im Display Page Header Default Text Colour display bg color Returns the default background colour of the current display page In the programming tool this colour value is defined in the im Display Page Header Default Background Colour display menu_mode display menu_index This is the script language s equivalent to the display interpreter s mm and mi function Entspricht der Funktion mm bzw mi des Display Interpreters Examples in the applic
216. xample TCP SOCK DGRAM Datagram Socket Connectionless for example UDP protocol One of the IPPROTO_ constants similar to the Berkeley socket API MKT Dok Nr 85122 Version 2 0 96 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals IPPROTO_TCP TCP IP used together with socket_type SOCK_ STREAM IPPROTO_UDP UDP IP used together with socket_type SOCK_DGRAM Note Any other combination of address family socket type and protocol beside those listed above is expected NOT to work properly Example iListeningSocket inet socket AF_INET SOCK_STREAM IPPROTO_TCP if iListeningSocket lt 0 then negative result means ERROR print Could not create a socket endif 9 8 5 3 10 9 5 inet connect int socket int timeout_ms string destination Used on the client side Assigns a free local port number to a socket In case of a TCP socket it causes an attempt to establish a new TCP connection This function usually requires several hundred milliseconds depending on the network and the protocol because often the TCP IP protocol stack must resolve the remote server s IP address or name using ARP and or DNS The second parameter timeout_ms specifies the maximum number of milliseconds after which inet connect must return with or without success The return value indicates success 0 SOCK_ SUCCESS or a negative error code defined here 9 8 6 3 10 9 6 inet
217. y trace entry n Retrieves the n th entry in the trace history buffer as a string The oldest entry is at index n trace oldest_index A headline compatible with the display format can be retrieved by trace entry 1 A separator line consisting of a string of dashes can be retrieved by trace entry 2 print trace entry 1 r n print a headline for the trace display print trace entry 2 r n print a separator for the trace display For a complete example see trace head_index where this function is used to dump the trace history to a text panel trace can_blacklist i Retrieves the n th entry in the blacklist of CAN IDs which can exclude up to 10 individual CAN message identifiers from the trace history display At the time of this writing 2013 11 27 the index i may be 0 to 9 because the blacklist is limited to a maximum of ten entries MKT Dok Nr 85122 Version 2 0 91 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals An example which exclude certain CAN message identifiers from the trace history via script is in the test demo application TraceTest CVT trace file index Gets or sets the file sequence number for saving the trace history as a text file To save the trace history as text file you can use the command trace save_as_file mentioned below trace save as file This command saves the contents of the trace history buffer as a
218. y an entire page 1st dimension of the sample 3d array shown above like ThreeDimArray z ThreeDimArray zt1 is impossible at least as of 2010 10 14 The content of an entire array can be inspected at runtime in the programming tool Enter the name of the array as a global script variable without indices in the Watch List An array of BYTES can be used as a storage for any kind of binary data The append command can be used to append strings of characters without the trailing zero which is specific for the script language to such an array e When filling an array element by element consider using the operator to increment the index variable TxBuffer TxByteIndex 0x00 append a ZERO BYTE to the array An example demonstrating the use of arrays can be found in the test application ScriptTest4 cvt contained in the installer subfolder programs A more sophisticated example using arrays of constants and variables is in the quadblocks demo MKT Dok Nr 85122 Version 2 0 48 138 kt Systemtechnik Dok Nr 85122 6 3 7 Operators The script language uses almost the same numeric operators as the UPT display interpreter even Script Language for programmable CAN Terminals though the internal evaluation of those operators are totally different see the chapter about bytecode if you are curious about the details At the time of this writing 2013 11 08 the following operators have bee
219. y define more than one data type the semicolon is required to separate the entries Types must be defined before they can be used to declare variables Put all typdefs at the begin of your program using a lower case t as suffix for own type definitions is not mandatory but recommended to make the script easier to read MKT Dok Nr 85122 Version 2 0 41 138 kt Systemtechnik Dok Nr 85122 Script Language for programmable CAN Terminals components within a type definition must be separated with semicolon a colon doesn t work here The keyword typedef begins a type definition the keyword end_typedef alias endtypedef ends it The keyword struct begins a structure definition the keyword endstruct ends it Structures can only be accessed component wise Copying a complete struct to another as in C is not possible yet At the moment structures structs can only be composed of basic data types Nested structures and structs with arrays as components were just future plans at the time of this writing See also var endvar to define a list of global script variables 5 3 5 Variables The script language supports local and global variables more on local vs global in the next chapter In addition the script also has limited access to variables of the display interpreter defined for the UPT display application As in most programming languages variables should be declared before using them
220. you are doing Sending a wrong CAN message into an unknown network may have potentially dangerous consequences 3 10 4 6 can rx msg can _tx msg global variables From the script s point of view the can_rx_msg structure holds the last received CAN message for processing It was filled by the previous call of the can_receive function If the script doesn t call can_ receive and as long as can_receive doesn t return TRUE success the contents of can_rx_msg will not change The following components of can_rx_msg and similar can_tx_msg for transmission can be accessed like variables by the script program id holds the CAN bus identifier in the least significant 11 or 29 bits of this 32 bit integer variable plus an optional 11 29 bit flag extended CAN identifier flag in bit 29 and the zero based CAN BUS NUMBER in the most significant bits bits 31 30 Please note that bit numbers are always start at zero thus a 32 bit integer value such as can_rx_msg id contains bit 0 least significant bit to 31 most significant bit There is no bit 32 in a 32 bit integer len Length of the DATA FIELD in bytes CAN messages can have 0 zero to 8 byte data fields The upper bits of this field may contain special FLAGS like cCanRTR Remote Transmission Request see example ScriptTest3 cvt SendRTRO tim Timestamp of the received CAN message using the CAN driver s hardware specific timestamp frequency This 32 bit inte
221. ystem as usual which means the event message will not be suppressed A few simple examples for event handlers can be found in the EventTest application 10 2 3 11 2 Mid level event handlers events from visible controls on a UPT display page If a system message was not intercepted by a low level event handler see previous chapter it may be propagated to the next level of event handling This is in most cases related to the visible control elements like buttons menu items edit fields etc on the current display page func OnControlEvent int event int controlID int paraml int param2 event from a visible control element This handler may be called for a number of different events The first function argument indicates which event was detected event can be one of the following symbolic contstants in fact integer numbers evClick the control element has been clicked or the enter key was pressed while it was focused evPenDown the touchpen has just been pressed and the touchscreen coordinate was in the control s client area evPenMove the touchpen has been moved while pressed within the control s client area evPenUp the touchpen has just been released and the touchscreen coordinate was still in the control s client area evKey a key was sent to the control while it had the input focus control1ID user defined integer value a constant to identify the control which fired the event The aut

Script language manual (pdf, online) - MKT

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