CODESYS ST-Fragment

The following fragments are exercised:

  • Fragments of complex “floating point”, “arithmetic”, or “boolean” operations

  • Instances of PID filter implementation

  • Instances of KALMAN filter implementation

Cyclic CPU execution times are measured from which minimum, maximum, and jitter measurements are derived. These measurements allow performance characterization of the CODESYS SoftPLC.

Execute ST-Fragment standalone

The following section is applicable to:

../../../_images/target_generic4.png

  1. Setup the ECI repository.

  2. Install ST-Fragment prebuilt PLC logic from the ECI repository:

    logo_debian logo_ubuntu

    $ sudo apt install codesys-st-fragments codesys-benchmark-scripts

  3. Install codesys-benchmark-scripts from ECI repository

    $ sudo apt install codesys-benchmark-scripts

    The following is the expected output for the Debian ECI repository

    Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
intel-cmt-cat pqos-helper
The following NEW packages will be installed:
codesys-benchmark-scripts intel-cmt-cat pqos-helper
0 upgraded, 3 newly installed, 0 to remove and 7 not upgraded.
Need to get 158 kB of archives.
After this operation, 645 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://wheeljack.ch.intel.com/apt-repos/ECI/bullseye isar/main amd64 intel-cmt-cat amd64 4.6.0-1eci1 [143 kB]
Get:2 http://wheeljack.ch.intel.com/apt-repos/ECI/bullseye isar/main amd64 pqos-helper amd64 5 [5,564 B]
Get:3 http://wheeljack.ch.intel.com/apt-repos/ECI/bullseye isar/main amd64 codesys-benchmark-scripts all 4.11.0.0-1-eci1 [9,968 B]
Fetched 158 kB in 0s (0 B/s)
Selecting previously unselected package intel-cmt-cat.
(Reading database ... 25017 files and directories currently installed.)
Preparing to unpack .../intel-cmt-cat_4.6.0-1eci1_amd64.deb ...
Unpacking intel-cmt-cat (4.6.0-1eci1) ...
Selecting previously unselected package pqos-helper.
Preparing to unpack .../pqos-helper_5_amd64.deb ...
Unpacking pqos-helper (5) ...
Selecting previously unselected package codesys-benchmark-scripts.
Preparing to unpack .../codesys-benchmark-scripts_4.11.0.0-1-eci1_all.deb ...
Unpacking codesys-benchmark-scripts (4.11.0.0-1-eci1) ...
Setting up intel-cmt-cat (4.6.0-1eci1) ...
Setting up pqos-helper (5) ...
Setting up codesys-benchmark-scripts (4.11.0.0-1-eci1) ...
Processing triggers for libc-bin (2.31-13+deb11u10) ...

  4. Edit /opt/benchmarking/codesys/BenchmarkConfigFile.txt to configure ST-Fragment PLC logic parameters :

    numberofcycles=1000
numberoftestiterations=1
cycletime=1000

test=1_PID
test=5_PID
test=10_PID
test=1_KALMAN
test=5_KALMAN
test=10_KALMAN
test=1_FRAGMENT
test=5_FRAGMENT
test=10_FRAGMENT

    For example, 1000 cycles of various IEC function block executed back-to-back within a 1 ms cycle time deadline.

  5. Use the provided scripts to start the CODESYS Linux runtime. The scripts will perform various optimizations to minimize interrupts to the CODESYS Linux runtime. When the CODESYS Linux runtime starts, it will auto-load and execute the OPC UA Client Benchmark prebuilt PLC logic.

    $ sudo /opt/benchmarking/codesys/utility/start_codesys_native.sh

    The scripts available at /opt/benchmarking/codesys/utility include:

    • start_codesys_native.sh: Optimizes the system (see list below), stops non-essential services, and restarts the CODESYS Linux runtime

    • start_codesys_container.sh: Optimizes the system (see list below) and starts the containerized CODESYS Linux runtime with RT priority

    • taskset_codesys.sh: Optimizes the system (see list below)

    The provided scripts also perform the following runtime optimizations:

    • Uses Cache Allocation Technology (CAT) to allocate exclusive access of half the last-level cache to isolated cores (typically 1 & 3)

    • Assigns CODESYS task affinity to isolated cores (typically 1 & 3)

    • Assigns non-CODESYS task affinity to core 0

    • Disables kernel machine check interrupt

    • Increases thread runtime utilization to infinity

    When executing the scripts, not all task affinity can be changed. This is expected behavior. An example output is shown below:

    $ sudo /opt/benchmarking/codesys/utility/start_codesys_native.sh
Stopping unecessary services
Failed to stop ofono.service: Unit ofono.service not loaded.
Failed to stop wpa_supplicant.service: Unit wpa_supplicant.service not loaded.
Failed to stop bluetooth.service: Unit bluetooth.service not loaded.
Stopping Docker Daemon
Warning: Stopping docker.service, but it can still be activated by:
  docker.socket
Stopping Codesys Runtime
Disabling Machine Check
Disabling RT runtime limit
New COS default: 0xff0
Changing CPU affinity of existing interrupts
setting 1 to affine for core 0
setting 4 to affine for core 0
setting 8 to affine for core 0
setting 9 to affine for core 0
setting 12 to affine for core 0
setting 14 to affine for core 0
setting 16 to affine for core 0
setting 18 to affine for core 0
setting 27 to affine for core 0
setting 29 to affine for core 0
setting 120 to affine for core 0
setting 121 to affine for core 0
setting 123 to affine for core 0
setting 124 to affine for core 0
setting 125 to affine for core 0
setting 126 to affine for core 0
taskset: failed to set pid 3's affinity: Invalid argument
taskset: failed to set pid 4's affinity: Invalid argument
taskset: failed to set pid 16's affinity: Invalid argument
taskset: failed to set pid 23's affinity: Invalid argument
Starting Codesys Runtime
Changing affinity of Codesys Runtime tasks
Codesys preparation complete.

  6. Verify that CODESYS Linux runtime started correctly:

    $ sudo systemctl status codesyscontrol

    The output should show Active: active (running):

    $ sudo systemctl status codesyscontrol
● codesyscontrol.service - LSB: Prepares and starts codesyscontrol
     Loaded: loaded (/etc/init.d/codesyscontrol; generated)
     Active: active (running) since Fri 2023-03-03 19:59:10 MST; 1s ago
       Docs: man:systemd-sysv-generator(8)
    Process: 121981 ExecStart=/etc/init.d/codesyscontrol start (code=exited, status=0/SUCCESS)
      Tasks: 2 (limit: 14185)
     Memory: 13.0M
     CGroup: /system.slice/codesyscontrol.service
             └─121986 /opt/codesys/bin/codesyscontrol.bin /etc/CODESYSControl.cfg

Mar 03 19:59:09 eci-test systemd[1]: Starting LSB: Prepares and starts codesyscontrol...
Mar 03 19:59:10 eci-test codesyscontrol[121981]: codesyscontrol started
Mar 03 19:59:10 eci-test systemd[1]: Started LSB: Prepares and starts codesyscontrol.

  7. When PLC logic has exhausted all numberofcycles, the execution will generate ST-Fragment PLC logic postmortem report:

    $ less /var/opt/codesys/PlcLogic/IEC-61131-3_process-automation_scorecard*

    The following is the expected output for this example with only 1 second execution time:

    --- PLCopen 61131-3 Process Automation testcase scorecard ---

Target: Id 5 Type 4102 Version 4.5.0.0
Test at:
Platform: IEC 61131-3 workload -  Control Function Block
Extern: Extern
Code: Ram
Measured timer resolution [ns]: 40
Measured overhead of SysTimeGetNs [ns]: 43.5064

Compute Latency                      Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------
                              88760.23   87973.0      111443.0  1110.826            1001

Test (in us)                         Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------

PID 1x (REAL)                   88.78131   72.4936      697.4936  39.64781            1001
PID 5x (REAL)                   196.8842  174.4936      964.4936  36.53517            1001
PID 10x (REAL)                  402.0321  358.4936      1799.494  59.03344            1001
KALMAN 1x filter (REAL)         190.7464  155.4936      18378.49  576.1357            1001
KALMAN 5x filter (REAL)         736.5935  718.4936      1154.494  26.28798            1001
KALMAN 10x filter (REAL)        1447.047  1424.494      2223.494   36.0689            1001
Logic+Arith 1K fragment         5435.206  5208.494     10919.493  211.7485            1001
Logic+Arith 5K fragment         26053.42   25772.5       26886.5 115.10668            1001
Logic+Arith 10K fragment         52148.9  51803.49      59229.49  275.6929            1001

Histogram (Num nSec Hits)
1   200.0   0
2   400.0   0
3   600.0   0
4   800.0   0
5   1000.0   0
6   1200.0   0
7   1400.0   0

  8. Use /opt/benchmarking/codesys/utility/plot-st-fragment-histo-txt.py python script to generate a plot out of the scorecard .txt file containing histogram data.

    usage: plot-st-fragment-histo-txt.py [-h] -l TXT [-t TITLE] [-p PERCENT] [-n PNG_FILE_NAME] [-g]

optional arguments:
-h, --help            show this help message and exit
-l TXT, --txt TXT     Path to .txt file.
-t TITLE, --title TITLE
                        Add title to the plot.
-p PERCENT, --percent PERCENT
                        Set percentage of the X-Axis around the highest hit-count. Default 10, i.e. 10%
-n PNG_FILE_NAME, --png_file_name PNG_FILE_NAME
                        Define a new name for the PNG file output. Default: .txt name.
-g, --no_grid         Disable grid plot

    $ sudo apt install python3-pandas python3-matplotlib
$ /opt/benchmarking/codesys/utility/plot-st-fragment-histo-txt.py -l $(ls /var/opt/codesys/PlcLogic/IEC-61131-3_process-automation_scorecard* | head -n 1) -n ./my-st-fragment-run

    The following is the expected output for this example only 1 second execution time :

             0          1  2
0         1      200.0  0
1         2      400.0  0
2         3      600.0  0
3         4      800.0  0
4         5     1000.0  0
...     ...        ... ..
9995   9996  1999200.0  0
9996   9997  1999400.0  0
9997   9998  1999600.0  0
9998   9999  1999800.0  0
9999  10000  2000000.0  0

[10000 rows x 3 columns]
      nanoSeconds  hitCount
0           200.0         0
1           400.0         0
2           600.0         0
3           800.0         0
4          1000.0         0
...           ...       ...
9995    1999200.0         0
9996    1999400.0         0
9997    1999600.0         0
9998    1999800.0         0
9999    2000000.0         0

[10000 rows x 2 columns]
Max nSec at: {'loc': 556, 'max': 111400.0}
Max HitC at: {'loc': 441, 'max': 238}
Number of X-Axis labels: 1441

    The following is the expected output for another example running for several hours:

    ../../../_images/codesys-st-fragment_histogram_01.png

For more information on running ST-Fragment performance tuning and containerization, refer to /opt/benchmarking/codesys/README.md.

Execute ST-Fragment from CODESYS IDE Project Archive

The following section is applicable to:

../../../_images/windows4.png

See also

This section assumes you are already familiar with CODESYS and how to deploy a workload to the CODESYS Linux runtime. For a detailed tutorial, see section: Application #2: CODESYS OPC UA Publish/Subscribe

Note: Make sure that you have installed the correct version of the CODESYS IDE. Refer to CODESYS IDE for additional details.

  1. Download the ECI release archive, if not done already.

  2. Copy the CODESYS_Example_Applications.zip archive from the ECI release archive (release-eci_#.#.zip) to the Microsoft Windows system. This archive is located in the ECI release archive within the Edge-Controls-for-Industrial directory as follows:

    └── Edge-Controls-for-Industrial
    ├── Codesys_Example_Applications.zip
    ├── Dockerfiles.tar.gz
    └── eci-release.tar.gz

  3. Extract the “CODESYS_Example_Applications.zip” archive. Navigate to the Benchmark directory.

    ../../../_images/codesys-st-fragment_01.jpg

  4. Double-click PLCopen_ecs-st-fragment_Linux_3.5.x.x.project to open the project with CODESYS.

    This project provides a basic set of ST-Fragment algorithms (base_algo) and tests (Test):

    ../../../_images/codesys-st-fragment_03.jpg

Place Config File on Target

  1. SSH into the target system and create file BenchmarkConfigFile.txt at /opt/benchmarking/codesys/ to configure ST-Fragment PLC logic parameters. Copy and paste the following into the file:

    numberofcycles=1000
numberoftestiterations=1
cycletime=1000

test=1_PID
test=5_PID
test=10_PID
test=1_KALMAN
test=5_KALMAN
test=10_KALMAN
test=1_FRAGMENT
test=5_FRAGMENT
test=10_FRAGMENT

    This example configures 1000 cycles of various IEC function block executed back-to-back within a 1 ms cycle time deadline.

Download (Execute) Directly to Target

  1. To download the application directly to a target, double-click the ‘device’ (CODESYS_Control_for_Linux_SL). Go to the Communications Settings tab, select a gateway, and scan the network for active targets.

  2. Once a target is detected, double-click the target to select and establish a connection.

    Note: Make sure that the CODESYS Linux runtime is up and running on your target.

    ../../../_images/codesys-st-fragment_04.jpg

  3. When the connection is established, click the login button (or press Alt + F8). If prompted for Click Yes to download the latest code…, select Yes. Next, click start (or press F5) to start the execution of the application. Once the application is running, [stop] will change to [run].

    ../../../_images/codesys-st-fragment_05.jpg

  4. SSH into the target and check the location /var/opt/codesys/PlcLogic/ for the results file (.txt):

    root@eci-intel-0332:~# ls /var/opt/codesys/PlcLogic/ | grep .txt
IEC-61131-3_process-automation_scorecard2020-2-12-18_14.txt

root@eci-intel-0332:~# cat /var/opt/codesys/PlcLogic/IEC-61131-3_process-automation_scorecard2020-2-12-18_14.txt
--- PLCopen 61131-3 Process Automation testcase scorecard ---

Target: Id 5 Type 4102 Version 4.5.0.0
Test at:
Platform: IEC 61131-3 workload -  Control Function Block
Extern: Extern
Code: Ram
Measured timer resolution [ns]: 40
Measured overhead of SysTimeGetNs [ns]: 43.5064

Compute Latency                      Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------
                              88760.23   87973.0      111443.0  1110.826            1001

Test (in us)                         Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------

PID 1x (REAL)                   88.78131   72.4936      697.4936  39.64781            1001
PID 5x (REAL)                   196.8842  174.4936      964.4936  36.53517            1001
PID 10x (REAL)                  402.0321  358.4936      1799.494  59.03344            1001
KALMAN 1x filter (REAL)         190.7464  155.4936      18378.49  576.1357            1001
KALMAN 5x filter (REAL)         736.5935  718.4936      1154.494  26.28798            1001
KALMAN 10x filter (REAL)        1447.047  1424.494      2223.494   36.0689            1001
Logic+Arith 1K fragment         5435.206  5208.494     10919.493  211.7485            1001
Logic+Arith 5K fragment         26053.42   25772.5       26886.5 115.10668            1001
Logic+Arith 10K fragment         52148.9  51803.49      59229.49  275.6929            1001

  5. After the .txt file is created, click Stop (or press Shift + F8) to stop execution or keep the application running and Logout (or press Ctrl + F8) from the target.

Create a Boot Application (.app/.crc Files)

  1. Instead of connecting to the target via the CODESYS IDE, you can create boot application files and deploy your application in other ways. You can later insert these files to the target, if running CODESYS in a container.

  2. To create the boot application files, click Online - Create Boot Application:

    ../../../_images/codesys-st-fragment_06.jpg

  3. Save the application to a new folder. For example, save the application to a new folder named my_application.

    ../../../_images/codesys-st-fragment_07.jpg

  4. For easier handling and distribution, zip these files. Select all files (press Ctrl + a), right-click, and select Send to - Compressed (zipped) folder. Rename the zip file.

    ../../../_images/codesys-st-fragment_08.jpg

  5. Boot application files as a .zip file:

../../../_images/codesys-st-fragment_09.jpg

Deploy a Boot Application (.app/.crc files)

This section only explains the deployment via a Docker container. For additional points and details, refer to Microservice Architecture.

  1. To deploy a boot application to Docker, make sure that the target contains the codesys-control-apploader Docker image.

    Check for the existing Docker images on the target:

    $ docker images

    Here is a sample output:

    root@eci-intel-0332:~# docker images
REPOSITORY                  TAG                 IMAGE ID            CREATED             SIZE
codesys-control-apploader   v0.2                68303ee0e33b        9 hours ago         248MB
codesys-control             v0.2                e33c68e9aa19        30 hours ago        242MB
debian                      buster              1b686a95ddbf        3 weeks ago         114MB

  2. Reconnect to the target (for example, via SSH) and create a folder structure where the boot application will be copied to. Also, transfer the boot application (for example, .zip) to the target (for example, via SCP). For example:

    scp my_st-fragment-application.zip root@192.168.1.10:/home/root
ssh root@192.168.1.10

root@eci-intel-0332:~# unzip my_st-fragment-application.zip
root@eci-intel-0332:~# mkdir PlcLogic/Application
root@eci-intel-0332:~# cp Application.app PlcLogic/Application/
root@eci-intel-0332:~# cp Application.crc PlcLogic/Application/

root@eci-intel-0332:~# docker run -d --rm --name my_container --privileged -v /home/root/PlcLogic:/var/opt/codesys/PlcLogic/ -e SOURCE_CODESYS_APP_NAME=Application codesys-control-apploader
bdd40c147dbb9669efe5e0cc831f86d6860387bf00b05101c8b2ceef8366e524

root@eci-intel-0332:~# docker ps -a
CONTAINER ID        IMAGE                       COMMAND                CREATED             STATUS              PORTS               NAMES
bdd40c147dbb        codesys-control-apploader   "/run-codesysapp.sh"   6 seconds ago       Up 3 seconds                            my_container

root@eci-intel-0332:~# ls -la PlcLogic/
total 36
drwxr-xr-x 8 root root 4096 Jun 30 19:32 .
drwx------ 9 root root 4096 Jun 30 19:30 ..
drwxr-xr-x 2 root root 4096 Jun 30 19:30 Application
-rw-r--r-- 1 root root 1292 Jun 30 19:32 IEC-61131-3_process-automation_scorecard2020-6-30-17_32.txt
drwxr-xr-x 2 root root 4096 Jun 30 19:32 _cnc
drwxr-xr-x 2 root root 4096 Jun 30 19:32 ac_persistence
drwxr-xr-x 2 root root 4096 Jun 30 19:32 alarms
drwxr-xr-x 2 root root 4096 Jun 30 19:32 trend
drwxrwxrwx 2 root root 4096 Jun 30 19:30 visu

root@eci-intel-0332:~# cat PlcLogic/IEC-61131-3_process-automation_scorecard2020-6-30-17_32.txt
--- PLCopen 61131-3 Process Automation testcase scorecard ---

Target: Id 5 Type 4102 Version 4.5.0.0
Test at:
Platform: IEC 61131-3 workload -  Control Function Block
Extern: Extern
Code: Ram
Measured timer resolution [ns]: 40
Measured overhead of SysTimeGetNs [ns]: 43.5064

Compute Latency                      Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------
                              88760.23   87973.0      111443.0  1110.826            1001

Test (in us)                         Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------

PID 1x (REAL)                   88.78131   72.4936      697.4936  39.64781            1001
PID 5x (REAL)                   196.8842  174.4936      964.4936  36.53517            1001
PID 10x (REAL)                  402.0321  358.4936      1799.494  59.03344            1001
KALMAN 1x filter (REAL)         190.7464  155.4936      18378.49  576.1357            1001
KALMAN 5x filter (REAL)         736.5935  718.4936      1154.494  26.28798            1001
KALMAN 10x filter (REAL)        1447.047  1424.494      2223.494   36.0689            1001
Logic+Arith 1K fragment         5435.206  5208.494     10919.493  211.7485            1001
Logic+Arith 5K fragment         26053.42   25772.5       26886.5 115.10668            1001
Logic+Arith 10K fragment         52148.9  51803.49      59229.49  275.6929            1001

root@eci-intel-0332:~# docker stop my_container

  3. Start a Docker container docker run ... and mount the boot application to the container -v /home/root/PlcLogic:/var/opt/codesys/PlcLogic/.

  4. Verify whether the container is running:

    $ docker ps -a

  5. While the container is running, check for the .txt results file frequently:

    $ ls -la PlcLogic/

    Once the results file is generated, stop the execution of the container:

    $ docker stop my_container

    Check the results file cat IEC-61131-3*.txt. You can also use the SCP command to securely copy the file to a PC for additional evaluation, visualization, or both.

Extend/Modify ST-Fragment Tests

This section does not discuss, in detail, the procedure to extend ST-Fragment tests, that is, the procedure to create and add ‘new’ function blocks (FB) to the base_algo and Test folders, as you can find in ST-Fragment-Algorithms. However, this section will use an existing test and extend it to show the principle.

  1. For instance, right-click TEST_10x_FRAGMENT (FB) and select Copy. Right-click the Test folder and select Paste. You should see a copy of the TEST_10x_FRAGMENT (FB) as TEST_10x_FRAGMENT_1 (FB):

    ../../../_images/codesys-st-fragment_10.jpg

  2. Right-click TEST_10x_FRAGMENT_1 (FB), select Refactoring > Rename ‘Test_10x_FRAGMENT_1’….

    ../../../_images/codesys-st-fragment_11.jpg

  3. Click OK:

    ../../../_images/codesys-st-fragment_12.jpg

  4. Double-click the TEST_15x_FRAGMENT (FB) function block to open it in the editor as structured text (ST). Add five additional ifrag function calls:

    ../../../_images/codesys-st-fragment_13.jpg 
    FUNCTION_BLOCK TEST_15x_FRAGMENT EXTENDS FB_Base
VAR
    ifrag0: IEC_FRAGMENT;
    ifrag1: IEC_FRAGMENT;
    ifrag2: IEC_FRAGMENT;
    ifrag3: IEC_FRAGMENT;
    ifrag4: IEC_FRAGMENT;
    ifrag5: IEC_FRAGMENT;
    ifrag6: IEC_FRAGMENT;
    ifrag7: IEC_FRAGMENT;
    ifrag8: IEC_FRAGMENT;
    ifrag9: IEC_FRAGMENT;
    ifrag10: IEC_FRAGMENT;
    ifrag11: IEC_FRAGMENT;
    ifrag12: IEC_FRAGMENT;
    ifrag13: IEC_FRAGMENT;
    ifrag14: IEC_FRAGMENT;
END_VAR

    Your editor window is split into two sections: Variables and Code. Edit the above code in the Variables section.

  5. Double-click the DoRun method under TEST_15x_FRAGMENT (FB) and add the ifrag function calls, five times, in the Code section, as shown in the following code snippet:

    ...

ifrag9(In_B1:=A, In_I1:=B,In_R1:=C,In_R2:=D);
R1:= ifrag9.Out_R1;
I1:= ifrag9.Out_I1;
B1:= ifrag9.Out_B1;

ifrag10(In_B1:=A, In_I1:=B,In_R1:=C,In_R2:=D);
R1:= ifrag10.Out_R1;
I1:= ifrag10.Out_I1;
B1:= ifrag10.Out_B1;

ifrag11(In_B1:=A, In_I1:=B,In_R1:=C,In_R2:=D);
R1:= ifrag11.Out_R1;
I1:= ifrag11.Out_I1;
B1:= ifrag11.Out_B1;

ifrag12(In_B1:=A, In_I1:=B,In_R1:=C,In_R2:=D);
R1:= ifrag12.Out_R1;
I1:= ifrag12.Out_I1;
B1:= ifrag12.Out_B1;

ifrag13(In_B1:=A, In_I1:=B,In_R1:=C,In_R2:=D);
R1:= ifrag13.Out_R1;
I1:= ifrag13.Out_I1;
B1:= ifrag13.Out_B1;

ifrag14(In_B1:=A, In_I1:=B,In_R1:=C,In_R2:=D);
R1:= ifrag14.Out_R1;
I1:= ifrag14.Out_I1;
B1:= ifrag14.Out_B1;

SysTimeGetNs(st2);
udiTime_ns := ANY_TO_UDINT(st2 - st1) ;
udiNumOps := 1 ;

  6. Double-click the fb_init method under TEST_15x_FRAGMENT (FB) and change the tdata.txt from Logic+Arith 10K fragment to Logic+Arith 15K fragment:

    tdata.txt := 'Logic+Arith 15K fragment ' ;

  7. Add the extended/modified test to the test structure under the GVL global variable:

    ../../../_images/codesys-st-fragment_14.jpg

    The code in the Variable section might look similar to the following:

    VAR_GLOBAL
    g_strPlatform : STRING := 'IEC 61131-3 workload -  Control Function Block ';
    g_strRAM: STRING := 'Extern';
    g_strCode: STRING := 'Ram';

    hFile : SysFile.RTS_IEC_HANDLE;
    tracepoint   : FB_tracepoin

    i_1_PID: TEST_1x_PID;
    i_5_PID: TEST_5x_PID;
    i_10_PID: TEST_10x_PID;
    i_1_KALMAN: TEST_1x_KALMAN;
    i_5_KALMAN: TEST_5x_KALMAN;
    i_10_KALMAN: TEST_10x_KALMAN;
    iFRAGMENT1K: TEST_1x_FRAGMENT;
    iFRAGMENT5K: TEST_5x_FRAGMENT;
    iFRAGMENT10K: TEST_10x_FRAGMENT;
    iFRAGMENT15K: TEST_15x_FRAGMENT;
END_VAR

  8. Extend FB_configfile(FB) for iFRAGMENT15K

    expand FB_configfile(FB) and then open AddTestToList

    ../../../_images/codesys-st-fragment_19.png

    Go to the bottom of the file, and copy the following code right below the last ELSEIF

    ELSIF sTestSpecifier = '15_FRAGMENT' THEN
      g_aTests[g_udiNumTests] := ADR(iFRAGMENT15K);
      g_udiNumTests := g_udiNumTests +1;
      g_test_found := g_test_found + 1;

    should look some thing similar to this image

    ../../../_images/codesys-st-fragment_20.png

  9. SSH into the target system and open file /opt/benchmarking/codesys/BenchmarkConfigFile.txt edit the file and add the following to the end of the file:

    test=15_FRAGMENT

  10. Build the project to verify the changes. Follow the menu path Build > Build or press F11.

    ../../../_images/codesys-st-fragment_15.jpg

    Check the Messages - error(s), warning(s) and message(s) window.

    ../../../_images/codesys-st-fragment_16.jpg

  11. To test your application, follow Place Config File on Target or Create a Boot Application (.app/.crc Files)/Deploy a Boot Application (.app/.crc files).

    The results file (IEC-61131-3_process-automation_scorecard*.txt) will have a additional entry (see the last entry).

    --- PLCopen 61131-3 Process Automation testcase scorecard ---

Target: Id 5 Type 4102 Version 4.5.0.0
Test at:
Platform: IEC 61131-3 workload -  Control Function Block
Extern: Extern
Code: Ram
Measured timer resolution [ns]: 40
Measured overhead of SysTimeGetNs [ns]: 43.5064

Compute Latency                      Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------
                              88760.23   87973.0      111443.0  1110.826            1001

Test (in us)                         Avg       Min           Max    StdDev        NumCalls
------------------------------------------------------------------------------------------

PID 1x (REAL)                   88.78131   72.4936      697.4936  39.64781            1001
PID 5x (REAL)                   196.8842  174.4936      964.4936  36.53517            1001
PID 10x (REAL)                  402.0321  358.4936      1799.494  59.03344            1001
KALMAN 1x filter (REAL)         190.7464  155.4936      18378.49  576.1357            1001
KALMAN 5x filter (REAL)         736.5935  718.4936      1154.494  26.28798            1001
KALMAN 10x filter (REAL)        1447.047  1424.494      2223.494   36.0689            1001
Logic+Arith 1K fragment         5435.206  5208.494     10919.493  211.7485            1001
Logic+Arith 5K fragment         26053.42   25772.5       26886.5 115.10668            1001
Logic+Arith 10K fragment         52148.9  51803.49      59229.49  275.6929            1001
Logic+Arith 15K fragment       129889.08 128254.93  148228.9  2826.522      1500

Enable Tracing

  1. To enable the tracing functionality within the CODESYS application, right-click Application and select Properties….

    ../../../_images/codesys-st-fragment_17.jpg

  2. In the Properties dialog, go to the Build tab. Add enable_ftrace in the Compilerdefines text box. Click Apply and OK.

    ../../../_images/codesys-st-fragment_18.jpg

  3. Rebuild the application. Once the trace enabled application is deployed and running you can check cat /sys/kernel/debug/tracing/trace for trace messages. For example:

    # tracer: nop
#
# nop latency trace v1.1.5 on 4.19.94-rt38-intel-pk-preempt-rt
# --------------------------------------------------------------------
# latency: 0 us, #152425/152425, CPU#0 | (M:preempt VP:0, KP:0, SP:0 HP:0 #P:4)
#    -----------------
#    | task: -0 (uid:0 nice:0 policy:0 rt_prio:0)
#    -----------------
#
#                  _--------=> CPU#
#                 / _-------=> irqs-off
#                | / _------=> need-resched
#                || / _-----=> need-resched_lazy
#                ||| / _----=> hardirq/softirq
#                |||| / _---=> preempt-depth
#                ||||| / _--=> preempt-lazy-depth
#                |||||| / _-=> migrate-disable
#                ||||||| /     delay
# cmd     pid    |||||||| time   |  caller
#     \   /      ||||||||   \    |  /
   <...>-5179    0....... 5988902us : tracing_mark_write: E|3|measure-trace_marker-overhead
   <...>-5179    0....... 5988905us : tracing_mark_write: E|2|measure-trace_marker-overhead
   <...>-5179    0....... 5988908us!: tracing_mark_write: E|1|measure-trace_marker-overhead
   <...>-5179    0....... 5989156us+: tracing_mark_write: B|0|PID 1x (REAL)
   <...>-5179    0....... 5989215us : tracing_mark_write: X|0|1623806.4|1623806.4
   <...>-5179    0....... 5989225us : tracing_mark_write: X|1|165806.4|894806.4
   <...>-5179    0....... 5989233us : tracing_mark_write: X|2|160806.4|650139.733333333
   <...>-5179    0....... 5989242us : tracing_mark_write: X|3|157806.4|527056.4
   <...>-5179    0....... 5989250us : tracing_mark_write: X|4|166806.4|455006.4
   <...>-5179    0....... 5989258us : tracing_mark_write: X|5|160806.4|405973.066666667
   <...>-5179    0....... 5989266us : tracing_mark_write: X|6|160806.4|370949.257142857
   <...>-5179    0....... 5989274us : tracing_mark_write: X|7|161806.4|344806.4
   <...>-5179    0....... 5989282us : tracing_mark_write: X|8|160806.4|324361.955555555
   <...>-5179    0....... 5989291us : tracing_mark_write: X|9|159806.4|307906.4
   <...>-5179    0....... 5989299us : tracing_mark_write: X|10|161806.4|294624.581818182