static void Ph_B_OFF(void)
{
#ifdef L_DEBUG
Debug_PutString("\n\rB OFF..");
#endif
LATCH_1 = 1; // Enable Latch;
LATCH_2 = 1;
A_Set = 0; // Phase-R Set
A_Reset = 0; // Phase-R Reset
B_Set = 0; // Phase-Y Set
B_Reset = 0; // Phase-Y Reset
C_Set = 0; // Phase-B Set
C_Reset = 1; // Phase-B Reset
OSTimeDly(150); // 700 milli Seconds minimum Delay Required
LATCH_1 = 0; // Disable Latch;
LATCH_2 = 0;
}
static void ALP_En(void)
{
#ifdef L_DEBUG
Debug_PutString("\n\rALP ENABLED..");
#endif
if( ON_OFF() )
{
if( SR2 && !SR3 )
Ph_R_ON();
Reset_Z();
}
else
{
if(SR3 || SR4)
Ph_R_OFF();
Reset_Z();
}
if( ON_OFF_Y() )
{
if(SY2 && !SY3)
Ph_Y_ON();
Reset_Z();
}
else
{
if(SY3 || SY4)
Ph_Y_OFF();
Reset_Z();
}
if( ON_OFF_B() )
{
if(SB2 && !SB3)
Ph_B_ON();
Reset_Z();
}
else
{
if(SB3 || SB4)
Ph_B_OFF();
Reset_Z();
}
}
void Init_Load_SW(void)
{
DDR_A_Set = OUTPUT;
DDR_A_Reset = OUTPUT;
DDR_B_Set = OUTPUT;
DDR_B_Reset = OUTPUT;
DDR_C_Set = OUTPUT;
DDR_C_Reset = OUTPUT;
DDR_D_Set = OUTPUT;
DDR_D_Reset = OUTPUT;
DDR_LATCH1 = OUTPUT;
DDR_LATCH2 = OUTPUT;
LATCH_1 = LATCH_2 = 0; // Disable Latch;
A_Set = 0; // Phase-R Set
A_Reset = 0; // Phase-R Reset
B_Set = 0; // Phase-Y Set
B_Reset = 0; // Phase-Y Reset
C_Set = 0; // Phase-B Set
C_Reset = 0; // Phase-B Reset
#ifdef L_DEBUG
Debug_PutString("\n\rINIT LOAD..");
#endif
}
static unsigned char ON_OFF(void)
{
ONTime.StructTime.Reserved = 0; // Reserver byte in MSB w.r.t Union is Cleared
OFFTime.StructTime.Reserved = 0; // Reserver byte in MSB w.r.t Union is Cleared
if(ONTime.TimeValue < OFFTime.TimeValue) /* On/Off are on the same day */
{
if( (Sys_Time.TimeValue >= ONTime.TimeValue) && ( Sys_Time.TimeValue <= OFFTime.TimeValue))
{
#ifdef L_DEBUG
Debug_PutString("\n\r System Time Value : ");
Debug_PutInt(Sys_Time.TimeValue);
Debug_PutString("\n\r On Time Value : ");
Debug_PutInt(ONTime.TimeValue);
Debug_PutString("\n\r Off Time Value : ");
Debug_PutInt(OFFTime.TimeValue);
Debug_PutString("\n\rSame Day ON\n\r");
#endif
return ON;
}
else
{
#ifdef L_DEBUG
Debug_PutString("\n\r System Time Value : ");
Debug_PutInt(Sys_Time.TimeValue);
Debug_PutString("\n\r On Time Value : ");
Debug_PutInt(ONTime.TimeValue);
Debug_PutString("\n\r Off Time Value : ");
Debug_PutInt(OFFTime.TimeValue);
Debug_PutString("\n\rSame Day OFF\n\r");
#endif
return OFF;
}
}
else /* If On/Off are on different days */
{
if( (Sys_Time.TimeValue >= OFFTime.TimeValue) && ( Sys_Time.TimeValue <= ONTime.TimeValue))
{
#ifdef L_DEBUG
Debug_PutString("\n\r System Time Value : ");
Debug_PutInt(Sys_Time.TimeValue);
Debug_PutString("\n\r On Time Value : ");
Debug_PutInt(ONTime.TimeValue);
Debug_PutString("\n\r Off Time Value : ");
Debug_PutInt(OFFTime.TimeValue);
Debug_PutString("\n\rDifferent Day OFF\n\r");
#endif
return OFF;
}
else
{
#ifdef L_DEBUG
Debug_PutString("\n\r System Time Value : ");
Debug_PutInt(Sys_Time.TimeValue);
Debug_PutString("\n\r On Time Value : ");
Debug_PutInt(ONTime.TimeValue);
Debug_PutString("\n\r Off Time Value : ");
Debug_PutInt(OFFTime.TimeValue);
Debug_PutString("\n\rDifferent Day ON\n\r");
#endif
return ON;
}
}
}
static void ALP_Dis(void)
{
if( ON_OFF() )
{
#ifdef L_DEBUG
Debug_PutString("*!*!*!*!*!..");
#endif
if( (SR2 && !SR3) || (SY2 && !SY3) || (SB2 && !SB3) )
{
#ifdef L_DEBUG
Debug_PutString("\n\rON..");
#endif
if(SR2 && !SR3)
Ph_R_ON();
if(SY2 && !SY3)
Ph_Y_ON();
if(SB2 && !SB3)
Ph_B_ON();
Reset_Z();
} // Close if()
} // Close if(ON_OFF)
else
{
#ifdef L_DEBUG
Debug_PutString("*$$*$$*$$..");
#endif
if(SR3 || SR4 || SY3 || SY4 || SB3 || SB4 )
{
#ifdef L_DEBUG
Debug_PutString("\n\rOFF..");
#endif
if(SR3 || SR4)
Ph_R_OFF();
if(SY3 || SY4)
Ph_Y_OFF();
if(SB3 || SB4)
Ph_B_OFF();
Reset_Z();
} // Close if()
} // Close else(ON_OFF)
#ifdef L_DEBUG
Debug_PutString("\n\n\r\t\t********************************");
Debug_PutString("\n\n\r HH:MM:SS ");
Debug_PutInt(Hour);
Debug_PutChar(':');
Debug_PutInt(Min);
Debug_PutChar(':');
Debug_PutInt(Sec);
Debug_PutString("\t Sys_Time ");
Debug_PutInt(Sys_Time.StructTime.Hrs);
Debug_PutChar(':');
Debug_PutInt(Sys_Time.StructTime.Mins);
Debug_PutChar(':');
Debug_PutInt(Sys_Time.StructTime.Secs);
Debug_PutString("\t ON Time ");
Debug_PutInt(ONTime.StructTime.Hrs);
Debug_PutChar(':');
Debug_PutInt(ONTime.StructTime.Mins);
Debug_PutChar(':');
Debug_PutInt(ONTime.StructTime.Secs);
Debug_PutString("\t OFF Time ");
Debug_PutInt(OFFTime.StructTime.Hrs);
Debug_PutChar(':');
Debug_PutInt(OFFTime.StructTime.Mins);
Debug_PutChar(':');
Debug_PutInt(OFFTime.StructTime.Secs);
Debug_PutString("\n\r\t\t********************************\n");
#endif
}
int main()
{
PS2Controller psData;
char str[20];
uint8 state = 0;
CYBIT circle_flag=0,cross_flag=0,previous_circle=0,previous_cross=0;
CyGlobalIntEnable; /* Enable global interrupts. */
PS2_Start();
Debug_Start();
initLin();
flag_StartEx(flag_isr);
while(1){
psData = PS2_Controller_get();
/*Machine Initialization*/
Automatic_State(0);
/*-----Automatic Control------*/
if((psData.SELECT == 1) && (psData.TRIANGLE == 1)){
sprintf(str,"automatic mode\n");
Debug_PutString(str);
while(1){
psData = PS2_Controller_get();
//mode reset
if((psData.SELECT == 1) &&(psData.START == 1)){
state = 0;
sprintf(str,"mode reset\n");
Debug_PutString(str);
break;
}
//State Increment
if(psData.CIRCLE != previous_circle){
previous_circle = psData.CIRCLE;
if(psData.CIRCLE == 1){
state = state + 1;
}
}
//State Decrement
if(psData.CROSS != previous_cross){
previous_cross = psData.CROSS;
if(psData.CROSS == 1){
if(state >= 1){
state = state - 1;
}
}
}
if(flag == 1){
Automatic_State(state);
flag = 0;
}
}
}
/*-----Manual Control------*/
if((psData.SELECT == 1) && (psData.CROSS == 1)){
sprintf(str,"manual mode\n");
Debug_PutString(str);
while(1){
psData = PS2_Controller_get();
//mode reset
if((psData.SELECT == 1) &&(psData.START == 1)){
sprintf(str,"mode reset\n");
Debug_PutString(str);
break;
}
/*Arm*/
Arm_Motion(psData.L1);
/*Base*/
Base_Motion(psData.UP,psData.RIGHT,psData.DOWN);
/*Air*/
Pantograph_Motion(psData.TRIANGLE);
PantographHand_Motion(psData.CIRCLE);
MainHand_Motion(psData.SQUARE);
SidesHands_Motion(psData.CROSS);
}
}
}
}
