void UserInit(void){
StartCritical();
//println_W(startmessage);// All printfDEBUG functions do not need to be removed from code if debug is disabled
//#if defined(DEBUG)
// ConfigureUART(115200);
// if(GetChannelMode(16)!=IS_UART_TX)
// setMode(16,IS_UART_TX);
//#endif
setPrintLevelInfoPrint();
println_I(/*PSTR*/("\e[1;1H\e[2J ***Starting User initialization***"));
InitFlagPins();
InitBankLEDs();
SetPowerState0(0,0);
SetPowerState1(0,0);
//_delay_ms(1);
#if defined(WPIRBE)
SPISlaveInit();
#endif
//_delay_ms(100);
println_I(/*PSTR*/("Starting Pin Functions"));
InitPinFunction();
println_I(/*PSTR*/("Starting Pin Modes"));
InitPinModes();
int i=0;
//println_I(/*PSTR*/("Starting hardware modes"));
for(i=0;i<GetNumberOfIOChannels();i++){
initPinState(i);
configAdvancedAsyncNotEqual(i,10);
setAsyncLocal(i,true) ;
}
//println_I(/*PSTR*/("DONE pin initialization"));
//println_I(/*PSTR*/("Adding IO Initialization"));
addNamespaceToList((NAMESPACE_LIST *)get_bcsIoNamespace());
//println_I(/*PSTR*/("Adding IO.SETMODE Initialization"));
addNamespaceToList((NAMESPACE_LIST *)get_bcsIoSetmodeNamespace());
//println_I(/*PSTR*/("Adding Internal Initialization"));
addNamespaceToList((NAMESPACE_LIST *)get_internalNamespace());
setNoAsyncMode(true);
setIgnoreAddressing(true);
//SetPinTris(0,OUTPUT);
//SetDIO(0,OFF);
#if defined(USE_AS_LIBRARY)
InitializeUserCode();
#endif
EndCritical();
println_I(/*PSTR*/("Starting Core"));
// setMode(22,IS_DO);
// setMode(23,IS_DI);
// println_I(/*PSTR*/("Pin done"));
}
void InitPins(void){
//println_I(/*PSTR*/("Starting Pin Functions"));
InitPinFunction();
//println_I(/*PSTR*/("Starting Pin Modes"));
InitPinModes();
int i=0;
//println_I(/*PSTR*/("Starting hardware modes"));
for(i=0;i<GetNumberOfIOChannels();i++){
initPinState(i);
configAdvancedAsyncNotEqual(i,10);
setAsyncLocal(i,TRUE);
}
//println_I(/*PSTR*/("DONE pin initialization"));
}
boolean configAdvancedAsync(BowlerPacket * Packet){
INT32_UNION val;
INT32_UNION time;
uint8_t pin = Packet->use.data[0];
uint8_t type = Packet->use.data[1];
time.byte.FB= Packet->use.data[2];
time.byte.TB= Packet->use.data[3];
time.byte.SB= Packet->use.data[4];
time.byte.LB= Packet->use.data[5];
// this sets default async mode and clears and setting of async mode
setAsyncLocal(Packet->use.data[0],true) ;
//printPacket(Packet,ERROR_PRINT);
switch(type){
case AUTOSAMP:
configAdvancedAsyncAutoSample(pin,time.Val);
break;
case NOTEQUAL:
configAdvancedAsyncNotEqual(pin,time.Val);
break;
case DEADBAND:
val.byte.FB= Packet->use.data[6];
val.byte.TB= Packet->use.data[7];
val.byte.SB= Packet->use.data[8];
val.byte.LB= Packet->use.data[9];
configAdvancedAsyncDeadBand(pin,time.Val,val.Val);
break;
case THRESHHOLD:
val.byte.FB= Packet->use.data[6];
val.byte.TB= Packet->use.data[7];
val.byte.SB= Packet->use.data[8];
val.byte.LB= Packet->use.data[9];
configAdvancedAsyncTreshhold(pin,time.Val,val.Val,Packet->use.data[10]);
break;
default:
ERR(Packet,45,0);
break;
}
getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal=0xffffffff;// invalid previous, forces a value update
READY(Packet,45,0);
return true;
}
void setAsync(uint8_t pin,boolean async){
setAsyncLocal(pin,async);
startAdvancedAsyncDefault(pin);
}