void InitilizeBcsIoSetmode(boolean (*setChanelModeHWPtrLocal)(uint8_t ,uint8_t)){
if(setChanelModeHWPtrLocal == NULL){
setPrintLevelErrorPrint();
//println_E("Failed IO.SETMODE sanity check: initialization");
while(1);
}
setChanelModeHWPtr = setChanelModeHWPtrLocal;
}
DATA_STRUCT * getBcsIoDataTable(){
if(dataPtr==NULL){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: no data table");
#endif
//println_E("Failed IO sanity check: no data table");
//FAIL sanity check
while(1);
}
return dataPtr;
}
BYTE GetChannelMode(BYTE chan){
if(chan<0 || chan>GetNumberOfIOChannels()){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: channel number out of bounds # ");p_int_E(chan);
#endif
//FAIL sanity check
while(1);
}
//Strip off the internally stored High Bit
return getBcsIoDataTable()[chan].PIN.currentChannelMode ;
}
int main(){
//setPrintLevelInfoPrint();
setPrintLevelWarningPrint();
//setPrintLevelNoPrint();
hardwareInit();
RunEveryData loop = {0.0,2000.0};
while(1){
if (_RF5==1){
setPrintLevelErrorPrint();
p_int_E(0);print_E(" Reset Button Pressed from loop");
SetColor(1,1,1);
U1CON = 0x0000;
DelayMs(100);
Reset();
}
if(RunEvery(&loop)>0){
// clearPrint();
// printCartesianData();
}
if( printCalibrations == false &&
GetPIDCalibrateionState(linkToHWIndex(0))==CALIBRARTION_DONE&&
GetPIDCalibrateionState(linkToHWIndex(1))==CALIBRARTION_DONE&&
GetPIDCalibrateionState(linkToHWIndex(2))==CALIBRARTION_DONE
){
printCalibrations = true;
int index=0;
for(index=0;index<3;index++){
int group = linkToHWIndex(index);
println_E("For Axis ");p_int_E(group);
print_E(" upper: ");p_int_E(getPidGroupDataTable(group)->config.upperHistoresis);
print_E(" lower: ");p_int_E(getPidGroupDataTable(group)->config.lowerHistoresis);
print_E(" stop: ");p_int_E(getPidGroupDataTable(group)->config.stop);
}
startHomingLinks();
//Print_Level l= getPrintLevel();
//setPrintLevelInfoPrint();
printCartesianData();
int i;
for(i=0;i<numPidMotors;i++){
printPIDvals(i);
}
//setPrintLevel(l);
}
bowlerSystem();
}
}
boolean setUpNextServo(){
int diff = positionTemp[sort[sortedIndex]] - lastValue;
lastValue = positionTemp[sort[sortedIndex]];
if(diff<0){
setPrintLevelErrorPrint();
println_E("Servo.c: Something is wrong!! Current minus last value is less then 0");
while(1);
}
if(diff>MIN_SERVO){
setTimerServoTicks(diff);
return true;
}
//Fall through for pin shut off
servoStateMachineCurrentState = TIME;
return false;
}
void InitilizeBcsIo(int numPins,
DATA_STRUCT * dataPtrLocal,
BOOL (*setChanelValueHWPtrLocal)(BYTE,BYTE,INT32 *,float),
BOOL (*getChanelValueHWPtrLocal)(BYTE,BYTE*,INT32 *),
BOOL (*setAllChanelValueHWPtrLocal)(INT32 *,float),
BOOL (*getAllChanelValueHWPtrLocal)(INT32 *),
BOOL (*configChannelHWPtrLocal)(BYTE,BYTE,INT32 *)
){
if(numPins < 1
){
setPrintLevelErrorPrint();
println_E("Failed IO sanity check: failed initialization channels #");p_int_E(numPins);
//println_E("Failed IO sanity check: failed initialization channels #");p_int_E(numPins);
//FAIL sanity check
while(1);
}
if(
dataPtrLocal==NULL
){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: failed initialization dataPtrLocal");
#endif
//println_E("Failed IO sanity check: failed initialization dataPtrLocal");
//FAIL sanity check
while(1);
}
if(
setChanelValueHWPtrLocal==NULL
){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: failed initialization setChanelValueHWPtrLocal");
#endif
//println_E("Failed IO sanity check: failed initialization setChanelValueHWPtrLocal");
//FAIL sanity check
while(1);
}
if(
getChanelValueHWPtrLocal==NULL
){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: failed initialization getChanelValueHWPtrLocal");
#endif
//println_E("Failed IO sanity check: failed initialization getChanelValueHWPtrLocal");
//FAIL sanity check
while(1);
}
if(
setAllChanelValueHWPtrLocal==NULL
){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: failed initialization setAllChanelValueHWPtrLocal");
#endif
//println_E("Failed IO sanity check: failed initialization setAllChanelValueHWPtrLocal");
//FAIL sanity check
while(1);
}
if(
getAllChanelValueHWPtrLocal==NULL
){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: failed initialization getAllChanelValueHWPtrLocal");
#endif
//println_E("Failed IO sanity check: failed initialization getAllChanelValueHWPtrLocal");
//FAIL sanity check
while(1);
}
if(
configChannelHWPtrLocal==NULL
){
setPrintLevelErrorPrint();
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644PA__) && !defined(__AVR_ATmega324P__)
println_E("Failed IO sanity check: failed initialization configChannelHWPtrLocal");
#endif
//println_E("Failed IO sanity check: failed initialization configChannelHWPtrLocal");
//FAIL sanity check
while(1);
}
NumberOfIOChannels = numPins;
dataPtr = dataPtrLocal;
setChanelValueHWPtr=setChanelValueHWPtrLocal;
getChanelValueHWPtr=getChanelValueHWPtrLocal;
setAllChanelValueHWPtr=setAllChanelValueHWPtrLocal;
getAllChanelValueHWPtr=getAllChanelValueHWPtrLocal;
configChannelHWPtr=configChannelHWPtrLocal;
}
