void SendPacketToSPIFromArray(BYTE numBytes,BYTE * data){
BYTE ss = data[0];
if(ss<3){
println_I("invalid SS pin");
return;
}
if(!SetCoProcMode(ss,IS_DO))
SetChannelValueCoProc(ss,1);
SetChannelValueCoProc(ss,0);
BYTE i;
for (i=0;i<numBytes;i++){
data[i+1]=GetByteSPI(data[i+1]);
}
SetChannelValueCoProc(ss,1);
}
void setOutputMine(int group, float v){
if( dyPid[group].outputChannel==DYPID_NON_USED|| !pidGroups[group].config.Enabled)
return;
Print_Level l = getPrintLevel();
//setPrintLevelNoPrint();
int val = (int)(v);
if(dyPid[group].outputMode == IS_SERVO){
val += 128;
if (val>255)
val=255;
if(val<0)
val=0;
}else if(dyPid[group].outputMode == IS_DO){
if(val>0)
val=1;
else
val=0;
}else{
val += 128;
if (val>255)
val=255;
if(val<0)
val=0;
}
int set = (int)val;
//print_W(" set ");p_int_W(group);print_W(" to ");p_int_W(set);
dyPid[group].outVal=set;
SetChannelValueCoProc(dyPid[group].outputChannel,dyPid[group].outVal);
setPrintLevel(l);
}
void setOutputMine(int group, float v){
if( dyPid[group].outputChannel==DYPID_NON_USED||
((pidGroups[group].Enabled == FALSE) && (vel[group].enabled==FALSE)))
return;
Print_Level l = getPrintLevel();
setPrintLevelNoPrint();
int val = (int)(v);
//BYTE center = getBcsIoDataTable()[dyPid[group].outputChannel].PIN.currentConfiguration;
if(dyPid[group].outputMode == IS_SERVO){
val += 128;
if (val>254)
val=254;
if(val<0)
val=0;
}else if(dyPid[group].outputMode == IS_DO){
if(val>0)
val=1;
else
val=0;
}else{
val += 128;
if (val>255)
val=255;
if(val<0)
val=0;
}
int set = (int)val;
if (dyPid[group].outVal==set){
//if(!(RunEvery(&force[chan->channel])>0))
return;
}else{
print_I(" Setting PID output, was ");p_int_I(dyPid[group].outVal);print_I(" is now: ");p_int_I(set);print_I(" on DyIO chan: ");p_int_I(dyPid[group].outputChannel);print_I(", ");
}
dyPid[group].outVal=set;
println_I("PID setting output for group: ");p_int_I(group);
SetChannelValueCoProc(dyPid[group].outputChannel,dyPid[group].outVal);
setPrintLevel(l);
}
