int GetValFromAsync(int pin){
if(GetChannelMode(pin)== IS_SERVO){
return GetServoPos(pin);
}else{
return getDataTableCurrentValue(pin);
}
}
int GetDigitalValFromAsync(uint8_t pin){
initAdvancedAsync();
if(GetChannelMode(pin)==IS_DI || GetChannelMode(pin)==IS_COUNTER_INPUT_HOME || GetChannelMode(pin)==IS_COUNTER_OUTPUT_HOME ){
return getDataTableCurrentValue(pin);
}
if(GetChannelMode(pin)== IS_SERVO){
return GetServoPos(pin);
}
return 1;
}
uint8_t getInterpolatedPin(uint8_t pin){
if(GetChannelMode(pin)!=IS_SERVO){
return 0;
}
//char cSREG;
//cSREG = SREG;
/* store SREG value */
/*
disable interrupts during timed sequence */
//StartCritical();
float ip = interpolate(&velocity[pin],getMs());
//SREG = cSREG;
boolean error = false;
if(ip>(255- SERVO_BOUND)){
println_W("Upper=");
error = true;
}
if(ip<SERVO_BOUND){
println_W("Lower=");
error = true;
}
int dataTableSet = (getDataTableCurrentValue(pin)&0x000000ff);
int interpolatorSet = ((int32_t)velocity[pin].set);
float time = (float)((getDataTableCurrentValue(pin)>>16)&0x0000ffff);
if(dataTableSet!=interpolatorSet){
// println_W("Setpoint=");
// error = true;
SetServoPosDataTable( pin, dataTableSet,time);
}
if(error){
// p_fl_W(ip);print_W(" on chan=");p_int_W(pin);print_W(" target=");p_int_W(interpolatorSet);
// print_W(" Data Table=");p_int_W(dataTableSet);
// println_W("set= \t");p_fl_W(velocity[pin].set);
// println_W("start= \t");p_fl_W(velocity[pin].start);
// println_W("setTime= \t");p_fl_W(velocity[pin].setTime);
// println_W("startTime=\t");p_fl_W(velocity[pin].startTime);
ip=velocity[pin].set;
SetServoPosDataTable(pin, dataTableSet,time);
}
int tmp = (int)ip;
return tmp;
}
boolean pushAsyncReady( uint8_t pin){
if(!IsAsync(pin)){
//println_I("No asyinc on pin ");p_int_I(pin);print_I(" Mode 0x");prHEX8(GetChannelMode(pin),INFO_PRINT);
return false;
}
int32_t last;
int32_t aval;
int32_t db;
//int i=pin;
//EndCritical();
// println_I("Checking timer \nMsTime: ");p_fl_I(tRef->MsTime);
// print_I(" \nSetpoint: ");p_fl_I(tRef->setPoint);
// print_I(" \nCurrentTime: ");p_fl_I(getMs());
float timeout = RunEvery(getPinsScheduler( pin));
// print_I(" \nTimeout: ");p_fl_I(timeout);
if(GetChannelMode(pin)== IS_SERVO){
aval = GetServoPos(pin);
}else{
aval = getDataTableCurrentValue(pin);
}
if(timeout !=0){
// println_I("Time to do something");
switch(getBcsIoDataTable(pin)->PIN.asyncDataType){
case AUTOSAMP:
// println_I("Auto samp ");p_int_I(pin);
getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal = aval;
return true;
case NOTEQUAL:
//
if(aval != getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal){
//println_I("not equ ");p_int_I(pin);
//print_I("\t");
//p_int_I(getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal);
//print_I("\t");
//p_int_I(getBcsIoDataTable(pin)->PIN.currentValue);
getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal = aval;
return true;
}
break;
case DEADBAND:
last = getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal;
db = getBcsIoDataTable(pin)->PIN.asyncDatadeadBandval;
if(!bound(last,aval,db,db)){
//println_I("deadband");p_int_I(pin);
getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal=aval;
return true;
}
break;
case THRESHHOLD:
//println_I("treshhold");p_int_I(pin);
last = getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal;
db = getBcsIoDataTable(pin)->PIN.asyncDatathreshholdval;
if(getBcsIoDataTable(pin)->PIN.asyncDatathreshholdedge == ASYN_RISING || getBcsIoDataTable(pin)->PIN.asyncDatathreshholdedge == ASYN_BOTH){
if(last<= db && aval>db){
getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal = aval;
return true;
}
}
if(getBcsIoDataTable(pin)->PIN.asyncDatathreshholdedge == ASYN_FALLING|| getBcsIoDataTable(pin)->PIN.asyncDatathreshholdedge == ASYN_BOTH){
if(last> db && aval<=db){
getBcsIoDataTable(pin)->PIN.asyncDataPreviousVal = aval;
return true;
}
}
break;
default:
println_E("\nNo type defined!! chan: ");p_int_E(pin);
print_E(" mode: ");printMode(pin,GetChannelMode(pin),ERROR_PRINT);
print_E(" type: ");printAsyncType(pin,ERROR_PRINT);
startAdvancedAsyncDefault(pin);
break;
}
}else{
// println_I("Nothing to do, returning");
}
return false;
}
