/** die wichtigsten (zeitkritischen) Cmds, die in jedem State gelten */
static boolean handleMsg(int val) {
int data;
if (val == BBSys.CMD_STATUS) {
Msg.write(state);
return true;
}
if (val == BBSys.CMD_STOP) {
state = BBSys.MS_RDY;
Triac.stop();
Msg.write(0);
return true;
}
if (val == BBSys.CMD_UP) {
if (state == BBSys.MS_RDY) {
state = BBSys.MS_UP;
Triac.rauf();
Msg.write(0);
} else {
Msg.err(1);
}
return true;
}
if (val == BBSys.CMD_DOWN) {
if (state == BBSys.MS_RDY) {
state = BBSys.MS_DOWN;
Triac.runter();
Msg.write(0);
} else {
Msg.err(1);
}
return true;
}
if (val == BBSys.CMD_PAUSE) {
if (state == BBSys.MS_UP || state == BBSys.MS_DOWN) {
Triac.pause();
Msg.write(0);
} else {
Msg.err(1);
}
return true;
}
if (val == BBSys.CMD_INP) {
Msg.write((JopSys.rd(BBSys.IO_SENSOR) << 4) + JopSys.rd(BBSys.IO_TAST));
return true;
}
if (val == BBSys.CMD_OPTO) {
Msg.write(Triac.getOpto());
return true;
}
if (val == BBSys.CMD_CNT) {
Msg.write(Triac.getCnt());
return true;
}
return false;
}
/*
disp_d(7 downto 4) <= disp(3 downto 0);
disp_rs <= disp(4);
disp_e <= disp(5);
disp_nwr <= '1';
*/
private static void nibble(int val) {
JopSys.wr(val, IO_DISP);
wait1us();
JopSys.wr(0x20 | val, IO_DISP); // set e to 1
wait1us();
JopSys.wr(val, IO_DISP); // set e back to 0
wait1us();
}
public static void init() {
nibble(0x20); // function mode 4-bit, only one nibble!!!
data(0x00); // brightness (0..100%, 3..25%)
cmd(0x02); // cursor home
cmd(0x06); // entry mode
cmd(0x0c); // display on
cmd(0x14); // shift cursor
cmd(0x080); // set dd ram address
cmd(0x01); // display clear
for (int j = 0; j < 3; ++j) { // wait 3 ms
int i = JopSys.rd(JopSys.IO_CNT) + JopSys.MS;
while (i - JopSys.rd(JopSys.IO_CNT) >= 0) ;
}
buf = new int[COLS];
}
/** main loop. */
public static void loop() {
int cmd;
Msg.loop(); // for exact msg timing first entry
Triac.loop(); // should be also exact, but 1ms jitter is ok
// TODO measure jitter with osci
if (Msg.available) {
cmd = Msg.readCmd();
if (!handleMsg(cmd)) {
handleRest(cmd);
if (state == BBSys.MS_SERVICE) {
doService(); // never return!
}
}
lastMsgCnt = 0;
} else {
chkMsgTimeout();
}
if (blinkCnt == 100) {
KflTimer.wd();
blinkCnt = 0;
}
++blinkCnt;
int used = KflTimer.usedTime();
if (maxTime < used) maxTime = used;
JopSys.benchLoop();
}
private static void doTemp() {
int data = (46000 - JopSys.rd(BBSys.IO_ADC)) - 17000 + 4; // 4 for rounding
if (data < 0) data = 0;
data >>>= 3; // only 12 Bit
Msg.write(data);
}
public static void main(String[] args) {
state = BBSys.MS_RESET;
lastErr = 0;
maxTime = 0;
lastMsgCnt = 0;
JopSys.initBench(); // added for benchmarking
KflTimer.init(); // wd
Triac.init();
int addr = 1; // Flash.getStationAddress();
Msg.init(addr);
init(addr);
JopSys.wr(0x02, BBSys.IO_LED); // Betrieb
KflTimer.start();
/*
forever();
*/
}
//
// Service loop:
// local control of triacs.
// never return => switch power off to resume from service
//
private static void doService() {
// we need this to avoid a simple goto in the CFG
boolean exit = false;
JopSys.wr(0x01, BBSys.IO_LED);
for (; exit; ) { // @WCA loop=1
Msg.loop(); // only for replay to set state
Triac.loop();
int val = JopSys.rd(BBSys.IO_TAST);
if (val == BBSys.BIT_TAB) {
Triac.runter();
} else if (val == BBSys.BIT_TAUF) {
Triac.rauf();
} else {
Triac.stop();
}
KflTimer.wd();
KflTimer.waitForNextInterval();
}
}
private static void wait1us() {
int i = JopSys.rd(JopSys.IO_CNT) + JopSys.USEC;
while (i - JopSys.rd(JopSys.IO_CNT) >= 0) ;
}
