/** 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();
}
/** 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;
}
private static void chkMsgTimeout() {
if (state == BBSys.MS_UP || state == BBSys.MS_DOWN) {
++lastMsgCnt;
if (lastMsgCnt > MSG_TIMEOUT) {
Triac.stop();
lastErr = Err.MS_NO_ZS;
state = BBSys.MS_ERR;
}
} else {
lastMsgCnt = 0;
}
}
//
// 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();
}
}
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();
*/
}
private static void xxxDbgData() {
int data = Msg.readData();
Msg.write(Triac.getIadc(data)); // read Iadc (0..2)
}
/** allg. cmd's, nicht so zeitkritisch */
static boolean handleRest(int val) {
int data;
if (val == BBSys.CMD_SET_STATE) {
if (state != BBSys.MS_UP && state != BBSys.MS_DOWN) { // nicht in UP/DOWN moeglich!!!
data = Msg.readData(); // Vorsicht: Nur rdy, dbg und service sinnvoll
if (data == BBSys.MS_RDY || data == BBSys.MS_DBG || data == BBSys.MS_SERVICE) {
state = data;
Msg.write(0);
} else {
Msg.err(2);
}
return true;
} else {
Msg.err(1);
return true;
}
}
if (val == BBSys.CMD_SETCNT) {
Triac.setCnt(Msg.readData());
Msg.write(0);
return true;
}
if (val == BBSys.CMD_TIME) {
Msg.write(maxTime >>> 8); // div. by 256 => 34.7 us per tick
return true;
}
if (val == BBSys.CMD_RESTIM) {
maxTime = 0;
Msg.write(0);
return true;
}
if (val == BBSys.CMD_VERSION) {
Msg.write((VER_MAJ << 6) + VER_MIN);
return true;
}
if (val == BBSys.CMD_SERVICECNT) {
Msg.write(Triac.serviceCnt);
return true;
}
if (val == BBSys.CMD_SET_DOWNCNT) {
Triac.setDownCnt(Msg.readData());
Msg.write(0);
return true;
}
if (val == BBSys.CMD_SET_UPCNT) {
Triac.setUpCnt(Msg.readData());
Msg.write(0);
return true;
}
if (val == BBSys.CMD_SET_MAXCNT) {
Triac.setMaxCnt(Msg.readData());
Msg.write(0);
return true;
}
if (val == BBSys.CMD_ERRNR) {
Msg.write(lastErr);
lastErr = 0;
state = BBSys.MS_RDY;
return true;
}
if (val == BBSys.CMD_TEMP) {
doTemp();
return true;
}
if (val == BBSys.CMD_DBG_DATA) {
xxxDbgData();
return true;
}
if (state == BBSys.MS_DBG) {
return handleDbg(val);
}
return false;
}