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This commit is contained in:
Leon Wilzer 2022-11-23 13:04:41 +01:00
parent 3f1b39099b
commit 2f3214dbeb
2 changed files with 195 additions and 136 deletions
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141
Demo_C/Demo/LED/LED.c
View File

@ -1,25 +1,10 @@
//=============================================================================
// Demo program "Light run".
//
// Can be run under control of the ROBO TX Controller
// firmware in download (local) mode.
// Switches one after another six lamps connected to the outputs O1...O6.
//
// Disclaimer - Exclusion of Liability
//
// This software is distributed in the hope that it will be useful, but WITHOUT
// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
// FITNESS FOR A PARTICULAR PURPOSE. It can be used and modified by anyone
// free of any license obligations or authoring rights.
//=============================================================================
#include "ROBO_TX_PRG.h"
#define LIGHT_ON DUTY_MAX
#define LIGHT_MAX DUTY_MAX
#define LIGHT_OFF 0
#define BEG_LAMP_IDX 0
#define END_LAMP_IDX 0
#define END_LAMP_IDX 2
static unsigned long cur_time;
static unsigned long prev_time;
@ -28,13 +13,6 @@ static int lamp_idx;
static int n_loops;
static int wait;
/*-----------------------------------------------------------------------------
* Function Name : PrgInit
*
* This it the program initialization.
* It is called once.
*-----------------------------------------------------------------------------*/
void PrgInit
(
TA * p_ta_array, // pointer to the array of transfer areas
@ -48,13 +26,6 @@ void PrgInit
wait = 1000;
}
/*-----------------------------------------------------------------------------
* Function Name : PrgTic
*
* This is the main function of this program.
* It is called every tic (1 ms) realtime.
*-----------------------------------------------------------------------------*/
int PrgTic
(
TA * p_ta_array, // pointer to the array of transfer areas
@ -69,112 +40,20 @@ int PrgTic
// Get the current value of the system time
cur_time = p_ta->hook_table.GetSystemTime(TIMER_UNIT_MILLISECONDS);
while (1)
while(1)
{
switch (stage)
if(cur_time-prev_time>=wait)
{
case ON_1:
if (prev_time == 0)
{
// Switch the current lamp on
p_ta->output.duty[lamp_idx] = LIGHT_ON;
// Store the current value of the system time
prev_time = cur_time;
}
else
{
// The lamp should be on for the number of milliseconds from the variable "wait"
if (cur_time - prev_time >= wait)
{
// Switch the current lamp off
p_ta->output.duty[lamp_idx] = LIGHT_OFF;
if (lamp_idx + 1 <= END_LAMP_IDX)
{
prev_time = 0;
lamp_idx++; // switch to the next lamp
continue;
}
else
{
// Store the current value of the system time
prev_time = cur_time;
stage = PAUSE_1;
}
}
}
return rc;
case PAUSE_1:
// All lamps should be off for the number of milliseconds from the variable "wait"
if (cur_time - prev_time >= wait)
{
prev_time = 0;
stage = ON_2;
}
else
if(++lamp_idx>END_LAMP_IDX)
{
lamp_idx = 0;
p_ta->output.duty[END_LAMP_IDX] = LIGHT_OFF;
// p_ta->output.duty[lamp_idx] = LIGHT_MAX;
return rc;
}
case ON_2:
if (prev_time == 0)
{
// Switch the current lamp on
p_ta->output.duty[lamp_idx] = LIGHT_ON;
// Store the current value of the system time
prev_time = cur_time;
}
else
{
// The lamp should be on for the number of milliseconds from the variable "wait"
if (cur_time - prev_time >= wait)
{
// Switch the current lamp off
p_ta->output.duty[lamp_idx] = LIGHT_OFF;
if (lamp_idx - 1 >= BEG_LAMP_IDX)
{
prev_time = 0;
lamp_idx--; // switch to the previous lamp
continue;
}
else
{
// Store the current value of the system time
prev_time = cur_time;
stage = PAUSE_2;
p_ta->output.duty[lamp_idx-1] = LIGHT_OFF;
p_ta->output.duty[lamp_idx] = LIGHT_MAX;
}
}
}
return rc;
case PAUSE_2:
// All lamps should be off for 1 second
if (cur_time - prev_time >= 1000)
{
if (--n_loops <= 0)
{
rc = 0; // stop program
}
else
{
wait /= 2;
prev_time = 0;
stage = ON_1;
continue;
}
}
return rc;
default:
return rc;
}
}
return rc;
}

180
Demo_C/Demo/LED/LightRun.c Normal file
View File

@ -0,0 +1,180 @@
//=============================================================================
// Demo program "Light run".
//
// Can be run under control of the ROBO TX Controller
// firmware in download (local) mode.
// Switches one after another six lamps connected to the outputs O1...O6.
//
// Disclaimer - Exclusion of Liability
//
// This software is distributed in the hope that it will be useful, but WITHOUT
// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
// FITNESS FOR A PARTICULAR PURPOSE. It can be used and modified by anyone
// free of any license obligations or authoring rights.
//=============================================================================
#include "ROBO_TX_PRG.h"
#define LIGHT_ON DUTY_MAX
#define LIGHT_OFF 0
#define BEG_LAMP_IDX 0
#define END_LAMP_IDX 0
static unsigned long cur_time;
static unsigned long prev_time;
static enum {ON_1, PAUSE_1, ON_2, PAUSE_2} stage;
static int lamp_idx;
static int n_loops;
static int wait;
/*-----------------------------------------------------------------------------
* Function Name : PrgInit
*
* This it the program initialization.
* It is called once.
*-----------------------------------------------------------------------------*/
void PrgInit
(
TA * p_ta_array, // pointer to the array of transfer areas
int ta_count // number of transfer areas in array (equal to TA_COUNT)
)
{
prev_time = 0;
stage = ON_2;
lamp_idx = BEG_LAMP_IDX;
n_loops = 10;
wait = 1000;
}
/*-----------------------------------------------------------------------------
* Function Name : PrgTic
*
* This is the main function of this program.
* It is called every tic (1 ms) realtime.
*-----------------------------------------------------------------------------*/
int PrgTic
(
TA * p_ta_array, // pointer to the array of transfer areas
int ta_count // number of transfer areas in array (equal to TA_COUNT)
)
{
int rc = 0x7FFF; // return code: 0x7FFF - program should be further called by the firmware;
// 0 - program should be normally stopped by the firmware;
// any other value is considered by the firmware as an error code
// and the program is stopped.
TA * p_ta = &p_ta_array[TA_LOCAL];
// Get the current value of the system time
cur_time = p_ta->hook_table.GetSystemTime(TIMER_UNIT_MILLISECONDS);
while (1)
{
switch (stage)
{
case ON_1:
if (prev_time == 0)
{
// Switch the current lamp on
p_ta->output.duty[lamp_idx] = LIGHT_ON;
// Store the current value of the system time
prev_time = cur_time;
}
else
{
// The lamp should be on for the number of milliseconds from the variable "wait"
if (cur_time - prev_time >= wait)
{
// Switch the current lamp off
p_ta->output.duty[lamp_idx] = LIGHT_OFF;
if (lamp_idx + 1 <= END_LAMP_IDX)
{
prev_time = 0;
lamp_idx++; // switch to the next lamp
continue;
}
else
{
// Store the current value of the system time
prev_time = cur_time;
stage = PAUSE_1;
}
}
}
return rc;
case PAUSE_1:
// All lamps should be off for the number of milliseconds from the variable "wait"
if (cur_time - prev_time >= wait)
{
prev_time = 0;
stage = ON_2;
}
else
{
return rc;
}
case ON_2:
if (prev_time == 0)
{
// Switch the current lamp on
p_ta->output.duty[lamp_idx] = LIGHT_ON;
// Store the current value of the system time
prev_time = cur_time;
}
else
{
// The lamp should be on for the number of milliseconds from the variable "wait"
if (cur_time - prev_time >= wait)
{
// Switch the current lamp off
p_ta->output.duty[lamp_idx] = LIGHT_OFF;
if (lamp_idx - 1 >= BEG_LAMP_IDX)
{
prev_time = 0;
lamp_idx--; // switch to the previous lamp
continue;
}
else
{
// Store the current value of the system time
prev_time = cur_time;
stage = PAUSE_2;
}
}
}
return rc;
case PAUSE_2:
// All lamps should be off for 1 second
if (cur_time - prev_time >= 1000)
{
if (--n_loops <= 0)
{
rc = 0; // stop program
}
else
{
wait /= 2;
prev_time = 0;
stage = ON_1;
continue;
}
}
return rc;
default:
return rc;
}
}
return rc;
}