124 lines
4.6 KiB
C
124 lines
4.6 KiB
C
//=============================================================================
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// Demo program "Stop and go".
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//
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// Can be run under control of the ROBO TX Controller
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// firmware in download (local) mode.
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// Starts and stops motor connected to outputs M1 by means
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// of the button connected to the input I8. Pulses from the
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// motor are calculated by the counter C1. The motor is
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// stopped after the counter reaches the value of 1000.
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//
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// Disclaimer - Exclusion of Liability
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//
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// This software is distributed in the hope that it will be useful, but WITHOUT
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// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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// FITNESS FOR A PARTICULAR PURPOSE. It can be used and modified by anyone
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// free of any license obligations or authoring rights.
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//=============================================================================
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#include "ROBO_TX_PRG.h"
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#define TA_IDX TA_LOCAL
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//#define TA_IDX TA_EXT_1
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#define MOTOR_NUMBER 1
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#define MOTOR_IDX (MOTOR_NUMBER - 1)
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#define BUTTON_NUMBER 8
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#define BUTTON_IDX (BUTTON_NUMBER - 1)
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static INT16 prev_button_state;
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static char str[128];
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/*-----------------------------------------------------------------------------
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* Function Name : PrgInit
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*
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* This it the program initialization.
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* It is called once.
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*-----------------------------------------------------------------------------*/
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void PrgInit
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(
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TA * p_ta_array, // pointer to the array of transfer areas
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int ta_count // number of transfer areas in array (equal to TA_COUNT)
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)
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{
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TA * p_ta = &p_ta_array[TA_IDX];
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// Configure motor output to be used as a motor output
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p_ta->config.motor[MOTOR_IDX] = TRUE;
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// Configure button input to "Digital 5 kOhm" mode
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p_ta->config.uni[BUTTON_IDX].mode = MODE_R;
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p_ta->config.uni[BUTTON_IDX].digital = TRUE;
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// Inform firmware that configuration was changed
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p_ta->state.config_id += 1;
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// Reset counter
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p_ta->input.cnt_resetted[MOTOR_IDX] = FALSE;
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p_ta->output.cnt_reset_cmd_id[MOTOR_IDX]++;
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// Emulate button press in order to run at program start-up on
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// program branch where the button release is noticed
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prev_button_state = 1;
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}
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/*-----------------------------------------------------------------------------
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* Function Name : PrgTic
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*
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* This is the main function of this program.
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* It is called every tic (1 ms) realtime.
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*-----------------------------------------------------------------------------*/
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int PrgTic
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(
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TA * p_ta_array, // pointer to the array of transfer areas
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int ta_count // number of transfer areas in array (equal to TA_COUNT)
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)
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{
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int rc = 0x7FFF; // return code: 0x7FFF - program should be further called by the firmware;
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// 0 - program should be normally stopped by the firmware;
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// any other value is considered by the firmware as an error code
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// and the program is stopped.
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TA * p_ta = &p_ta_array[TA_IDX];
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INT16 cur_button_state;
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if (p_ta->input.cnt_resetted[MOTOR_IDX]) // wait until counter is resetted
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{
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if (!p_ta->hook_table.IsDisplayBeingRefreshed(p_ta)) // wait until display is refreshed
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{
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// Read current status of the button input
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cur_button_state = p_ta->input.uni[BUTTON_IDX];
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if (prev_button_state != cur_button_state)
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{
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if (prev_button_state && !cur_button_state) // if button was released
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{
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p_ta->hook_table.sprintf(str, "Press button I%d to run motor M%d",
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BUTTON_NUMBER, MOTOR_NUMBER);
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p_ta->hook_table.DisplayMsg(p_ta, str);
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}
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else // if button was pressed
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{
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// Drop all pop-up messages from display and return to the main frame
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p_ta->hook_table.DisplayMsg(p_ta, NULL);
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}
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prev_button_state = cur_button_state;
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}
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// Start motor if button is pressed, otherwise stop it
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p_ta->output.duty[2 * MOTOR_IDX] = (cur_button_state) ? DUTY_MAX : 0;
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}
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if (!p_ta->hook_table.IsDisplayBeingRefreshed(p_ta)) // wait until display is refreshed
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{
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// Program should be executed until counter reaches 1000
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if (p_ta->input.counter[MOTOR_IDX] >= 1000)
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{
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p_ta->hook_table.sprintf(str, "Motor M%d reached position 1000", MOTOR_NUMBER);
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p_ta->hook_table.DisplayMsg(p_ta, str);
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rc = 0; // stop program
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}
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}
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}
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return rc;
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}
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