aboutsummaryrefslogtreecommitdiff
path: root/AT91SAM7S256/Source/c_input.c
diff options
context:
space:
mode:
Diffstat (limited to 'AT91SAM7S256/Source/c_input.c')
-rw-r--r--AT91SAM7S256/Source/c_input.c1523
1 files changed, 1523 insertions, 0 deletions
diff --git a/AT91SAM7S256/Source/c_input.c b/AT91SAM7S256/Source/c_input.c
new file mode 100644
index 0000000..47ca7c0
--- /dev/null
+++ b/AT91SAM7S256/Source/c_input.c
@@ -0,0 +1,1523 @@
+
+//
+// Date init 14.12.2004
+//
+// Revision date $Date:: 3/21/09 10:31a $
+//
+// Filename $Workfile:: c_input.c $
+//
+// Version $Revision:: 39 $
+//
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_inpu $
+//
+// Platform C
+//
+
+#include "stdconst.h"
+#include "modules.h"
+#include "c_input.h"
+#include "d_input.h"
+#include "c_output.iom"
+#include "c_loader.iom"
+#include <string.h>
+
+
+#define INVALID_RELOAD_NORMAL 20
+#define INVALID_RELOAD_SOUND 300
+#define INVALID_RELOAD_COLOR 400
+
+#define ROT_SLOW_SPEED 30
+#define ROT_OV_SAMPLING 7
+
+#define VCC_SENSOR 5000L
+#define VCC_SENSOR_DIODE 4300L
+#define AD_MAX 1023L
+
+#define REFLECTIONSENSORMIN (1906L/(VCC_SENSOR/AD_MAX))
+#define REFLECTIONSENSORMAX ((AD_MAX * 4398L)/VCC_SENSOR)
+#define REFLECTIONSENSORPCTDYN (UBYTE)(((REFLECTIONSENSORMAX - REFLECTIONSENSORMIN) * 100L)/AD_MAX)
+
+#define NEWLIGHTSENSORMIN (800L/(VCC_SENSOR/AD_MAX))
+#define NEWLIGHTSENSORMAX ((AD_MAX * 4400L)/VCC_SENSOR)
+#define NEWLIGHTSENSORPCTDYN (UBYTE)(((NEWLIGHTSENSORMAX - NEWLIGHTSENSORMIN) * 100L)/AD_MAX)
+
+#define NEWSOUNDSENSORMIN (650L/(VCC_SENSOR/AD_MAX))
+#define NEWSOUNDSENSORMAX ((AD_MAX * 4980L)/VCC_SENSOR)
+#define NEWSOUNDSENSORPCTDYN (UBYTE)(((NEWSOUNDSENSORMAX - NEWSOUNDSENSORMIN) * 100L)/AD_MAX)
+
+/* Remember this is ARM AD converter - 3,3 VDC as max voltage */
+/* When in color mode background value is substracted => min = 0!!! */
+#define COLORSENSORBGMIN (214/(3300/AD_MAX))
+#define COLORSENSORMIN (1L/(3300/AD_MAX)) /* 1 inserted else div 0 (1L/(120/AD_MAX)) */
+#define COLORSENSORMAX ((AD_MAX * 3300L)/3300)
+#define COLORSENSORPCTDYN (UBYTE)(((COLORSENSORMAX - COLORSENSORMIN) * 100L)/AD_MAX)
+#define COLORSENSORBGPCTDYN (UBYTE)(((COLORSENSORMAX - COLORSENSORBGMIN) * 100L)/AD_MAX)
+
+enum
+{
+ POWER = 0x00,
+ NO_POWER = 0x01,
+ ACTIVE = 0x02,
+ ALWAYS_ACTIVE = 0x04,
+ DIGI_0_HIGH = 0x08,
+ DIGI_1_HIGH = 0x10,
+ DIGI_0_IN = 0x20,
+ DIGI_1_IN = 0x40,
+ CUSTOM_SETUP = 0x80
+};
+
+
+const SWORD TempConvTable[] =
+{
+ 1500, 1460, 1430, 1400, 1380, 1360, 1330, 1310, 1290, 1270, 1250, 1230, 1220, 1200, 1190, 1170,
+ 1160, 1150, 1140, 1130, 1110, 1100, 1090, 1080, 1070, 1060, 1050, 1040, 1030, 1020, 1010, 1000,
+ 994, 988, 982, 974, 968, 960, 954, 946, 940, 932, 926, 918, 912, 906, 900, 894,
+ 890, 884, 878, 874, 868, 864, 858, 854, 848, 844, 838, 832, 828, 822, 816, 812,
+ 808, 802, 798, 794, 790, 786, 782, 780, 776, 772, 768, 764, 762, 758, 754, 750,
+ 748, 744, 740, 736, 732, 730, 726, 722, 718, 716, 712, 708, 704, 700, 696, 694,
+ 690, 688, 684, 682, 678, 674, 672, 668, 666, 662, 660, 656, 654, 650, 648, 644,
+ 642, 640, 638, 634, 632, 630, 628, 624, 622, 620, 616, 614, 612, 610, 608, 604,
+ 602, 600, 598, 596, 592, 590, 588, 586, 584, 582, 580, 578, 576, 574, 572, 570,
+ 568, 564, 562, 560, 558, 556, 554, 552, 550, 548, 546, 544, 542, 540, 538, 536,
+ 534, 532, 530, 528, 526, 524, 522, 520, 518, 516, 514, 512, 510, 508, 508, 506,
+ 504, 502, 500, 498, 496, 494, 494, 492, 490, 488, 486, 486, 484, 482, 480, 478,
+ 476, 476, 474, 472, 470, 468, 468, 466, 464, 462, 460, 458, 458, 456, 454, 452,
+ 450, 448, 448, 446, 444, 442, 442, 440, 438, 436, 436, 434, 432, 432, 430, 428,
+ 426, 426, 424, 422, 420, 420, 418, 416, 416, 414, 412, 410, 408, 408, 406, 404,
+ 404, 402, 400, 398, 398, 396, 394, 394, 392, 390, 390, 388, 386, 386, 384, 382,
+ 382, 380, 378, 378, 376, 374, 374, 372, 370, 370, 368, 366, 366, 364, 362, 362,
+ 360, 358, 358, 356, 354, 354, 352, 350, 350, 348, 348, 346, 344, 344, 342, 340,
+ 340, 338, 338, 336, 334, 334, 332, 332, 330, 328, 328, 326, 326, 324, 322, 322,
+ 320, 320, 318, 316, 316, 314, 314, 312, 310, 310, 308, 308, 306, 304, 304, 302,
+ 300, 300, 298, 298, 296, 296, 294, 292, 292, 290, 290, 288, 286, 286, 284, 284,
+ 282, 282, 280, 280, 278, 278, 276, 274, 274, 272, 272, 270, 270, 268, 268, 266,
+ 264, 264, 262, 262, 260, 260, 258, 258, 256, 254, 254, 252, 252, 250, 250, 248,
+ 248, 246, 244, 244, 242, 240, 240, 240, 238, 238, 236, 236, 234, 234, 232, 230,
+ 230, 228, 228, 226, 226, 224, 224, 222, 220, 220, 218, 218, 216, 216, 214, 214,
+ 212, 212, 210, 210, 208, 208, 206, 204, 204, 202, 202, 200, 200, 198, 198, 196,
+ 196, 194, 194, 192, 190, 190, 188, 188, 186, 186, 184, 184, 182, 182, 180, 180,
+ 178, 178, 176, 176, 174, 174, 172, 172, 170, 170, 168, 168, 166, 166, 164, 164,
+ 162, 162, 160, 160, 158, 156, 156, 154, 154, 152, 152, 150, 150, 148, 148, 146,
+ 146, 144, 144, 142, 142, 140, 140, 138, 136, 136, 136, 134, 134, 132, 130, 130,
+ 128, 128, 126, 126, 124, 124, 122, 122, 120, 120, 118, 118, 116, 116, 114, 114,
+ 112, 110, 110, 108, 108, 106, 106, 104, 104, 102, 102, 100, 100, 98, 98, 96,
+ 94, 94, 92, 92, 90, 90, 88, 88, 86, 86, 84, 82, 82, 80, 80, 78,
+ 78, 76, 76, 74, 74, 72, 72, 70, 70, 68, 68, 66, 66, 64, 62, 62,
+ 60, 60, 58, 56, 56, 54, 54, 52, 52, 50, 50, 48, 48, 46, 46, 44,
+ 44, 42, 40, 40, 38, 38, 36, 34, 34, 32, 32, 30, 30, 28, 28, 26,
+ 24, 24, 22, 22, 20, 20, 18, 16, 16, 14, 14, 12, 12, 10, 10, 8,
+ 6, 6, 4, 2, 2, 0, 0, -2, -4, -4, -6, -6, -8, -10, -10, -12,
+ -12, -14, -16, - 16, -18, -20, -20, -22, -22, -24, -26, -26, -28, -30, -30, -32,
+ -34, -34, -36, -36, -38, -40, -40, -42, -42, -44, -46, -46, -48, -50, -50, -52,
+ -54, -54, -56, -58, -58, -60, -60, -62, -64, -66, -66, -68, -70, -70, -72, -74,
+ -76, -76, -78, -80, -80, -82, -84, -86, -86, -88, -90, -90, -92, -94, -94, -96,
+ -98, -98, -100, -102, -104, -106, -106, -108, -110, -112, -114, -114, -116, -118, -120, -120,
+ -122, -124, -126, -128, -130, -130, -132, -134, -136, -138, -140, -142, -144, -146, -146, -148,
+ -150, -152, -154, -156, -158, -160, -162, -164, -166, -166, -168, -170, -172, -174, -176, -178,
+ -180, -182, -184, -186, -188, -190, -192, -194, -196, -196, -198, -200, -202, -204, -206, -208,
+ -210, -212, -214, -216, -218, -220, -224, -226, -228, -230, -232, -234, -236, -238, -242, -246,
+ -248, -250, -254, -256, -260, -262, -264, -268, -270, -274, -276, -278, -282, -284, -286, -290,
+ -292, -296, -298, -300, -306, -308, -312, -316, -320, -324, -326, -330, -334, -338, -342, -344,
+ -348, -354, -358, -362, -366, -370, -376, -380, -384, -388, -394, -398, -404, -410, -416, -420,
+ -428, -432, -440, -446, -450, -460, -468, -476, -484, -492, -500, -510, -524, -534, -546, -560,
+ -572, -588, -600, -630, -656, -684, -720, -770
+};
+
+static IOMAPINPUT IOMapInput;
+static VARSINPUT VarsInput;
+
+const HEADER cInput =
+{
+ 0x00030001L,
+ "Input",
+ cInputInit,
+ cInputCtrl,
+ cInputExit,
+ (void *)&IOMapInput,
+ (void *)&VarsInput,
+ (UWORD)sizeof(IOMapInput),
+ (UWORD)sizeof(VarsInput),
+ 0x0000 //Code size - not used so far
+};
+
+void cInputCalcFullScale(UWORD *pRawVal, UWORD ZeroPointOffset, UBYTE PctFullScale, UBYTE InvState);
+void cInputCalcSensorValue(UWORD NewSensorRaw, UWORD *pOldSensorRaw, SWORD *pSensorValue,
+ UBYTE *pBoolean, UBYTE *pDebounce, UBYTE *pSampleCnt,
+ UBYTE *LastAngle, UBYTE *pEdgeCnt, UBYTE Slope,
+ UBYTE Mode);
+void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType);
+void cInputSetupCustomSensor(UBYTE Port);
+void cInputCalcSensorValues(UBYTE No);
+UBYTE cInputInitColorSensor(UBYTE Port, UBYTE *pInitStatus);
+void cInputCalibrateColor(COLORSTRUCT *pC, UWORD *pNewVals);
+
+void cInputInit(void* pHeader)
+{
+ UBYTE Tmp;
+
+ memset(IOMapInput.Colors, 0, sizeof(IOMapInput.Colors));
+ memset(VarsInput.VarsColor, 0, sizeof(VarsInput.VarsColor));
+
+ /* Init IO map */
+ for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)
+ {
+ IOMapInput.Inputs[Tmp].SensorType = NO_SENSOR;
+ IOMapInput.Inputs[Tmp].SensorMode = RAWMODE;
+ IOMapInput.Inputs[Tmp].SensorRaw = 0;
+ IOMapInput.Inputs[Tmp].SensorValue = 0;
+ IOMapInput.Inputs[Tmp].SensorBoolean = 0;
+ IOMapInput.Inputs[Tmp].InvalidData = INVALID_DATA;
+ IOMapInput.Inputs[Tmp].DigiPinsDir = 0;
+ IOMapInput.Inputs[Tmp].DigiPinsOut = 0;
+ IOMapInput.Inputs[Tmp].CustomActiveStatus = CUSTOMINACTIVE;
+ IOMapInput.Inputs[Tmp].CustomZeroOffset = 0;
+ IOMapInput.Inputs[Tmp].CustomPctFullScale = 0;
+ dInputRead0(Tmp, &(IOMapInput.Inputs[Tmp].DigiPinsIn));
+ dInputRead1(Tmp, &(IOMapInput.Inputs[Tmp].DigiPinsIn));
+
+ VarsInput.EdgeCnt[Tmp] = 0;
+ VarsInput.InputDebounce[Tmp] = 0;
+ VarsInput.LastAngle[Tmp] = 0;
+ VarsInput.SampleCnt[Tmp] = 0;
+ VarsInput.InvalidTimer[Tmp] = INVALID_RELOAD_NORMAL;
+ VarsInput.OldSensorType[Tmp] = NO_SENSOR;
+ }
+
+ VarsInput.ColorStatus = 0;
+ VarsInput.ColorCnt = 0;
+
+ dInputInit();
+}
+
+void cInputCtrl(void)
+{
+ UBYTE Tmp;
+
+
+ if (VarsInput.ColorStatus)
+ {
+ switch(VarsInput.ColorCnt)
+ {
+ case 0:
+ {
+ VarsInput.ColorCnt = 1;
+ dInputSetColorClkInput();
+
+ }
+ break;
+ case 1:
+ {
+ VarsInput.ColorCnt = 2;
+ }
+ break;
+ case 2:
+ {
+ VarsInput.ColorCnt = 0;
+ dInputGetAllColors(IOMapInput.Colors, VarsInput.ColorStatus);
+ }
+ break;
+ default:
+ {
+ VarsInput.ColorCnt = 0;
+ }
+ break;
+ }
+ }
+
+ for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)
+ {
+
+ if ((IOMapInput.Inputs[Tmp].SensorType) != (VarsInput.OldSensorType[Tmp]))
+ {
+
+ /* Clear all variables for this sensor */
+ VarsInput.EdgeCnt[Tmp] = 0;
+ VarsInput.InputDebounce[Tmp] = 0;
+ VarsInput.LastAngle[Tmp] = 0;
+ VarsInput.SampleCnt[Tmp] = 0;
+ VarsInput.ColorStatus &= ~(0x01<<Tmp);
+ memset(&(VarsInput.VarsColor[Tmp]),0 ,sizeof(VarsInput.VarsColor[Tmp]));
+
+ /* Setup the pins for the new sensortype */
+ cInputSetupType(Tmp, &(IOMapInput.Inputs[Tmp].SensorType), VarsInput.OldSensorType[Tmp]);
+ IOMapInput.Inputs[Tmp].InvalidData = INVALID_DATA;
+ VarsInput.OldSensorType[Tmp] = IOMapInput.Inputs[Tmp].SensorType;
+ }
+ else
+ {
+ if (VarsInput.InvalidTimer[Tmp])
+ {
+
+ /* A type change has been carried out earlier - waiting for valid data */
+ /* The color sensor requires special startup sequence with communication */
+ if (((IOMapInput.Inputs[Tmp].SensorType) == COLORFULL) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORRED) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORGREEN)||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORBLUE) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLOREXIT) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORNONE))
+ {
+ cInputCalcSensorValues(Tmp);
+ }
+
+ (VarsInput.InvalidTimer[Tmp])--;
+ if (0 == VarsInput.InvalidTimer[Tmp])
+ {
+
+ /* Time elapsed - data are now valid */
+ IOMapInput.Inputs[Tmp].InvalidData &= ~INVALID_DATA;
+ }
+ }
+ else
+ {
+
+ /* The invalid bit could have been set by the VM due to Mode change */
+ /* but input module needs to be called once to update the values */
+ IOMapInput.Inputs[Tmp].InvalidData &= ~INVALID_DATA;
+ }
+ }
+
+ if (!(INVALID_DATA & (IOMapInput.Inputs[Tmp].InvalidData)))
+ {
+ cInputCalcSensorValues(Tmp);
+ }
+ }
+}
+
+
+void cInputCalcSensorValues(UBYTE No)
+{
+
+ switch(IOMapInput.Inputs[No].SensorType)
+ {
+ case SWITCH:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ case TEMPERATURE:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ if (InputVal < 290)
+ {
+ InputVal = 290;
+ }
+ else
+ {
+ if (InputVal > 928)
+ {
+ InputVal = 928;
+ }
+ }
+ InputVal = TempConvTable[(InputVal) - 197];
+ InputVal = InputVal + 200;
+ InputVal = (UWORD)(((SLONG)InputVal * (SLONG)1023)/(SLONG)900);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ case REFLECTION:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, REFLECTIONSENSORMIN, REFLECTIONSENSORPCTDYN, TRUE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ case ANGLE:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ /* Dual case intended */
+ case LIGHT_ACTIVE:
+ case LIGHT_INACTIVE:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+
+ }
+ break;
+
+ /* Dual case intended */
+ case SOUND_DB:
+ case SOUND_DBA:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+
+ }
+ break;
+
+ case CUSTOM:
+ {
+ UWORD InputVal;
+
+ /* Setup and read digital IO */
+ cInputSetupCustomSensor(No);
+ dInputRead0(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+ dInputRead1(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, IOMapInput.Inputs[No].CustomZeroOffset, IOMapInput.Inputs[No].CustomPctFullScale, FALSE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+
+ }
+ break;
+
+ /* Tripple case intended */
+ case LOWSPEED:
+ case LOWSPEED_9V:
+ case HIGHSPEED:
+ {
+ }
+ break;
+
+ /* Four cases intended */
+ case COLORRED:
+ case COLORGREEN:
+ case COLORBLUE:
+ case COLORNONE:
+ {
+
+ UWORD InputVal;
+ switch (IOMapInput.Colors[No].CalibrationState)
+ {
+ case SENSOROFF:
+ {
+
+ /* Make sure that sensor data are invalid while unplugged*/
+ VarsInput.InvalidTimer[No] = INVALID_RELOAD_COLOR;
+ IOMapInput.Inputs[No].InvalidData = INVALID_DATA;
+
+ /* Check if sensor has been attached */
+ if (dInputCheckColorStatus(No))
+ {
+
+ /* Sensor has been attached now get cal data */
+ VarsInput.VarsColor[No].ColorInitState = 0;
+ (IOMapInput.Colors[No].CalibrationState) = SENSORCAL;
+ }
+ }
+ break;
+ case SENSORCAL:
+ {
+
+ UBYTE Status;
+ if (FALSE == cInputInitColorSensor(No, &Status))
+ {
+
+ /* Color sensor has been removed during calibration */
+ (IOMapInput.Colors[No].CalibrationState) = SENSOROFF;
+ }
+
+ if (TRUE == Status)
+ {
+
+ /* Use clock to detect errors */
+ dInputSetDirInDigi0(No);
+ (IOMapInput.Colors[No].CalibrationState) = 0;
+ }
+ }
+ break;
+ default:
+ {
+ if (dInputGetColor(No, &(IOMapInput.Inputs[No].ADRaw)))
+ {
+ InputVal = IOMapInput.Inputs[No].ADRaw;
+ cInputCalcFullScale(&InputVal, COLORSENSORBGMIN, COLORSENSORBGPCTDYN, FALSE);
+ cInputCalcSensorValue(InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ else
+ {
+ IOMapInput.Colors[No].CalibrationState = SENSOROFF;
+ }
+ }
+ break;
+ }
+ }
+ break;
+ case COLORFULL:
+ {
+ switch (IOMapInput.Colors[No].CalibrationState)
+ {
+ case SENSOROFF:
+ {
+
+ /* Make sure that sensor data are invalid while unplugged */
+ VarsInput.InvalidTimer[No] = INVALID_RELOAD_COLOR;
+ IOMapInput.Inputs[No].InvalidData = INVALID_DATA;
+
+ /* Check if sensor has been attached */
+ if (dInputCheckColorStatus(No))
+ {
+
+ /* Sensor has been attached now get cal data */
+ VarsInput.VarsColor[No].ColorInitState = 0;
+ (IOMapInput.Colors[No].CalibrationState) = SENSORCAL;
+ }
+ }
+ break;
+ case SENSORCAL:
+ {
+ UBYTE Status;
+
+ if (FALSE == cInputInitColorSensor(No, &Status))
+ {
+
+ /* Color sensor has been removed during calibration */
+ (IOMapInput.Colors[No].CalibrationState) = SENSOROFF;
+ VarsInput.ColorStatus &= ~(0x01<<No);
+ }
+
+ if (TRUE == Status)
+ {
+
+ /* Initialization finished with success recalc the values*/
+ (IOMapInput.Colors[No].CalibrationState) = 0;
+
+ /* Calculate Calibration factor */
+ VarsInput.ColorStatus |= (0x01<<No);
+
+ }
+ }
+ break;
+ default:
+ {
+
+ /* calculate only when new ad values are ready */
+ if (0 == VarsInput.ColorCnt)
+ {
+
+ UWORD NewSensorVals[NO_OF_COLORS];
+ UBYTE ColorCount;
+
+ COLORSTRUCT *pC;
+
+ pC = &(IOMapInput.Colors[No]);
+
+ /* Check if sensor is deteched */
+ if (dInputCheckColorStatus(No))
+ {
+
+ /* Calibrate the raw ad values returns the SensorRaw */
+ cInputCalibrateColor(pC, NewSensorVals);
+
+ for(ColorCount = 0; ColorCount < BLANK; ColorCount++)
+ {
+
+ /* Calculate color sensor values */
+ cInputCalcSensorValue(NewSensorVals[ColorCount],
+ &(IOMapInput.Colors[No].SensorRaw[ColorCount]),
+ &(IOMapInput.Colors[No].SensorValue[ColorCount]),
+ &(IOMapInput.Colors[No].Boolean[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorInputDebounce[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorSampleCnt[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorLastAngle[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorEdgeCnt[ColorCount]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+
+ /* Calculate background sensor values */
+ cInputCalcSensorValue(NewSensorVals[BLANK],
+ &(IOMapInput.Colors[No].SensorRaw[BLANK]),
+ &(IOMapInput.Colors[No].SensorValue[BLANK]),
+ &(IOMapInput.Colors[No].Boolean[BLANK]),
+ &(VarsInput.VarsColor[No].ColorInputDebounce[BLANK]),
+ &(VarsInput.VarsColor[No].ColorSampleCnt[BLANK]),
+ &(VarsInput.VarsColor[No].ColorLastAngle[BLANK]),
+ &(VarsInput.VarsColor[No].ColorEdgeCnt[BLANK]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+
+ /* Color Sensor values has been calculated - */
+ /* now calculate the color and put it in Sensor value */
+ if (((pC->SensorRaw[RED]) > (pC->SensorRaw[BLUE] )) &&
+ ((pC->SensorRaw[RED]) > (pC->SensorRaw[GREEN])))
+ {
+
+ /* If all 3 colors are less than 65 OR (Less that 110 and bg less than 40)*/
+ if (((pC->SensorRaw[RED]) < 65) ||
+ (((pC->SensorRaw[BLANK]) < 40) && ((pC->SensorRaw[RED]) < 110)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if (((((pC->SensorRaw[BLUE]) >> 2) + ((pC->SensorRaw[BLUE]) >> 3) + (pC->SensorRaw[BLUE])) < (pC->SensorRaw[GREEN])) &&
+ ((((pC->SensorRaw[GREEN]) << 1)) > (pC->SensorRaw[RED])))
+ {
+ IOMapInput.Inputs[No].SensorValue = YELLOWCOLOR;
+ }
+ else
+ {
+
+ if ((((pC->SensorRaw[GREEN]) << 1) - ((pC->SensorRaw[GREEN]) >> 2)) < (pC->SensorRaw[RED]))
+ {
+
+ IOMapInput.Inputs[No].SensorValue = REDCOLOR;
+ }
+ else
+ {
+
+ if ((((pC->SensorRaw[BLUE]) < 70) ||
+ ((pC->SensorRaw[GREEN]) < 70)) ||
+ (((pC->SensorRaw[BLANK]) < 140) && ((pC->SensorRaw[RED]) < 140)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ IOMapInput.Inputs[No].SensorValue = WHITECOLOR;
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+
+ /* Red is not the dominant color */
+ if ((pC->SensorRaw[GREEN]) > (pC->SensorRaw[BLUE]))
+ {
+
+ /* Green is the dominant color */
+ /* If all 3 colors are less than 40 OR (Less that 70 and bg less than 20)*/
+ if (((pC->SensorRaw[GREEN]) < 40) ||
+ (((pC->SensorRaw[BLANK]) < 30) && ((pC->SensorRaw[GREEN]) < 70)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[BLUE]) << 1)) < (pC->SensorRaw[RED]))
+ {
+ IOMapInput.Inputs[No].SensorValue = YELLOWCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[RED]) + ((pC->SensorRaw[RED])>>2)) < (pC->SensorRaw[GREEN])) ||
+ (((pC->SensorRaw[BLUE]) + ((pC->SensorRaw[BLUE])>>2)) < (pC->SensorRaw[GREEN])))
+ {
+ IOMapInput.Inputs[No].SensorValue = GREENCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[RED]) < 70) ||
+ ((pC->SensorRaw[BLUE]) < 70)) ||
+ (((pC->SensorRaw[BLANK]) < 140) && ((pC->SensorRaw[GREEN]) < 140)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ IOMapInput.Inputs[No].SensorValue = WHITECOLOR;
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+
+ /* Blue is the most dominant color */
+ /* Colors can be blue, white or black */
+ /* If all 3 colors are less than 48 OR (Less that 85 and bg less than 25)*/
+ if (((pC->SensorRaw[BLUE]) < 48) ||
+ (((pC->SensorRaw[BLANK]) < 25) && ((pC->SensorRaw[BLUE]) < 85)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if ((((((pC->SensorRaw[RED]) * 48) >> 5) < (pC->SensorRaw[BLUE])) &&
+ ((((pC->SensorRaw[GREEN]) * 48) >> 5) < (pC->SensorRaw[BLUE])))
+ ||
+ (((((pC->SensorRaw[RED]) * 58) >> 5) < (pC->SensorRaw[BLUE])) ||
+ ((((pC->SensorRaw[GREEN]) * 58) >> 5) < (pC->SensorRaw[BLUE]))))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLUECOLOR;
+ }
+ else
+ {
+
+ /* Color is white or Black */
+ if ((((pC->SensorRaw[RED]) < 60) ||
+ ((pC->SensorRaw[GREEN]) < 60)) ||
+ (((pC->SensorRaw[BLANK]) < 110) && ((pC->SensorRaw[BLUE]) < 120)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[RED]) + ((pC->SensorRaw[RED]) >> 3)) < (pC->SensorRaw[BLUE])) ||
+ (((pC->SensorRaw[GREEN]) + ((pC->SensorRaw[GREEN]) >> 3)) < (pC->SensorRaw[BLUE])))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLUECOLOR;
+ }
+ else
+ {
+ IOMapInput.Inputs[No].SensorValue = WHITECOLOR;
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+ IOMapInput.Colors[No].CalibrationState = SENSOROFF;
+ VarsInput.ColorStatus &= ~(0x01<<No);
+ }
+ }
+ break;
+ }
+ }
+ }
+ break;
+ case COLOREXIT:
+ {
+ UBYTE Status;
+
+ VarsInput.ColorStatus &= ~(0x01<<No);
+ if (FALSE == cInputInitColorSensor(No, &Status))
+ {
+ IOMapInput.Inputs[No].SensorType = NO_SENSOR;
+ }
+
+ if (TRUE == Status)
+ {
+
+ /* Initialization finished with success recalc the values*/
+ (IOMapInput.Colors[No].CalibrationState) = 0;
+ IOMapInput.Inputs[No].SensorType = NO_SENSOR;
+ VarsInput.OldSensorType[No] = NO_SENSOR;
+ }
+ }
+ break;
+ default:
+ {
+ }
+ break;
+ }
+}
+
+
+void cInputCalcSensorValue(UWORD NewSensorRaw, UWORD *pOldSensorRaw, SWORD *pSensorValue,
+ UBYTE *pBoolean, UBYTE *pDebounce, UBYTE *pSampleCnt,
+ UBYTE *LastAngle, UBYTE *pEdgeCnt, UBYTE Slope,
+ UBYTE Mode)
+{
+ SWORD Delta;
+ UBYTE PresentBoolean;
+ UBYTE Sample;
+
+ if (0 == Slope)
+ {
+
+ /* This is absolute measure method */
+ if (NewSensorRaw > THRESHOLD_FALSE)
+ {
+ PresentBoolean = FALSE;
+ }
+ else
+ {
+ if (NewSensorRaw < THRESHOLD_TRUE)
+ {
+ PresentBoolean = TRUE;
+ }
+ }
+ }
+ else
+ {
+
+ /* This is dynamic measure method */
+ if (NewSensorRaw > (ACTUAL_AD_RES - Slope))
+ {
+ PresentBoolean = FALSE;
+ }
+ else
+ {
+ if (NewSensorRaw < Slope)
+ {
+ PresentBoolean = TRUE;
+ }
+ else
+ {
+ Delta = *pOldSensorRaw - NewSensorRaw;
+ if (Delta < 0)
+ {
+ if (-Delta > Slope)
+ {
+ PresentBoolean = FALSE;
+ }
+ }
+ else
+ {
+ if (Delta > Slope)
+ {
+ PresentBoolean = TRUE;
+ }
+ }
+ }
+ }
+ }
+ *pOldSensorRaw = NewSensorRaw;
+
+ switch(Mode)
+ {
+
+ case RAWMODE:
+ {
+ *pSensorValue = NewSensorRaw;
+ }
+ break;
+
+ case BOOLEANMODE:
+ {
+ *pSensorValue = PresentBoolean;
+ }
+ break;
+
+ case TRANSITIONCNTMODE:
+ {
+ if ((*pDebounce) > 0)
+ {
+ (*pDebounce)--;
+ }
+ else
+ {
+ if (*pBoolean != PresentBoolean)
+ {
+ (*pDebounce) = DEBOUNCERELOAD;
+ (*pSensorValue)++;
+ }
+ }
+ }
+ break;
+
+ case PERIODCOUNTERMODE:
+ {
+ if ((*pDebounce) > 0)
+ {
+ (*pDebounce)--;
+ }
+ else
+ {
+ if (*pBoolean != PresentBoolean)
+ {
+ (*pDebounce) = DEBOUNCERELOAD;
+ *pBoolean = PresentBoolean;
+ if (++(*pEdgeCnt) > 1)
+ {
+ if (PresentBoolean == 0)
+ {
+ (*pEdgeCnt) = 0;
+ (*pSensorValue)++;
+ }
+ }
+ }
+ }
+ }
+ break;
+
+ case PCTFULLSCALEMODE:
+ {
+
+ /* Output is 0-100 pct */
+ *pSensorValue = ((NewSensorRaw) * 100)/SENSOR_RESOLUTION;
+ }
+ break;
+
+ case FAHRENHEITMODE:
+ {
+
+ /* Fahrenheit mode goes from -40 to 158 degrees */
+ *pSensorValue = (((ULONG)(NewSensorRaw) * 900L)/SENSOR_RESOLUTION) - 200;
+ *pSensorValue = ((180L * (ULONG)(*pSensorValue))/100L) + 320;
+ }
+ break;
+
+ case CELSIUSMODE:
+ {
+
+ /* Celsius mode goes from -20 to 70 degrees */
+ *pSensorValue = (((ULONG)(NewSensorRaw * 900L)/SENSOR_RESOLUTION) - 200);
+ }
+ break;
+
+ case ANGLESTEPSMODE:
+ {
+ *pBoolean = PresentBoolean;
+
+ if (NewSensorRaw < ANGLELIMITA)
+ {
+ Sample = 0;
+ }
+ else
+ {
+ if (NewSensorRaw < ANGLELIMITB)
+ {
+ Sample = 1;
+ }
+ else
+ {
+ if (NewSensorRaw < ANGLELIMITC)
+ {
+ Sample = 2;
+ }
+ else
+ {
+ Sample = 3;
+ }
+ }
+ }
+
+ switch (*LastAngle)
+ {
+ case 0 :
+ {
+ if (Sample == 1)
+ {
+ if ((*pSampleCnt) >= ROT_SLOW_SPEED )
+ {
+
+ if (++(*pSampleCnt) >= (ROT_SLOW_SPEED + ROT_OV_SAMPLING))
+ {
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
+ }
+ }
+ else
+ {
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
+ }
+ }
+ if (Sample == 2)
+ {
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
+ }
+ if (Sample == 0)
+ {
+ if ((*pSampleCnt) < ROT_SLOW_SPEED)
+ {
+ (*pSampleCnt)++;
+ }
+ }
+ }
+ break;
+ case 1 :
+ {
+ if (Sample == 3)
+ {
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
+ }
+ if (Sample == 0)
+ {
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
+ }
+ (*pSampleCnt) = 0;
+ }
+ break;
+ case 2 :
+ {
+ if (Sample == 0)
+ {
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
+ }
+ if (Sample == 3)
+ {
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
+ }
+ (*pSampleCnt) = 0;
+ }
+ break;
+ case 3 :
+ {
+ if (Sample == 2)
+ {
+ if ((*pSampleCnt) >= ROT_SLOW_SPEED)
+ {
+
+ if (++(*pSampleCnt) >= (ROT_SLOW_SPEED + ROT_OV_SAMPLING))
+ {
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
+ }
+ }
+ else
+ {
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
+ }
+ }
+ if (Sample == 1)
+ {
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
+ }
+ if (Sample == 3)
+ {
+ if ((*pSampleCnt) < ROT_SLOW_SPEED)
+ {
+ (*pSampleCnt)++;
+ }
+ }
+ }
+ break;
+ }
+ }
+ }
+
+ *pBoolean = PresentBoolean;
+}
+
+void cInputCalcFullScale(UWORD *pRawVal, UWORD ZeroPointOffset, UBYTE PctFullScale, UBYTE InvStatus)
+{
+ if (*pRawVal >= ZeroPointOffset)
+ {
+ *pRawVal -= ZeroPointOffset;
+ }
+ else
+ {
+ *pRawVal = 0;
+ }
+
+ *pRawVal = (*pRawVal * 100)/PctFullScale;
+ if (*pRawVal > SENSOR_RESOLUTION)
+ {
+ *pRawVal = SENSOR_RESOLUTION;
+ }
+ if (TRUE == InvStatus)
+ {
+ *pRawVal = SENSOR_RESOLUTION - *pRawVal;
+ }
+}
+
+
+void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType)
+{
+
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_NORMAL;
+
+ /* If old type is color sensor in color lamp mode then turn off leds */
+ switch (OldType)
+ {
+ case COLORRED:
+ case COLORGREEN:
+ case COLORBLUE:
+ case COLORFULL:
+ case COLOREXIT:
+ {
+ if (NO_SENSOR == *pType)
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ *pType = COLOREXIT;
+ }
+ }
+ break;
+ }
+ switch(*pType)
+ {
+ case NO_SENSOR:
+ case SWITCH:
+ case TEMPERATURE:
+ {
+ dInputSetInactive(Port);
+ dInputSetDirInDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ }
+ break;
+
+ case REFLECTION:
+ {
+ dInputSetActive(Port);
+ dInputClearDigi0(Port);
+ dInputClearDigi1(Port);
+ }
+ break;
+
+ case ANGLE:
+ {
+ dInputSetActive(Port);
+ dInputClearDigi0(Port);
+ dInputClearDigi1(Port);
+ }
+ break;
+
+ case LIGHT_ACTIVE:
+ {
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputClearDigi1(Port);
+ }
+ break;
+
+ case LIGHT_INACTIVE:
+ {
+ dInputSetInactive(Port);
+ dInputClearDigi0(Port);
+ dInputClearDigi1(Port);
+ }
+ break;
+
+ case SOUND_DB:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_SOUND;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputClearDigi1(Port);
+ }
+ break;
+
+ case SOUND_DBA:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_SOUND;
+ dInputSetInactive(Port);
+ dInputClearDigi0(Port);
+ dInputSetDigi1(Port);
+ }
+ break;
+
+ case CUSTOM:
+ {
+ cInputSetupCustomSensor(Port);
+ }
+ break;
+
+ case LOWSPEED:
+ {
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDigi1(Port);
+ }
+ break;
+
+ case LOWSPEED_9V:
+ {
+ dInputSet9v(Port);
+ dInputSetDigi0(Port);
+ dInputSetDigi1(Port);
+ }
+ break;
+
+ case HIGHSPEED:
+ {
+ dInputSetInactive(Port);
+ dInputSetDirInDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ }
+ break;
+
+ case COLORFULL:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+
+ }
+ break;
+
+ case COLORRED:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+
+ case COLORGREEN:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+
+ case COLORBLUE:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+
+ case COLORNONE:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+
+ default:
+ {
+ }
+ break;
+ }
+}
+
+void cInputSetupCustomSensor(UBYTE Port)
+{
+ if ((IOMapInput.Inputs[Port].DigiPinsDir) & 0x01)
+ {
+ if ((IOMapInput.Inputs[Port].DigiPinsOut) & 0x01)
+ {
+ dInputSetDigi0(Port);
+ }
+ else
+ {
+ dInputClearDigi0(Port);
+ }
+ }
+ if ((IOMapInput.Inputs[Port].DigiPinsDir) & 0x02)
+ {
+ if ((IOMapInput.Inputs[Port].DigiPinsOut) & 0x02)
+ {
+ dInputSetDigi1(Port);
+ }
+ else
+ {
+ dInputClearDigi1(Port);
+ }
+ }
+ else
+ {
+ dInputSetDirInDigi1(Port);
+ }
+
+ if (CUSTOMACTIVE == (IOMapInput.Inputs[Port].CustomActiveStatus))
+ {
+ dInputSetActive(Port);
+ }
+ else
+ {
+ if (CUSTOM9V == (IOMapInput.Inputs[Port].CustomActiveStatus))
+ {
+ dInputSet9v(Port);
+ }
+ else
+ {
+ dInputSetInactive(Port);
+ }
+ }
+}
+
+
+UBYTE cInputInitColorSensor(UBYTE Port, UBYTE *pInitStatus)
+{
+
+ *pInitStatus = FALSE;
+ switch(VarsInput.VarsColor[Port].ColorInitState)
+ {
+ case 0:
+ {
+ dInputSetDigi0(Port);
+ dInputSetDigi1(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+ case 1:
+ {
+ dInputClearDigi0(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+
+ case 2:
+ {
+ dInputSetDigi0(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+ case 3:
+ {
+
+ dInputClearDigi0(Port);
+
+ /* Clear clock for 100mS - use pit timer*/
+ dInputClearColor100msTimer(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+ case 4:
+ {
+
+ /* Wait 100mS */
+ if (dInputChkColor100msTimer(Port))
+ {
+ VarsInput.VarsColor[Port].ColorInitState += 1;
+ }
+ }
+ break;
+ case 5:
+ {
+ UBYTE TmpType;
+
+ if (COLOREXIT == IOMapInput.Inputs[Port].SensorType)
+ {
+ TmpType = COLORNONE;
+ }
+ else
+ {
+ TmpType = IOMapInput.Inputs[Port].SensorType;
+ }
+ dInputColorTx(Port, TmpType);
+
+ /* Be ready to receive data from sensor */
+ dInputSetDirInDigi1(Port);
+ VarsInput.VarsColor[Port].ReadCnt = 0;
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+ case 6:
+ {
+ UBYTE Data;
+ UBYTE DataCnt;
+ UBYTE *pData;
+
+ DataCnt = (VarsInput.VarsColor[Port].ReadCnt);
+ pData = (UBYTE*)(IOMapInput.Colors[Port].Calibration);
+
+ /* Read first byte of cal data */
+ dInputReadCal(Port, &Data);
+
+ pData[DataCnt] = Data;
+
+ /* If all bytes has been read - then continue to next step */
+ if (++(VarsInput.VarsColor[Port].ReadCnt) >= ((sizeof(IOMapInput.Colors[Port].Calibration) + sizeof(IOMapInput.Colors[Port].CalLimits))))
+ {
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ }
+ break;
+ case 7:
+ {
+
+ /* Check CRC then continue or restart if false */
+ UWORD Crc, CrcCheck;
+ UBYTE Cnt;
+ UBYTE Data;
+ UBYTE *pData;
+
+ dInputReadCal(Port, &Data);
+ Crc = (UWORD)(Data) << 8;
+ dInputReadCal(Port, &Data);
+ Crc += (UWORD)Data;
+ CrcCheck = 0x5AA5;
+ pData = (UBYTE*)(IOMapInput.Colors[Port].Calibration);
+ for (Cnt = 0; Cnt < (sizeof(IOMapInput.Colors[Port].Calibration) + sizeof(IOMapInput.Colors[Port].CalLimits)); Cnt++)
+ {
+ UWORD i,j;
+ UBYTE c;
+ c = pData[Cnt];
+ for(i = 0; i != 8; c >>= 1, i++)
+ {
+ j = (c^CrcCheck) & 1;
+ CrcCheck >>= 1;
+
+ if(j)
+ {
+ CrcCheck ^= 0xA001;
+ }
+ }
+
+ }
+ if ((CrcCheck != Crc))
+ {
+
+ /* incorrect!!! try again */
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ }
+ else
+ {
+
+ /* Correct crc sum -> calculate the calibration values then exit */
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+
+ /* Sensor is almost ready - needs a little time to make first measurements */
+ VarsInput.InvalidTimer[Port] = 10;
+ *pInitStatus = TRUE;
+ }
+ }
+ break;
+ default:
+ {
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+ }
+ return(dInputCheckColorStatus(Port));
+}
+
+
+void cInputCalibrateColor(COLORSTRUCT *pC, UWORD *pNewVals)
+{
+ UBYTE CalRange;
+
+ if ((pC->ADRaw[BLANK]) < pC->CalLimits[1])
+ {
+ CalRange = 2;
+ }
+ else
+ {
+ if ((pC->ADRaw[BLANK]) < pC->CalLimits[0])
+ {
+ CalRange = 1;
+ }
+ else
+ {
+ CalRange = 0;
+ }
+ }
+
+ pNewVals[RED] = 0;
+ if ((pC->ADRaw[RED]) > (pC->ADRaw[BLANK]))
+ {
+ pNewVals[RED] = (UWORD)(((ULONG)((pC->ADRaw[RED]) - (pC->ADRaw[BLANK])) * (pC->Calibration[CalRange][RED])) >> 16);
+ }
+
+ pNewVals[GREEN] = 0;
+ if ((pC->ADRaw[GREEN]) > (pC->ADRaw[BLANK]))
+ {
+ pNewVals[GREEN] = (UWORD)(((ULONG)((pC->ADRaw[GREEN]) - (pC->ADRaw[BLANK])) * (pC->Calibration[CalRange][GREEN])) >> 16);
+ }
+
+ pNewVals[BLUE] = 0;
+ if ((pC->ADRaw[BLUE]) > (pC->ADRaw[BLANK]))
+ {
+ pNewVals[BLUE] = (UWORD)(((ULONG)((pC->ADRaw[BLUE]) -(pC->ADRaw[BLANK])) * (pC->Calibration[CalRange][BLUE])) >> 16);
+ }
+
+ pNewVals[BLANK] = (pC->ADRaw[BLANK]);
+ cInputCalcFullScale(&(pNewVals[BLANK]), COLORSENSORBGMIN, COLORSENSORBGPCTDYN, FALSE);
+ (pNewVals[BLANK]) = (UWORD)(((ULONG)(pNewVals[BLANK]) * (pC->Calibration[CalRange][BLANK])) >> 16);
+}
+
+
+void cInputExit(void)
+{
+ dInputExit();
+}
+