/*
This file is part of JOP, the Java Optimized Processor
see <http://www.jopdesign.com/>
Copyright (C) 2001-2008, Martin Schoeberl (martin@jopdesign.com)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program 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. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Created on 12.07.2004
*
* To change the template for this generated file go to
* Window>Preferences>Java>Code Generation>Code and Comments
*/
package tal;
import joprt.RtThread;
import com.jopdesign.sys.Const;
import com.jopdesign.sys.Native;
/**
* @author martin
*
* To change the template for this generated type comment go to
* Window>Preferences>Java>Code Generation>Code and Comments
*/
public abstract class Control {
private static RtThread th;
private int period;
private TalIo io;
private int dly1, dly2;
private int min, max; // execution time status
public Control(int ms) {
if (th==null) {
io = new TalIo();
dly1 = 0;
dly2 = 0;
min = 9999999;
max = 0;
getVals(); // set 'real' values for the first iteration
th = new RtThread(10, ms*1000) {
public void run() {
for (;;) {
waitForNextPeriod();
int t = Native.rd(Const.IO_US_CNT);
setVals(); // update output with minimum jitter
getVals(); // read new input and
loop(io); // process the values
// some statistcs
t = Native.rd(Const.IO_US_CNT)-t;
if (t<min) min = t;
if (t>max) max = t;
}
}
};
}
}
private void getVals() {
int in0 = Native.rd(Const.IO_IN);
int in1 = dly1;
int in2 = dly2;
dly2 = dly1;
dly1 = in0;
for (int i=0; i<10; ++i) {
// majority voting for input values
// delays input value change by one period
io.in[i] = ((in0&1) + (in1&1) + (in2&1)) > 1;
in0 >>>= 1;
in1 >>>= 1;
in2 >>>= 1;
}
io.analog[0] = Native.rd(Const.IO_ADC1);
io.analog[1] = Native.rd(Const.IO_ADC2);
io.analog[2] = Native.rd(Const.IO_ADC3);
}
private void setVals() {
int val = 0;
for (int i=3; i>=0; --i) {
val <<= 1;
val |= io.out[i] ? 1 : 0;
}
Native.wr(val, Const.IO_OUT);
for (int i=13; i>=0; --i) {
val <<= 1;
val |= io.led[i] ? 1 : 0;
}
Native.wr(val, Const.IO_LED);
}
/**
* The only method that should be overwritten.
*/
abstract void loop(TalIo io);
/**
* @return
*/
public int getMax() {
return max;
}
/**
* @return
*/
public int getMin() {
return min;
}
}