package wcet.kflapp;/***	Triac control, U/I Sensor, ext. Sensors (O/U/I).*	Main functions for Mast.*/public class Triac {	private static final int MAX_CNT = 1064;	private static int dir;						// direction	private static final int OPTO_LEN = 4;		// opto_idx with mask 0x03!	private static int[] opto;	private static int opto_idx;				// index in ring buffer	private static int opto_val;	private static int[] curr;					// current values	private static int impVal;					// value of impuls sensor	private static int cnt;						// counter for impuls sensor	private static int endCnt;					// counter after first sensor impuls (stop counter)	private static int upCnt, downCnt;			// count threshold after sensor	private static int maxCnt;					// count value for up position////	timer, count in loop times (5ms main loop)//	private static int timerWait;				// no up or down 100ms after stop	private static int timerImp;				// stop if no imp from sensor for 1 sec	private static int timerStrom;				// wait till start measure on rauf/runter, stop	private static final int TIM_WAIT = 20;		// 100 ms	private static final int TIM_IMP = 200;		// 1 s	private static final int TIM_STROM = 20;	// 100 ms	private static final int STROM_THRES = 60;	// TBS	static final int MIN_STROM = 120;	// TBS	private static final int MAX_STROM = 360;	// TBS	private static int timerPause;				// make some rest	private static final int TIM_PAUSE = 200;	// 1 s////	for service mode//		counts impulse till sensor leaving//		will ONLY set to 0 after reset => switch power off befor/after service mode//	public static int serviceCnt;	public static void init() {		int i;		opto = new int[OPTO_LEN];		// 5 ms loop, min one val for 20 ms		for (i=0; i<opto.length; ++i) { // @WCA loop=4			opto[i] = BBSys.MSK_U;	// usfull defaults		}		opto_idx = 0;		curr = new int[3];		for (i=0; i<3; ++i) curr[i] = 0;		dir = 0;		timerWait = 0;		timerImp = 0;		timerStrom = TIM_STROM;		timerPause = 0;// default Werte		cnt = 0;		upCnt = 3;		downCnt = 3;		maxCnt = 0;					// not set!!!		endCnt = 0;		serviceCnt = 0;		impVal = JopSys.rd(BBSys.IO_SENSOR) & BBSys.BIT_SENSI;	}	public static void stop() {		JopSys.wr(0, BBSys.IO_TRIAC);		// minimum xxx ms off!		if (dir!=0) {			timerWait = TIM_WAIT;			timerStrom = TIM_STROM*3;				// delay current measure for 300 ms		}		dir = 0;	}	public static void pause() {		timerPause = TIM_PAUSE;	}	public static void rauf() {		if (dir==-1) {			stop();			return;		}		if (timerWait==0) {			JopSys.wr(BBSys.BIT_TR_ON, BBSys.IO_TRIAC);			dir = 1;			timerStrom = TIM_STROM;				// delay current measure for 100 ms		}	}	public static void runter() {		if (dir==1) {			stop();			return;		}		if (timerWait==0) {			JopSys.wr(BBSys.BIT_TR_ON | BBSys.BIT_TR_DOWN, BBSys.IO_TRIAC);			dir = -1;			timerStrom = TIM_STROM;				// delay current measure for 100 ms		}	}			public static void loop() {		// wait timer after stop		if (timerWait!=0) {			--timerWait;		}		doOpto();		doSensor();		doStrom();		doPause();	}/***	'filter' for U/I sensors*/	private static void doOpto() {		int i, j;		i = opto_idx;		opto[i] = JopSys.rd(BBSys.IO_TRIAC);		++i;		i &= 0x03;		opto_idx = i;		j = 0;		for (i=0; i<OPTO_LEN; ++i) {			j |= opto[i];								// or means minimum one impuls		}												// in 20 ms		opto_val = j;/* disabled for my tests*/		if ((j&BBSys.MSK_U) != BBSys.MSK_U) {			// check all Us			if (dir!=0) stop();			if (Mast.state!=BBSys.MS_RESET && Mast.state!=BBSys.MS_DBG) {				Mast.state = BBSys.MS_ERR;			}			if ((j&BBSys.BIT_UL1) == 0) Mast.lastErr = Err.MS_NO_UL1;			if ((j&BBSys.BIT_UL2) == 0) Mast.lastErr = Err.MS_NO_UL2;			if ((j&BBSys.BIT_UL3) == 0) Mast.lastErr = Err.MS_NO_UL3;		}	}	private static void doSensor() {		int i, sens;		// impuls, end sensors		sens = JopSys.rd(BBSys.IO_SENSOR);		i = sens & BBSys.BIT_SENSI;		if (impVal != i) {			impVal = i;			if (dir > 0) {			// going UP				doImpulsUp(sens);			} else if (dir < 0) {	// going DOWN				doImpulsDown(sens);			}			timerImp = 0;		} else if (timerPause>0) {			timerImp = 0;			// reset timer in pause		} else {			if (dir!=0) {				++timerImp;				if (timerImp > TIM_IMP) {					stop();					Mast.state = BBSys.MS_ERR;					Mast.lastErr = Err.MS_NO_IMP;				}			} else {				timerImp = 0;			}		}	}	private static void doImpulsUp(int sens) {		++cnt;		if ((sens & BBSys.BIT_SENSO) != 0) {			++endCnt;			if (endCnt >= upCnt) {				stop();				Mast.state = BBSys.MS_RDY;			}		} else {			endCnt = 0;			if (maxCnt!=0) {				if (cnt>=maxCnt) {					stop();					Mast.state = BBSys.MS_ERR;					Mast.lastErr = Err.MS_NO_SENSO;				}			}		}		if ((sens & BBSys.BIT_SENSU) != 0) {			++serviceCnt;		}	}	private static void doImpulsDown(int sens) {		--cnt;		if ((sens & BBSys.BIT_SENSU) != 0) {			++endCnt;			if (endCnt >= downCnt) {				stop();				Mast.state = BBSys.MS_RDY;			}		} else {			endCnt = 0;			if (maxCnt!=0) {				if (cnt<=0) {					stop();					Mast.state = BBSys.MS_ERR;					Mast.lastErr = Err.MS_NO_SENSU;				}			}		}		if ((sens & BBSys.BIT_SENSO) != 0) {			++serviceCnt;		}	}/***	check current.*/	private static void doStrom() {		int i, val;		val = JopSys.rd(BBSys.IO_IADC);		for (i=0; i<3; ++i) { // @WCA loop=4			curr[i] = val & 1023;			val = val>>10;		}		if (timerStrom!=0) {			// is set in rauf(), runter() and stop() to delay measure			--timerStrom;			return;		}/* disabled for first test at BB*/		if (Mast.state==BBSys.MS_UP || Mast.state==BBSys.MS_DOWN) {			for (i=0; i<3; ++i) { // @WCA loop=4				val = curr[i];				if (val<STROM_THRES) {					// kein Strom					stop();					Mast.state = BBSys.MS_ERR;					Mast.lastErr = Err.MS_NO_IL1+i;				} else if (val>MAX_STROM) {				// zu viel Strom					stop();					Mast.state = BBSys.MS_ERR;					Mast.lastErr = Err.MS_MAX_IL1+i;				} else if (val<MIN_STROM) {				// zu wenig Strom					stop();					Mast.state = BBSys.MS_ERR;					Mast.lastErr = Err.MS_MIN_IL1+i;				}			}		} else {			for (i=0; i<3; ++i) { // @WCA loop=4				val = curr[i];				if (val>=STROM_THRES) {					// es fliesst Strom in Ruhestellung					stop();					Mast.state = BBSys.MS_ERR;					Mast.lastErr = Err.MS_IL1+i;				}			}		}	}/***	handle pause timer.*/	private static void doPause() {		if (timerPause>0) {			--timerPause;			if (timerPause==0) {				if (dir==1) {					// restart motor					rauf();				} else if(dir==-1) {					runter();				}			} else {				JopSys.wr(0, BBSys.IO_TRIAC);	// stop but keep dir!				timerStrom = TIM_STROM*3;		// delay current measure for 300 ms			}		}	}	public static int getCnt() {		return cnt;	}	public static void setCnt(int val) {		cnt = val;	}	public static void setDownCnt(int val) {		downCnt = val;	}	public static void setUpCnt(int val) {		upCnt = val;	}	public static void setMaxCnt(int val) {		maxCnt = val;	}	public static int getDir() {		return dir;	}	public static int getOpto() {		return opto_val;	}	public static int getIadc(int nr) {		if (nr>=0 && nr<3) {			return curr[nr];		} else {			return -1;		}	}}