break;

                case DI_MODE_TOGGLE_HIGH_GOING:
                     if (pdi->DIPrev == 0 && pdi->DIIn == 1) {
                         pdi->DIVal = pdi->DIVal ? 0 : 1;
                     }
                     pdi->DIPrev = pdi->DIIn;
                     break;
            }
        }
        pdi++;                                   /* Point to next DIO_DO element                       */
    }
}

/*$PAGE*/
/*
*********************************************************************************************************
*                                  DISCRETE I/O MANAGER INITIALIZATION
*
* Description : This function initializes the discrete I/O manager module.
* Arguments   : None
* Returns     : None.
*********************************************************************************************************
*/

void  DIOInit (void)
{
    INT8U    err;
    INT8U    i;
    DIO_DI  *pdi;
    DIO_DO  *pdo;


    pdi = &DITbl[0];
    for (i = 0; i < DIO_MAX_DI; i++) {
        pdi->DIVal         = 0;
        pdi->DIBypassEn    = FALSE;
        pdi->DIModeSel     = DI_MODE_DIRECT;     /* Set the default mode to direct input               */
#if DI_EDGE_EN
        pdi->DITrigFnct    = (void *)0;          /* No function to execute when transition detected    */
        pdi->DITrigFnctArg = (void *)0;
#endif
        pdi++;
    }
    pdo = &DOTbl[0];
    for (i = 0; i < DIO_MAX_DO; i++) {
        pdo->DOOut        = 0;
        pdo->DOBypassEn   = FALSE;
        pdo->DOModeSel    = DO_MODE_DIRECT;      /* Set the default mode to direct output              */
        pdo->DOInv        = FALSE;
#if DO_BLINK_MODE_EN
        pdo->DOBlinkEnSel = DO_BLINK_EN_NORMAL;  /* Blinking is enabled by direct user request         */
        pdo->DOA          = 1;
        pdo->DOB          = 2;
        pdo->DOBCtr       = 2;
#endif
        pdo++;
    }
#if DO_BLINK_MODE_EN
    DOSyncCtrMax = 100;
#endif
    DIOInitIO();
    OSTaskCreate(DIOTask, (void *)0, &DIOTaskStk[DIO_TASK_STK_SIZE], DIO_TASK_PRIO);
}

/*$PAGE*/
/*
*********************************************************************************************************
*                                    DISCRETE I/O MANAGER TASK
*
* Description : This task is created by DIOInit() and is responsible for updating the discrete inputs and
*               discrete outputs.
*               DIOTask() executes every DIO_TASK_DLY_TICKS.
* Arguments   : None.
* Returns     : None.
*********************************************************************************************************
*/

static  void  DIOTask (void *data)
{
    data = data;                                      /* Avoid compiler warning (uC/OS requirement)    */
    for (;;) {
        OSTimeDly(DIO_TASK_DLY_TICKS);                /* Delay between execution of DIO manager        */
        DIRd();                                       /* Read physical inputs and map to DI channels   */
        DIUpdate();                                   /* Update all DI channels                        */
        DOUpdate();                                   /* Update all DO channels                        */
        DOWr();                                       /* Map DO channels to physical outputs           */
    }
}
/*$PAGE*/

/*
*********************************************************************************************************
*                                  SET THE STATE OF THE BYPASSED SENSOR
*
* Description : This function is used to set the state of the bypassed sensor.  This function is used to
*               simulate the presence of the sensor.  This function is only valid if the bypass 'switch'
*               is open.
* Arguments   : n     is the discrete input channel (0..DIO_MAX_DI-1).
*               val   is the state of the bypassed sensor:
*                         0     indicates a  negated  sensor
*                         1     indicates an asserted sensor
*                         > 0   indicates the number of edges detected in edge mode
* Returns     : None.
*********************************************************************************************************
*/

void  DISetBypass (INT8U n, INT16U val)
{
    DIO_DI  *pdi;


    if (n < DIO_MAX_DI) {
        pdi = &DITbl[n];
        OS_ENTER_CRITICAL();
        if (pdi->DIBypassEn == TRUE) {           /* See if sensor is bypassed                          */
            pdi->DIVal = val;                    /* Yes, then set the new state of the DI channel      */
        }
        OS_EXIT_CRITICAL();
    }
}

/*$PAGE*/
/*
*********************************************************************************************************
*                               SET THE STATE OF THE SENSOR BYPASS SWITCH
*
* Description : This function is used to set the state of the sensor bypass switch.  The sensor is
*               bypassed when the 'switch' is open (i.e. DIBypassEn is set to TRUE).
* Arguments   : n     is the discrete input channel (0..DIO_MAX_DI-1).
*               state is the state of the bypass switch:
*                         FALSE disables sensor bypass (i.e. the bypass 'switch' is closed)
*                         TRUE  enables  sensor bypass (i.e. the bypass 'switch' is open)
* Returns     : None.
*********************************************************************************************************
*/

void  DISetBypassEn (INT8U n, BOOLEAN state)
{
    if (n < DIO_MAX_DI) {
        OS_ENTER_CRITICAL();
        DITbl[n].DIBypassEn = state;
        OS_EXIT_CRITICAL();
    }
}

/*$PAGE*/
/*
*********************************************************************************************************
*                             CONFIGURE THE DISCRETE OUTPUT BLINK MODE
*
* Description : This function is used to configure the blink mode of the discrete output channel.
* Arguments   : n     is the discrete output channel (0..DIO_MAX_DO-1).
*               mode  is the desired blink mode:
*                     DO_BLINK_EN         Blink is always enabled
*                     DO_BLINK_EN_NORMAL  Blink depends on user request's state
*                     DO_BLINK_EN_INV     Blink depends on the complemented user request's state
*               a     is the ON  time relative to how often the DIO task executes  (1..250)
*               b     is the period (in DO_MODE_BLINK_ASYNC mode) (1..250)
* Returns     : None.
*********************************************************************************************************
*/

#if  DO_BLINK_MODE_EN
void  DOCfgBlink (INT8U n, INT8U mode, INT8U a, INT8U b)
{
    DIO_DO  *pdo;


    if (n < DIO_MAX_DO) {
        pdo               = &DOTbl[n];
        OS_ENTER_CRITICAL();
        pdo->DOBlinkEnSel = mode;
        pdo->DOA          = a;
        pdo->DOB          = b;
        pdo->DOBCtr       = 0;
        OS_EXIT_CRITICAL();
    }
}
#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                   CONFIGURE DISCRETE OUTPUT MODE
*
* Description : This function is used to configure the mode of a discrete output channel.
* Arguments   : n     is the discrete output channel to configure (0..DIO_MAX_DO-1).
*               mode  is the desired mode and can be:
*                     DO_MODE_LOW              output is forced LOW
*                     DO_MODE_HIGH             output is forced HIGH
*                     DO_MODE_DIRECT           output is based on state of DOBypass
*                     DO_MODE_BLINK_SYNC       output will be blinking synchronously with DOSyncCtr
*                     DO_MODE_BLINK_ASYNC      output will be blinking based on DOA and DOB
*               inv   indicates whether the output will be inverted:
*                     TRUE   forces the output to be inverted
*                     FALSE  does not cause any inversion
* Returns     : None.
*********************************************************************************************************
*/

void  DOCfgMode (INT8U n, INT8U mode, BOOLEAN inv)
{
    DIO_DO  *pdo;
    
    
    if (n < DIO_MAX_DO) {
        pdo            = &DOTbl[n];
        OS_ENTER_CRITICAL();
        pdo->DOModeSel = mode;
        pdo->DOInv     = inv;
        OS_EXIT_CRITICAL();
    }
}

/*$PAGE*/
/*
*********************************************************************************************************
*                                 GET THE STATE OF THE DISCRETE OUTPUT
*
* Description : This function is used to obtain the state of the discrete output.
* Arguments   : n     is the discrete output channel (0..DIO_MAX_DO-1).
* Returns     : TRUE  if the output is asserted.
*               FALSE if the output is negated.
*********************************************************************************************************
*/

BOOLEAN  DOGet (INT8U n)
{
    BOOLEAN  out;


    if (n < DIO_MAX_DO) {
        OS_ENTER_CRITICAL();
        out = DOTbl[n].DOOut;
        OS_EXIT_CRITICAL();
        return (out);
    } else {
        return (FALSE);
    }
}

/*$PAGE*/
/*
*********************************************************************************************************
*                                         SEE IF BLINK IS ENABLED
*
* Description : See if blink mode is enabled.
* Arguments   : pdo    is a pointer to the discrete output data structure.
* Returns     : TRUE   if blinking is enabled
*               FALSE  otherwise
*********************************************************************************************************
*/

#if DO_BLINK_MODE_EN
static  BOOLEAN  DOIsBlinkEn (DIO_DO *pdo)
{
    BOOLEAN  en;


    en = FALSE;
    switch (pdo->DOBlinkEnSel) {
        case DO_BLINK_EN:                   /* Blink is always enabled                                 */
             en = TRUE;
             break;

        case DO_BLINK_EN_NORMAL:            /* Blink depends on user request's state                   */
             en = pdo->DOBypass;
             break;