/*!
     Copyright 2017 	ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

 \file      V_DIO.c
 \brief     Ìîäóëü äèñêðåòíûõ âõîäîâ/âûõîäîâ
 \author    ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
 \version   v 1.0 25/08/2017

 \addtogroup
 @{*/



#include "main.h"
#include "filter.h"



// Âåêòîð ñîñòîßíèß äèñêðåòíûõ âûõîäîâ
volatile Uint16 output_vect = 0;
// Ìàñêà èíâåðòèðîâàíèß âåêòîðà ñîñòîßíèß äèñêðåòíûõ âûõîäîâ
volatile Uint16 output_mask = 0;

// Âåêòîð ñîñòîßíèß äèñêðåòíûõ âõîäîâ
volatile Uint16 input_vect = 0;
// Ìàñêà èíâåðòèðîâàíèß âåêòîðà ñîñòîßíèß äèñêðåòíûõ âõîäîâ
volatile Uint16 input_mask = 0;
// Êîýôôèöèåíò ôèëüòðàöèè äèñêðåòíûõ âõîäîâ Kf = 0.001/Tô
// (Tô - ïîñòîßííàß âðåìåíè ôèëüòðà, ñåê)
volatile _iq inputKf = _IQ(0.03); //Âðåìÿ ñðàáàòûâàíèÿ ñîñòàâëÿåòñÿ 60ìñ ïðè inputKf=_IQ(0.03) è inputOn = _IQ(0.8) â 1êÃö ïðåðûâàíèè;
// Ïîðîã ïåðåõîäà äèñêðåòíîãî âõîäà â ñîñòîßíèå OFF (0)
volatile _iq inputOff = _IQ(0.3);
// Ïîðîã ïåðåõîäà äèñêðåòíîãî âõîäà â ñîñòîßíèå ON (1)
volatile _iq inputOn = _IQ(0.8);
// Ïðîìåæóòî÷íûé âåêòîð ñîñòîßíèß äèñêðåòíûõ âõîäîâ (áåç ó÷¸òà ìàñêè èíâåðòèðîâàíèß)
Uint16 input = 0;

// Ôèëüòðû äèñêðåòíûõ âõîäîâ
TFilter fIn1 = FILTER_DEFAULTS;
TFilter fIn2 = FILTER_DEFAULTS;
TFilter fIn3 = FILTER_DEFAULTS;


void DIO_Init()
{
#if defined (HW_MOTORCONTROLBOARD)
	//Ïðîèíèòèì äèñêðåòíûå âõîäû
//	NT_GPIOB->ALTFUNCCLR = (1 << 5);							//âûêëþ÷èòü àëüò. ôóíêöèþ
//	NT_GPIOA->ALTFUNCCLR = (1 << 14) | (1 << 15);				//âûêëþ÷èòü àëüò. ôóíêöèþ
//	NT_GPIOB->OUTENCLR = (1 << 5);								//íà âõîä
//	NT_GPIOA->OUTENCLR = (1 << 14) | (1 << 15);					//íà âõîä
//
//	//Ïðîèíèòèì äèñêðåòíûå âûõîäû
//	NT_GPIOB->ALTFUNCCLR = (1 << 6) | (1 << 15) | (1 << 4);		//âûêëþ÷èòü àëüò. ôóíêöèþ
//	NT_GPIOB->OUTENSET = (1 << 6) | (1 << 15) | (1 << 4);		//íà âûõîä
#endif

}


void DIO_slow_calc()
{

	// Ïîëó÷àåì âåêòîð ñîñòîßíèß äèñêðåòíûõ âûõîäîâ ñ ó÷¸òîì ìàñêè èíâåðòèðîâàíèß
	Uint16 output = output_vect ^ output_mask;
	// Âûâîäèì óïðàâëßþùåå âîçäåéñòâèå ïî Âûõîäó 1
	if (BIT_IS_SET(output, 0))
		D_OUT1_OFF;
    else
    	D_OUT1_ON;
	// Âûâîäèì óïðàâëßþùåå âîçäåéñòâèå ïî Âûõîäó 2
	if (BIT_IS_SET(output, 1))
		D_OUT2_OFF;
    else
    	D_OUT2_ON;
	// Âûâîäèì óïðàâëßþùåå âîçäåéñòâèå ïî Âûõîäó 3
	if (BIT_IS_SET(output, 2))
		D_OUT3_OFF;
    else
    	D_OUT3_ON;


	// Îáíîâëßåì êîýôôèöèåíòû ôèëüòðàöèè äèñêðåòíûõ âõîäîâ
	fIn1.T = inputKf;
	fIn2.T = inputKf;
	fIn3.T = inputKf;
	// Ïîëó÷àåì ñîñòîßíèå Âõîäà 1 ñ ó÷¸òîì ôèëüòðàöèè
	if (fIn1.output > inputOn) SET_BIT(input, 0);
	if (fIn1.output < inputOff) CLEAR_BIT(input, 0);
	// Ïîëó÷àåì ñîñòîßíèå Âõîäà 2 ñ ó÷¸òîì ôèëüòðàöèè
	if (fIn2.output > inputOn) SET_BIT(input, 1);
	if (fIn2.output < inputOff) CLEAR_BIT(input, 1);
	// Ïîëó÷àåì ñîñòîßíèå Âõîäà 3 ñ ó÷¸òîì ôèëüòðàöèè
	if (fIn3.output > inputOn) SET_BIT(input, 2);
	if (fIn3.output < inputOff) CLEAR_BIT(input, 2);

	input_vect = input ^ input_mask;

}


void DIO_fast_calc()
{
	// Èíåðöèîííûé ôèëüòð äèñêðåòíîãî Âõîäà 1
    fIn1.input = (D_IN1 == 1) ? _IQ(1.0) : 0;
    fIn1.calc(&fIn1);
	// Èíåðöèîííûé ôèëüòð äèñêðåòíîãî Âõîäà 2
    fIn2.input = (D_IN2 == 1) ? _IQ(1.0) : 0;
    fIn2.calc(&fIn2);
	// Èíåðöèîííûé ôèëüòð äèñêðåòíîãî Âõîäà 3
    fIn3.input = (D_IN3 == 1) ? _IQ(1.0) : 0;
    fIn3.calc(&fIn3);
}

/*@}*/