control.java

Java Op Processor java vhdl processor

/*
 * 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;
	}

}