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#ifndef LIFTLIBCONTROL_H
#define LIFTLIBCONTROL_H
enum lift_Direction {
lift_GO_LOAD = 8,
lift_GO_TOP = 6,
lift_GO_BOTTOM = 7,
lift_GO_UP = 4,
lift_GO_DOWN = 5
};
enum lift_Sensor {
lift_SENS_IMPULS = 0,
lift_SENS_TOP = 1,
lift_SENS_BOTTOM = 2,
lift_SENS_LOAD = 3
};
enum lift_Motor {
lift_MOTOR_ON = 0,
lift_MOTOR_UP = 1
};
enum lift_Command {
lift_CMD_NONE = 0,
lift_CMD_TOP = 1,
lift_CMD_BOTTOM = 2,
lift_CMD_UP = 3,
lift_CMD_DOWN = 4
};
/* Global variables */
extern int lift_levelPos[16];
extern int lift_one_level;
extern int lift_cntValid;
extern int lift_cnt;
extern int lift_level;
extern int lift_loadLevel;
extern int lift_loadPending;
extern int lift_loadSensor;
extern int lift_cmd;
extern int lift_timMotor;
extern int lift_timImp;
extern int lift_directionUp;
extern int lift_lastImp;
extern int lift_dbgCnt;
extern int lift_endCnt;
/* Checksum */
extern int lift_checksum;
/* prototypes */
void lift_ctrl_init(void); /* DM prototype */
void lift_ctrl_loop(void); /* DM prototype */
/* internal prototypes */
int lift_check_run(void);
void lift_wait_for_motor_start(void);
void lift_do_cmd(void);
void lift_do_impulse( int val, int motor, int reset );
void lift_check_cmd(void);
void lift_check_level(void);
#endif
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