// ----------------------------------------------------
// TEST application for
// Cruise Control application for Panther Electro-Steer
//
// -- TEST3 -- drive the ElectroSteer relays
//
// Copyright 2005,2006, Mike Noel, All Rights Reserved
// ----------------------------------------------------

#include <aCore.tea>
#include <aCmd.tea>
#include <aDig.tea>
#include <aPrint.tea>

// ********************* Definitions *********************

// digital i/o port definitions. 
// 0 - output - reflex uses to drive buzzer...
// 1 - output - drive ES relay to go port
// 2 - output - drive ES relay to go starboard
// 3 - input  - read ES switch labeled DN
// 4 - input  - read ES switch labeled UP
// 5 - output - enable Horizontal Daventech compass
// 6 - output - enable Vertical   Daventech compass
// 7 - input  - read configuration switch labeled 4
// 8 - input  - read configuration switch labeled 3
// 9 - input  - read configuration switch labeled 2
// 10- input  - read configuration switch labeled 1

#define PORTDIO		1
#define STARDIO		2
#define DnButton	3
#define UpButton	4

#define EnaHC		5
#define EnaVC		6

#define Config4		7
#define Config3		8
#define Config2		9
#define Config1		10

// ********************* Test Routine ********************


void rattle() {
//
	aCore_Outportc(0x0368,0);	// buzzer on
	aDig_Write(STARDIO, 1); aCore_Sleep(1000); aDig_Write(STARDIO, 0);
	aDig_Write(PORTDIO, 1); aCore_Sleep(1000); aDig_Write(PORTDIO, 0);
	aDig_Write(STARDIO, 1); aCore_Sleep(1000); aDig_Write(STARDIO, 0);
	aDig_Write(PORTDIO, 1); aCore_Sleep(1000); aDig_Write(PORTDIO, 0);
	aCore_Outportc(0x0369,0);	// buzzer off
}


void main () {
int i;
//

// initialize the digital output ports
aDig_Config(PORTDIO, ADIG_OUTPUT);
aDig_Config(STARDIO, ADIG_OUTPUT);

// Print sign on message
aPrint_String("Test 3, drive ElectroSteer relays\n"); aCore_Sleep(2000);

// Sleep a second, then move one direction 1 second
aCore_Sleep(10000);
aPrint_String("  going starboard...\n");
aDig_Write(STARDIO, 1);
aCore_Sleep(10000);
aDig_Write(STARDIO, 0);

// Sleep a second, then move the other direction 1 second
aCore_Sleep(10000);
aPrint_String("  going port...\n");
aDig_Write(PORTDIO, 1);
aCore_Sleep(10000);
aDig_Write(PORTDIO, 0);

// Sleep a second, then single rattle
aCore_Sleep(10000);
aPrint_String("  single rattle...\n");
rattle();

// Sleep a second, then double rattle
aCore_Sleep(10000);
aPrint_String("  double rattle...\n");
rattle(); aCore_Sleep(3000); rattle();

// Print sign off message
aPrint_String("Test 3 finished\n"); aCore_Sleep(1000);

}