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JoystickEvent˜$2db5746d-d284-4425-9f7f-2663a34b0ebc™$a9ed5b7e-75c5-4651-af16-d2c27e98cb94š{attribute 'qualified_only'}›{attribute 'strict'}œTYPE JoystickEvent :(ž    EV_KEY := 1,Ÿ
	NONE := 0 ) WORD;¡END_TYPE¢12£$531aecc5-2087-4024-a630-880d48c0be2d¤
JoystickInput¥TYPE JoystickInput :¦STRUCT§    dwTimeSec : DWORD;¨    dwTimeUSec : DWORD;©    eEvent : JoystickEvent;ª    eKey : JoystickKey;«    eState : JoystickState;¬
END_STRUCT­10®$0ecd93cf-548e-4d47-bb6d-e531542a4d19¯JoystickKey°TYPE JoystickKey :±    KEY_UP := 103,²    KEY_LEFT := 105,³    KEY_RIGHT := 106,´    KEY_DOWN := 108,µ    KEY_ENTER := 28,¶15·$768f9d65-e76a-4124-8d84-0c88a2b43b0a¸
JoystickState¹TYPE JoystickState :º    STATE_RELEASE := 0,»	STATE_PRESS := 1,¼    STATE_HOLD := 2½$6f9dac99-8de1-4efc-8465-68ac443b7d08¾$3b83b776-fb25-43b8-99f2-3c507c9143fc¿NoneÀ	SUPER^();ÁCASE _iState OFÂ0:à    //Pixel map    Ä    _sName := '';Å    {analysis -26}Æ     FOR _i := 0 TO 10 DO        ÇK        _sFilePixel := CONCAT('/sys/class/graphics/fb', INT_TO_STRING(_i));È4        _sFilePixel := CONCAT(_sFilePixel, '/name');É        {analysis -130}Êj        _hFile := CmpCharDevice.CDOpen(_sFilePixel, CmpCharDevice.ACCESS_MODE.O_RDONLY, ADR(_diResult));  Ë        {analysis +130}  Ì0        IF NOT(_hFile = RTS_INVALID_HANDLE) THENÍ            {analysis -19}ÎW            _diResult := CmpCharDevice.CDRead(_hFile, ADR(_sName), 12, ADR(_diResult));Ï            {analysis +19}ÐG            _diResult := CmpCharDevice.CDClose(_hFile, ADR(_diResult));Ñ+            IF _sName = 'RPi-Sense FB' THENÒR                _sFilePixel := CONCAT('/dev/fb', INT_TO_STRING(_i));              Ó                EXIT;Ô				END_IFÕ        END_IF        Ö	END_FOR×    {analysis +26}Ø    Ù    _iState := 10;Ú10:Û    //Joystick InputÜ    FOR _i := 0 TO 10 DOÝI        _sFileJoy := CONCAT('/sys/class/input/event', INT_TO_STRING(_i));Þ7        _sFileJoy := CONCAT(_sFileJoy, '/device/name');ßj        _hFile := CmpCharDevice.CDOpen(_sFileJoy, CmpCharDevice.ACCESS_MODE.O_RDONLY, ADR(_diResult));    à        {analysis +130}áW            _diResult := CmpCharDevice.CDRead(_hFile, ADR(_sName), 31, ADR(_diResult));â>            IF _sName = 'Raspberry Pi Sense HAT Joystick' THENãW                _sFileJoy := CONCAT('/dev/input/event', INT_TO_STRING(_i));            ä    _iState := 20;å20:æ%    //Humidity and Temperature HTS221ç    usiAddress := 16#5F;è"    //Power up and set sample rateé*    _xResult := write8(16#20, 2#10000110);ê%    //Pressure and Temperature LPS25Hë    usiAddress := 16#5C;ì    //Resetí*    _xResult := write8(16#20, 2#10100100);î&    //Gyro- and Accelereometer LSM9DS1ï    usiAddress := 16#6A;ð*    _xResult := write8(16#22, 2#11000000);ñ    _iState := 25;ò25:    ó7    //Short waiting for the actions done in state 40 toô    //be done by the sense hatõ    _Timer100(IN:=TRUE);ö    IF _Timer100.Q THEN÷        _Timer100(IN:=FALSE);ø        _iState := 30;ù	END_IFú30:    û&    //Humidity- and Temperature HTS221ü    //Configure Averagingý+    _xResult := write8(16#10, 2#000101011);þ    // Get calibration dataÿ    // Temperature Calibration€    {analysis -52}L    IF ReadRegister(16#35, ADR(_abyData[1]), 1) = 1 THEN   // + 16#80 ?     ‚9        IF ReadRegister(16#32, ADR(_abyData), 1) = 1 THENƒa            _uiT0_C_8 := SHL(BYTE_TO_UINT(_abyData[1] AND 16#3), 8) OR BYTE_TO_UINT(_abyData[0]);„0            _rT0 := UINT_TO_REAL(_uiT0_C_8) / 8;…        END_IF†
    END_IF‡5    IF ReadRegister(16#33, ADR(_abyData), 1) = 1 THENˆ]        _uiT1_C_8 := SHL(BYTE_TO_UINT(_abyData[1] AND 16#C), 6) OR BYTE_TO_UINT(_abyData[0]);‰,        _rT1 := UINT_TO_REAL(_uiT1_C_8) / 8;Ši    IF ReadRegister(16#3C, ADR(_abyData[0]), 1) = 1 AND ReadRegister(16#3D, ADR(_abyData[1]), 1) = 1 THEN‹`        _iT0_OUT := UINT_TO_INT(SHL(BYTE_TO_UINT(_abyData[1]), 8) OR BYTE_TO_UINT(_abyData[0]));Œi    IF ReadRegister(16#3E, ADR(_abyData[0]), 1) = 1 AND ReadRegister(16#3F, ADR(_abyData[1]), 1) = 1 THENa        _iT1_OUT := UINT_TO_INT(SHL(BYTE_TO_UINT(_abyData[1]),  8) OR BYTE_TO_UINT(_abyData[0]));Ž    // Humidity Calibration6    IF ReadRegister(16#30, ADR(_byH0_H_2), 1) = 1 THEN,        _rH0 := BYTE_TO_REAL(_byH0_H_2) / 2;‘6    IF ReadRegister(16#31, ADR(_byH1_H_2), 1) = 1 THEN’,        _rH1 := BYTE_TO_REAL(_byH1_H_2) / 2;“i    IF ReadRegister(16#36, ADR(_abyData[0]), 1) = 1 AND ReadRegister(16#37, ADR(_abyData[1]), 1) = 1 THEN”c        _iH0_T0_OUT := UINT_TO_INT(SHL(BYTE_TO_UINT(_abyData[1]), 8) OR BYTE_TO_UINT(_abyData[0]));•i    IF ReadRegister(16#3A, ADR(_abyData[0]), 1) = 1 AND ReadRegister(16#3B, ADR(_abyData[1]), 1) = 1 THEN–c        _iH1_T0_OUT := UINT_TO_INT(SHL(BYTE_TO_UINT(_abyData[1]), 8) OR BYTE_TO_UINT(_abyData[0]));—    {analysis +52}˜    {analysis -66}™    {analysis -40}š"    IF _iT1_OUT-_iT0_OUT <> 0 THEN›F        _rTemperature_S := (_rT1-_rT0)/INT_TO_REAL(_iT1_OUT-_iT0_OUT);œD    _rTemperature_C := _rT0-(_rTemperature_S*INT_TO_REAL(_iT0_OUT));(    IF _iH1_T0_OUT-_iH0_T0_OUT <> 0 THENžI        _rHumidity_S := (_rH1-_rH0)/INT_TO_REAL(_iH1_T0_OUT-_iH0_T0_OUT);ŸC    _rHumidity_C := (_rH0)-(_rHumidity_S*INT_TO_REAL(_iH0_T0_OUT));     {analysis +40}¡    {analysis +66}¢    _iState := 40;£40:¤*    _xResult := write8(16#10, 2#00001010);¥    //Configure FIFO¦*    _xResult := write8(16#2E, 2#00000000);§    //Set FIFO mode¨*    _xResult := write8(16#21, 2#01000000);©    _iState := 45;ª45:«        _iState := 50;¬50:­    //Magnetsensor LSM9DS1®    //Find out Mag-Address¯    usiAddress := 16#1C;°P    IF ReadRegister(16#0F, ADR(_abyData[0]), 1) = 1 AND _abyData[0] = 16#3D THEN±%        _usiMagAddress := usiAddress;²    ELSE³        usiAddress := 16#1D;´T        IF ReadRegister(16#0F, ADR(_abyData[0]), 1) = 1 AND _abyData[0] = 16#3D THENµ)            _usiMagAddress := usiAddress;¶        ELSE·             usiAddress := 16#1E;¸X            IF ReadRegister(16#0F, ADR(_abyData[0]), 1) = 1 AND _abyData[0] = 16#3D THEN¹-                _usiMagAddress := usiAddress;º            ELSE»$                usiAddress := 16#1F;¼\                IF ReadRegister(16#0F, ADR(_abyData[0]), 1) = 1 AND _abyData[0] = 16#3D THEN½1                    _usiMagAddress := usiAddress;¾                END_IF¿            END_IFÀ    //Gyro LSM9DS1Á+    //Gyro set bandwidth and rate and scale    //500dps --> Scale 0.07Ã*    _xResult := write8(16#10, 2#01001011);Ä    _rGyroScale := 0.0175;Å    //Gyro activate HP filterÆ,    _xResult := write8(16#12, 2#01000100);  Ç    //Accel LSM9DS1È,    //Accel set bandwidth and rate and scaleÉ*    _xResult := write8(16#20, 2#01110000);Ê    _rAccelScale := 0.000122;Ë    //Accel set no filtersÌ,    _xResult := write8(16#21, 2#00000000);  Í    //Mag LSM9DS1Î!    usiAddress := _usiMagAddress;Ï    //Mag set sample rateÐ*    _xResult := write8(16#20, 2#00010000);Ñ    //Mag set scaleÒ    _rMagScale := 0.029; Ó(    //Mag set continuous conversion modeÔ-    _xResult := write8(16#22, 2#00000000);   Õ    _iState := 100;ÖELSE×     ØEND_CASEÙ[///This Function Block is instanciated along with the Sense Hat device of the raspberry PI.Ú\///It's inputs and outputs allow to easily access the sensors, inputs and LED outputs of theÛ///Sense Hat Device.Ü#FUNCTION_BLOCK SenseHat EXTENDS i2cÝVAR_INPUT		ÞN    ///Pixel array for LED-Output of Sensehat (0..7 Row 1, 8..17 Row 2, etc.).ßB    ///Use 32Bit ARGB color coding to set the color of each pixel.à%    adwPixel : ARRAY[0..63] OF DWORD;á(    ///Update Pixel Output: default TRUEâ     xUpdatePixel : BOOL := TRUE;ã*    ///Update Joystick Input: default TRUEä#    xUpdateJoystick : BOOL := TRUE;å)    ///Update LSM9DS1 Input: default TRUEæ"    xUpdateLSM9DS1 : BOOL := TRUE;ç(    ///Update HTS221 Input: default TRUEè!    xUpdateHTS221 : BOOL := TRUE;é(    ///Update LPS25H Input: default TRUEê!    xUpdateLPS25H : BOOL := TRUE;ëEND_VARì
VAR_OUTPUTíC    ///Joystick input interpretated in senses of the given booleansî     xJoystickUp : BOOL := FALSE;ï"    xJoystickDown : BOOL := FALSE;ð"    xJoystickLeft : BOOL := FALSE;ñ#    xJoystickRight : BOOL := FALSE;ò#    xJoystickEnter : BOOL := FALSE;ó5    ///Temperature of HTS221 in degree celcius (°C).ô    rTemperatureHTS221 : REAL;õ0    ///Humidity of HTS221 in percent of 100 (%).ö    rHumidity : REAL;÷5    ///Temperature of LPS25H in degree celcius (°C).ø    rTemperatureLPS25H : REAL;ù0    ///Pressure of LPS25H in hecto pascal (hPA).ú    lrPressure : LREAL;ûF    ///Gyroscope X direction data of LSM9DS1 (dps - degree per second)ü    rGyroX : REAL;ýF    ///Gyroscope Y direction data of LSM9DS1 (dps - degree per second)þ    rGyroY : REAL;ÿF    ///Gyroscope Z direction data of LSM9DS1 (dps - degree per second)€    rGyroZ : REAL;@    ///Acceleration X direction data of LSM9DS1 (G ~ 9,81 m/s^2)‚    rAccelX : REAL;ƒ@    ///Acceleration Y direction data of LSM9DS1 (G ~ 9,81 m/s^2)„    rAccelY : REAL;…@    ///Acceleration Z direction data of LSM9DS1 (G ~ 9,81 m/s^2)†    rAccelZ : REAL;‡7    ///Compass X direction data of LSM9DS1 (microTesla)ˆ    rCompX : REAL;‰7    ///Compass Y direction data of LSM9DS1 (microTesla)Š    rCompY : REAL;‹7    ///Compass Z direction data of LSM9DS1 (microTesla)Œ    rCompZ : REAL;VARŽ       _sFilePixel: STRING(80);    _sFileJoy: STRING(80);‘    _sName: STRING(80);’9    _hJoystickFile: RTS_IEC_HANDLE := RTS_INVALID_HANDLE;“    _Joystick : JoystickInput;”,    _awWordPixel: ARRAY[0..63] OF WORD;     •.    _Timer100: TON := (IN:=TRUE, pt:=T#100MS);–     _rTemperature_S : REAL := 0;—     _rTemperature_C : REAL := 0;˜    _rHumidity_S : REAL := 0;™    _rHumidity_C : REAL := 0;š     _usiMagAddress : USINT := 0;›    _rGyroScale : REAL := 0;œ    _rAccelScale : REAL := 0;    _rMagScale : REAL := 0;žVAR_TEMPŸ             _i : INT := 0;¡1    _hFile: RTS_IEC_HANDLE := RTS_INVALID_HANDLE;¢    _diResult : DINT;  £    _xResult : BOOL;¤$    _abyData : ARRAY [0..7] OF BYTE;¥     _uiT0_C_8, _uiT1_C_8 : UINT;¦     _byH0_H_2, _byH1_H_2 : BYTE;§7    _iT0_OUT, _iT1_OUT, _iH0_T0_OUT, _iH1_T0_OUT : INT;¨"    _rT0, _rT1, _rH0, _rH1 : REAL;©1272ª
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QualifiedOnlyÖLinkAllContent×$51a11660-6c0d-4598-8c08-419c5845ea1fØItemsÙSystem.Collections.ArrayListÚPlaceholderRedirectionTableÛ$a5de0b0b-1cb5-4913-ac21-9d70293ec00dÜTagÝTextÞ$f3878285-8e4f-490b-bb1b-9acbb7eb04dbß	TextLinesà&{a5de0b0b-1cb5-4913-ac21-9d70293ec00d}áTextDocumentâ	InterfaceãUniqueIdGeneratoräSpecialFuncå&{0db3d7bb-cde0-4416-9a7b-ce49a0124323}æImplementationçPOULevelè&{8e575c5b-1d37-49c6-941b-5c0ec7874787}éChildObjectGuidsêAddAttributeSubsequentë$fa04650d-438e-4488-b090-3ab2553257c1ìFb_Exití$f8a58466-d7f6-439f-bbb8-d4600e41d099î0IF NOT(_hJoystickFile = RTS_INVALID_HANDLE) THENïE    diFunRes := CmpCharDevice.CDClose(_hJoystickFile, ADR(diResult));ð)    _hJoystickFile := RTS_INVALID_HANDLE;ñEND_IFòMETHOD Fb_Exit : BOOL ó
VAR_INPUT ôŠ bInCopyCode : BOOL; //  TRUE: The exit method is called in order to leave the instance, which will be copied afterwards (Online-Change). õEND_VAR ö    diResult: DINT;  ÷    diFunRes: DINT;ø$ff61d91b-48a5-479c-9c55-5bb794f18ef5ùAfterReadInputsú,AfterReadInputs := SUPER^.AfterReadInputs();ûIF _iState = 100 THENü    //Joystick Readoutý    IF xUpdateJoystick THENþ3        IF _hJoystickFile = RTS_INVALID_HANDLE THENÿ            {analysis -58}€            {analysis -130}§            _hJoystickFile := CmpCharDevice.CDOpen(_sFileJoy, CmpCharDevice.ACCESS_MODE.O_RDONLY + DINT#4000 (* CmpCharDevice.ACCESS_MODE.O_NONBLOCK*), ADR(diResult));‚            {analysis +130}ƒ            {analysis +58}„=        (* Ioctl was used, when "Blocking-Read-Out" was done:…p        --> EVIOCGKEY(len) for testing if joystick data is available; we need to call Ioctl with an ADR operator†5        so disable the corresponding compiler warning‡        {warning disable C0033}ˆ‚        CmpCharDevice.CDIoctl(hFile, UDINT_TO_DINT(RASPI._IOC(2, pbyE^, 16#18, SIZEOF(ariData))), ADR(ariData), ADR(udiResult));  ‰        {warning restore C0033}ŠF        IF udiResult = 0 AND ariData[1] + ariData[6]  > 0 THEN ... *) ‹8        IF NOT(_hJoystickFile = RTS_INVALID_HANDLE) THENŒ            diResult := 0;!            WHILE diResult = 0 DOŽ                {analysis -19}u                diFunRes := CmpCharDevice.CDRead(_hJoystickFile, ADR(_Joystick), SIZEOF(_Joystick), ADR(diResult));                  {analysis +19}‘7                IF diResult <> 0 THEN //no data to read’                    EXIT;“                ”O                IF _Joystick.eEvent = JoystickEvent.EV_KEY THEN                •"                    xSet := FALSE;–H                    IF _Joystick.eState = JoystickState.STATE_PRESS THEN—%                        xSet := TRUE;˜M                    ELSIF _Joystick.eState = JoystickState.STATE_RELEASE THEN™&                        xSet := FALSE;š                    ELSE›!                        CONTINUE;œ                    END_IF#                    ///Set booleansž"                    {analysis -75}Ÿ"                    {analysis -76} *                    CASE _Joystick.eKey OF¡+                        JoystickKey.KEY_UP:¢0                            xJoystickUp := xSet;£-                        JoystickKey.KEY_DOWN:¤2                            xJoystickDown := xSet;¥-                        JoystickKey.KEY_LEFT:¦2                            xJoystickLeft := xSet;§.                        JoystickKey.KEY_RIGHT:¨2                            xJoystickRight:= xSet;©.                        JoystickKey.KEY_ENTER:ª3                            xJoystickEnter := xSet;«                    END_CASE  ¬"                    {analysis +76}­0                    {analysis +75}              ®"                END_IF            ¯            END_WHILE        °    ELSE    ±M            diFunRes := CmpCharDevice.CDClose(_hJoystickFile, ADR(diResult));²1            _hJoystickFile := RTS_INVALID_HANDLE;³2    //Gyro, Accelerometer and Magnetometer LSM9DS1´    IF xUpdateLSM9DS1 THENµ         //Gyro and Accelerometer¶        {analysis -52}·        usiAddress := 16#6A;¸9        IF ReadRegister(16#17, ADR(byStatus), 1) = 1 THEN¹(            IF (byStatus AND 2) > 0 THENº%                //Gyro data available»u                IF ReadRegister(16#18, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#19, ADR(abyData[1]),  1) = 1 THEN¼g                    iData := UINT_TO_INT(SHL(BYTE_TO_UINT(abyData[1]), 8) OR BYTE_TO_UINT(abyData[0]));½C                    rGyroX := INT_TO_REAL(iData) * _rGyroScale;    ¾u                IF ReadRegister(16#1A, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#1B, ADR(abyData[1]),  1) = 1 THEN¿C                    rGyroY := INT_TO_REAL(iData) * _rGyroScale;    Àu                IF ReadRegister(16#1C, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#1D, ADR(abyData[1]),  1) = 1 THENÁC                    rGyroZ := INT_TO_REAL(iData) * _rGyroScale;    Â(            IF (byStatus AND 1) > 0 THENÃ&                //Accel data availableÄv                 IF ReadRegister(16#28, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#29, ADR(abyData[1]),  1) = 1 THENÅE                    rAccelX := INT_TO_REAL(iData) * _rAccelScale;    Æu                IF ReadRegister(16#2A, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#2B, ADR(abyData[1]),  1) = 1 THENÇE                    rAccelY := INT_TO_REAL(iData) * _rAccelScale;    Èu                IF ReadRegister(16#2C, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#2D, ADR(abyData[1]),  1) = 1 THENÉE                    rAccelZ := INT_TO_REAL(iData) * _rAccelScale;    Ê         END_IF         Ë         //MagnetometerÌ%        usiAddress := _usiMagAddress;Í9        IF ReadRegister(16#27, ADR(byStatus), 1) = 1 THENÎu                IF ReadRegister(16#28, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#29, ADR(abyData[1]),  1) = 1 THENÏB                    rCompX := INT_TO_REAL(iData) * _rMagScale;    ÐB                    rCompY := INT_TO_REAL(iData) * _rMagScale;    Ñ(            IF (byStatus AND 4) > 0 THENÒB                    rCompZ := INT_TO_REAL(iData) * _rMagScale;    Ó         END_IFÔ         {analysis +52}Õ     END_IFÖ%    //Pressure and Temperature LPS25h×    IF xUpdateLPS25H THENØ        usiAddress := 16#5C;Ù¦                IF ReadRegister(16#28, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#29, ADR(abyData[1]),  1) = 1 AND ReadRegister(16#2A, ADR(abyData[2]),  1) = 1 THENÚ’                    diData := UDINT_TO_DINT(SHL(BYTE_TO_UDINT(abyData[2]), 16) OR SHL(BYTE_TO_UDINT(abyData[1]), 8) OR BYTE_TO_UDINT(abyData[0]));ÛC                    lrPressure := DINT_TO_LREAL(diData) / 4096;    Üu                IF ReadRegister(16#2B, ADR(abyData[0]),  1) = 1 AND ReadRegister(16#2C, ADR(abyData[1]),  1) = 1 THENÝJ                    rTemperatureLPS25H := INT_TO_REAL(iData) / 480 + 42.5;Þ    IF xUpdateHTS221 THENß        usiAddress := 16#5F;àV                    rHumidity := INT_TO_REAL(iData) * _rHumidity_S + _rHumidity_C;    áa                    rTemperatureHTS221 := INT_TO_REAL(iData) * _rTemperature_S + _rTemperature_C;âMETHOD AfterReadInputs : INTã    byStatus : BYTE; ä"    abyData : ARRAY[0..7] OF BYTE;å    iData : INT;æ    diData : DINT;ç*    pbyE : POINTER TO BYTE := ADR('E');   è	xSet: BOOL;é$ee4efe34-0dd2-499d-928b-b0b91d627ecaêBeforeWriteOutputsë2BeforeWriteOutputs := SUPER^.BeforeWriteOutputs();ì    //Pixelí    IF xUpdatePixel THENî2        //Convert 32Bit ARGB value to 16Bit RGB565ï        FOR i := 0 TO 63 DOðn            _awWordPixel[i] := UDINT_TO_WORD(SHL(SHR(adwPixel[i] AND 16#00FF0000, 16 + 3) AND 16#1F, 11) + //Rñ]                              SHL(SHR(adwPixel[i] AND 16#0000FF00, 8 + 2) AND 16#3F, 5) + //GòS                              (SHR(adwPixel[i] AND 16#000000FF, 3) AND 16#1F)); //Bó        END_FOR    ô        {analysis +52}õf        hFile := CmpCharDevice.CDOpen(_sFilePixel, CmpCharDevice.ACCESS_MODE.O_WRONLY, ADR(diResult));ö/        IF NOT(hFile = RTS_INVALID_HANDLE) THEN÷`            diFunRes := CmpCharDevice.CDWrite(hFile, ADR(_awWordPixel), 128, ADR(diResult)); 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