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#include "KMotionDef.h"

#define ENABLE_MPG_BIT 46

int elast=0,elastsolid=-1,ecount=0;
int Debounce(int n, int *cnt, int *last, int *lastsolid);


void main()
{
	int EnableMPG=0;

	for(;;)
	{
		WaitNextTimeSlice();
		// Handle Enable/Disable MPG
		if (Debounce(ReadBit(ENABLE_MPG_BIT),&ecount,&elast,&elastsolid)==1)
		{ 
			EnableMPG = 1-EnableMPG;  // toggle the enable
			printf("Enable = %d\n",EnableMPG);
		}
	}
}


// Debounce a bit
//
// return 1 one time when first debounced high 
// return 0 one time when first debounced low 
// return -1 otherwise 
#define DBTIME 300

int Debounce(int n, int *cnt, int *last, int *lastsolid)
{
	int v = -1;
	
	if (n == *last)  // same as last time?
	{
		if (*cnt == DBTIME-1)
		{
			if (n != *lastsolid)
			{
				v = *lastsolid = n;  // return debounced value
			}
		}
		if (*cnt < DBTIME)	(*cnt)++;
	}
	else
	{
		*cnt = 0;  // reset count
	}
	*last = n;
	return v;
}