import * from EEmbCore


func init() {

	Println("Hello, World!")
	GUI_setDraw(DrawPID)
}

MODBUS_ADD_LOCAL_H_REG(tonIn, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(tonPt, auto, 0, 0, 5000, 0)
MODBUS_ADD_LOCAL_H_REG(tonQ, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(tonTimer, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(tofIn, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(tofPt, auto, 0, 0, 5000, 0)
MODBUS_ADD_LOCAL_H_REG(tofQ, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(tofTimer, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(pIn, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(pPt, auto, 0, 0, 5000, 0)
MODBUS_ADD_LOCAL_H_REG(pQ, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(pTimer, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(rsR, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(rsS, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(rsQ, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(FxCLK, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(FxQ, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(Fm, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(RxCLK, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(RxQ, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(Rm, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(CTU_xCT, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(CTU_xR, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(CTU_iPV, auto, 0, 0, 3, 0)
MODBUS_ADD_LOCAL_H_REG(CTU_xQ, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(CTU_iCV, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(CTD_xCT, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(CTD_xR, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(CTD_iPV, auto, 0, 0, 3, 0)
MODBUS_ADD_LOCAL_H_REG(CTD_xQ, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(CTD_iCV, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(PWM_rPercent, auto, 0, 0, 50, 0)
MODBUS_ADD_LOCAL_H_REG(PWM_Period, auto, 0, 0, 2, 0)
MODBUS_ADD_LOCAL_H_REG(PWM_out, auto, 0, 0, 0, 0)

MODBUS_ADD_LOCAL_H_REG(PID_Kp, auto, 0, 0, 250, 0)
MODBUS_ADD_LOCAL_H_REG(PID_Ti, auto, 0, 0, 50, 0)
MODBUS_ADD_LOCAL_H_REG(PID_Td, auto, 0, 0, 100, 0)
MODBUS_ADD_LOCAL_H_REG(PID_out, auto, 0, 0, 0, 0)
MODBUS_ADD_LOCAL_H_REG(PID_set, auto, 0, 0, 100, 0)
MODBUS_ADD_LOCAL_H_REG($int16$ PID_in, auto, 0, 0, 0, 0)

var TON : Timer = {_}
var TOF : Timer = {_}
var TP : Timer = {_}

var Rs : RS = {_}

var F_TRIG : EdgeTrig = {_}
var R_TRIG : EdgeTrig = {_}

var CTU : Counter = {_}
var CTD : Counter = {_}

var Pwm : PWM = {_}

var Pid : PID = {_}

func loop() {
	Rs.xR = rsR
	Rs.xS = rsS
	RS_func(Rs)
	rsQ = Rs.xQ

	TON.xIn = tonIn
	TON.uiPt = tonPt
	TON_func(TON)
	tonQ = TON.xQ
	tonTimer = TON.uiPt - TON.uiEt

	TOF.xIn = tofIn
	TOF.uiPt = tofPt
	TOF_func(TOF)
	tofQ = TOF.xQ
	tofTimer = TOF.uiPt - TOF.uiEt

	TP.xIn = pIn
	TP.uiPt = pPt
	TP_func(TP)
	pQ = TP.xQ
	pTimer = TP.uiPt - TP.uiEt

	F_TRIG.xCLK = FxCLK
	F_TRIG_func(F_TRIG)
	FxQ = F_TRIG.xQ
	
	R_TRIG.xCLK = RxCLK
	R_TRIG_func(R_TRIG)
	RxQ = R_TRIG.xQ

	CTU.xCT = CTU_xCT
	CTU.xR = CTU_xR
	CTU.iPV = CTU_iPV
	CTU_func(CTU)
	CTU_iCV = CTU.iCV
	CTU_xQ = CTU.xQ
	
	CTD.xCT = CTD_xCT
	CTD.xR = CTD_xR
	CTD.iPV = CTD_iPV
	CTD_func(CTD)
	CTD_iCV = CTD.iCV
	CTD_xQ = CTD.xQ

	Pwm.xEn = true
	Pwm.rPercent = PWM_rPercent
	Pwm.uiPeriod = PWM_Period
	PWM_func(Pwm)
	PWM_out = Pwm.xPWM_out


	Pid.xPV = PID_in.GetSigned()
	Pid.xEnable = true
	Pid.xSP = PID_set
	Pid.xManualMode = false
	Pid.rKp = PID_Kp / 100.0
	Pid.iTi = PID_Ti
	Pid.iTd = PID_Td
	PID_func(Pid)
	PID_out = Pid.rPIDout1

	//Симуляция воздействия PID на объект управления
	noise += (random.next() - 0.6) * 1.0 
	noise = LIMIT(-1000,1000, noise)
	PID_in = CastTo($int32$ PID_in * 0.95) +  CastTo($int32$ (PID_out - PID_in) * 0.05) + CastTo($int32$  noise)


	DelayMs(100)

}

var noise : int32
var random : Random = {_}

struct Random{
	seed : float = 321545252

	func next()->float
	{
		if(self.seed == 0){
			self.seed = 321545252
		}
		self.seed =CastTo($int32$ (1664525 * self.seed + 1013904223)) & 0xFFFFFFFF
		return self.seed / 4294967296.0
	}
}

CreateFont(font, "./good_7.ttf", 15)

func DrawRS(ctx: &EG_userContext_t) {

	GUI_createContext() $$

	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawPID)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawTON)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xS", rsS ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 rsS = !rsS
					}
				}) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xR", rsR ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 rsR = !rsR
					}
				}) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
		fill(GET_COLOR(209, 209, 209)) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = rsQ ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("RS", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawTON(ctx: &EG_userContext_t) {

	GUI_createContext() $$

	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawRS)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawTOF)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xIn", tonIn ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 tonIn = !tonIn
					}
				}) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				label("uiPt", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				input_int(tonPt, 0, 0xFFFF, GUI_ALIGN_CENTER, true) $$
			}
			
		
		}
		set_color(COLOR_BLACK, GET_COLOR(209, 209, 209)) $$
		dyn_label(`${tonTimer}`, GUI_ALIGN_CENTER) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = tonQ ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("TON", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawTOF(ctx: &EG_userContext_t) {

	GUI_createContext() $$

	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawTON)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawTP)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xIn", tofIn ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 tofIn = !tofIn
					}
				}) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				label("uiPt", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				input_int(tofPt, 0, 0xFFFF, GUI_ALIGN_CENTER, true) $$
			}
			
		
		}
		set_color(COLOR_BLACK, GET_COLOR(209, 209, 209)) $$
		dyn_label(`${tofTimer}`, GUI_ALIGN_CENTER) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = tofQ ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("TOF", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawTP(ctx: &EG_userContext_t) {

	GUI_createContext() $$
	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawTOF)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawF)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xIn", pIn ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 pIn = !pIn
					}
				}) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				label("uiPt", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				input_int(pPt, 0, 0xFFFF, GUI_ALIGN_CENTER, true) $$
			}
			
		
		}
		set_color(COLOR_BLACK, GET_COLOR(209, 209, 209)) $$
		dyn_label(`${pTimer}`, GUI_ALIGN_CENTER) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = pQ ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("TP", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawF(ctx: &EG_userContext_t) {

	GUI_createContext() $$
	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawTP)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawR)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xIn", FxCLK ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 FxCLK = !FxCLK
					}
				}) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
		fill(GET_COLOR(209, 209, 209)) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = FxQ ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("F_TRIG", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawR(ctx: &EG_userContext_t) {

	GUI_createContext() $$
	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawF)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawCTU)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xIn", RxCLK ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 RxCLK = !RxCLK
					}
				}) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
		fill(GET_COLOR(209, 209, 209)) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = RxQ ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("R_TRIG", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawCTU(ctx: &EG_userContext_t) {

	GUI_createContext() $$
	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawR)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawCTD)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				button("xCT", CTU_xCT ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 CTU_xCT = !CTU_xCT
					}
				}) $$
			}
			layout(20, 1) $
			{
				label("iPV", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				input_int(CTU_iPV, 0, 0x999, GUI_ALIGN_CENTER, true) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xR", CTU_xR ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 CTU_xR = !CTU_xR
					}
				}) $$
			}
			
		
		}
		set_color(COLOR_BLACK, GET_COLOR(209, 209, 209)) $$
		dyn_label(`${CTU_iCV}`, GUI_ALIGN_CENTER) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = CTU_xQ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("CTU", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawCTD(ctx: &EG_userContext_t) {

	GUI_createContext() $$
	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawCTU)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawPWM)
		}
	})
	set_font(font) $$
	layout(85, [25,50,25]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				button("xCT", CTD_xCT ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 CTD_xCT = !CTD_xCT
					}
				}) $$
			}
			layout(20, 1) $
			{
				label("iPV", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				input_int(CTD_iPV, 0, 0x999, GUI_ALIGN_CENTER, true) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				button("xR", CTD_xR ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187), 0, $(isButtonClick) {
					if isButtonClick {
						 CTD_xR = !CTD_xR
					}
				}) $$
			}
			
		
		}
		set_color(COLOR_BLACK, GET_COLOR(209, 209, 209)) $$
		dyn_label(`${CTD_iCV}`, GUI_ALIGN_CENTER) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = CTD_xQ? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("CTD", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}


func DrawPWM(ctx: &EG_userContext_t) {

	GUI_createContext() $$
	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawCTD)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawPID)
		}
	})
	set_font(font) $$
	layout(85, [35,30,35]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				
				label("Percent", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{	set_unit("%") $$
				input_int(PWM_rPercent, 0, 100, GUI_ALIGN_CENTER, true) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				label("Period", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				set_unit("c") $$
				input_int(PWM_Period, 1, 999, GUI_ALIGN_CENTER, true) $$
			}
			
		
		}
		set_borders(COLOR_BLACK) $$
		fill(GET_COLOR(209, 209, 209)) $$
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				let bg = PWM_out? GET_COLOR(34, 255, 26) : GET_COLOR(187, 187, 187)
				fill(bg) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("xQ", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("PWM", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}

func DrawPID(ctx: &EG_userContext_t) {

	GUI_createContext() $$
	GUI_buttonHandler( BUTTON_LEFT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawPWM)
		}
	})
	GUI_buttonHandler( BUTTON_RIGHT, $(isPressed) {
		if isPressed {
			GUI_setDraw(DrawRS)
		}
	})
	set_font(font) $$
	layout(85, [35,30,35]) $
	{
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				
				label("Уставка", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				input_int(PID_set, 0, 1000, GUI_ALIGN_CENTER, true) $$
			}
			layout(20, [30,70]) $
			{
				label("Kp", GUI_ALIGN_CENTER) $$
				input_float(PID_Kp, 0, 1000, 2, GUI_ALIGN_CENTER, true) $$
			}
			layout(20, [30,70]) $
			{
				label("Ti", GUI_ALIGN_CENTER) $$
				input_int(PID_Ti, 0, 1000,  GUI_ALIGN_CENTER, true) $$
			}
			layout(20, [30,70]) $
			{
				label("Td", GUI_ALIGN_CENTER) $$
				input_int(PID_Td, 0, 1000,  GUI_ALIGN_CENTER, true) $$
			}
			
		}
        set_color(COLOR_BLACK, GET_COLOR(209, 209, 209)) $$
		layout(0 ,1) $
		{
			layout(30, 1) $
			{
                fill(GET_COLOR(209, 209, 209)) $$
			}
			layout(20, 1) $
			{
				dyn_label("PID", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
                dyn_label(`${PID_out}`, GUI_ALIGN_CENTER) $$
			}
			layout(30, 1) $
			{
                fill(GET_COLOR(209, 209, 209)) $$
			}
		}
		layout(0 ,1) $
		{
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			layout(20, 1) $
			{
				input_int(PID_in, 0, 1000,  GUI_ALIGN_CENTER, true) $$
			}
			layout(20, 1) $
			{
				set_color(COLOR_BLACK, COLOR_WHITE) $$
				label("Объект", GUI_ALIGN_CENTER) $$
			}
			layout(20, 1) $
			{
				fill(GET_COLOR(255, 255, 255)) $$
			}
			
		
		}
	}
	layout(2, 1) $
	{
		fill(COLOR_WHITE) $$
	}
	layout(1, 1) $
	{
		fill(COLOR_BLACK) $$
	}
	layout(12, [10,80,10]) $
	{
		label("<<", GUI_ALIGN_CENTER) $$
		label("PID", GUI_ALIGN_CENTER) $$
		label(">>", GUI_ALIGN_CENTER) $$
	}
	
}