<root>
<document schema='101' license='1,Chris mellors,A16HQC' title='' description='' target='PIC16.33E.ECIO40P16' >
	<config data='' clkspd='140000000' simspd='1' usewdt='0' constif='0' />
	<plugins >
		<dll_dbg_icd enabled='0' >
			<data name='debug' value='1' />
			<data name='userpins' value='0' />
			<data name='speed' value='2' />
			<data name='usev9' value='0' />
			<data name='breaks' value='8' />
			<data name='stacks' value='8' />
			<data name='clkport' value='6' />
			<data name='clkbit' value='3' />
			<data name='dataport' value='4' />
			<data name='databit' value='2' />
			<data name='ghostype' value='1' />
			<data name='monitor' value='1' />
			<data name='ictloop' value='0' />
			<data name='ictrate' value='20000' />
			<data name='ictmask' value='0' />
			<data name='anlpres' value='255' />
			<data name='digmask1' value='-1' />
			<data name='digmask2' value='-1' />
		</dll_dbg_icd>
		<dll_models enabled='1' />
		<dll_upgrader enabled='1' />
		<dll_webhelp enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug >
		<watch expr='Fluid_OK' />
		<watch expr='Enc_Posn' />
		<watch expr='message' />
		<watch expr='CAN_id' />
		<watch expr='Sced_HB' />
		<watch expr='Old_Sch_Hb' />
		<watch expr='ERROR' />
		<watch expr='Int_Error' />
		<watch expr='Indicator_Status' />
		<watch expr='Clutch_Enabled' />
		<watch expr='Clutch_Slip' />
		<watch expr='Mode' />
		<watch expr='Data_CAN' />
		<watch expr='CAN_TIME' />
		<watch expr='Driver_Braking' />
	</debug>
	<components >
		<settings autoimg='1' center='1' unitscale='0' fixedscale='0' fixedx='1' fixedy='1' fixedz='1' headcode='0' />
		<definition guid='314cb1b2-5498-432a-b8ee-5a7daf32ab37' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='0' iconpath='' />
		<component class_type='root' codename='panel' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='1' poslock='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='Old_Sch_Hb' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='CAN_id' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Mode' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Data_CAN' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='H_beat' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Indicator_Status' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clutch_Slip' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Driver_Braking' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Fluid_OK' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clutch_enable' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Int_Error' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Sced_HB' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clutch_Enabled' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='CAN_TIME' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='ERROR' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Enc_Posn' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Mtr_home' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='message' type='b1' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='CAN_Schedule' description='' >
						<command class_type='comment' title='' comment='CAN Heart Beat 0 to 200 rolling' textarea='12,0,12,0' />
						<command class_type='calculation' title='Calculation' >
							<exp exp='H_beat = H_beat + 1' />
							<exp exp='CAN_TIME = CAN_TIME + 1' />
						</command>
						<command class_type='decision' title='Decision' exp='H_beat &gt; 200' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' >
									<exp exp='H_beat = 0' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='comment' title='' comment='CAN timed out?' textarea='260,4,260,4' />
						<command class_type='decision' title='Decision' exp='CAN_TIME &gt;= 12' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' >
									<exp exp='ERROR = 1' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='comment' title='' comment='If no data has been collected, only send heart beat' textarea='12,0,12,0' />
						<command class_type='decision' title='Decision' exp='Mode = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Call Component Macro' component='can1' macro='SetTxData' >
									<argument exp='0' />
									<argument exp='8' />
									<argument exp='H_beat' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='Fluid_OK' />
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='0' />
								</command>
							</flowline>
							<flowline >
								<command class_type='call' title='Call Component Macro' component='can1' macro='SetTxData' >
									<argument exp='0' />
									<argument exp='8' />
									<argument exp='H_beat' />
									<argument exp='Clutch_Enabled' />
									<argument exp='Enc_Posn' />
									<argument exp='Driver_Braking' />
									<argument exp='Fluid_OK' />
									<argument exp='Clutch_Slip' />
									<argument exp='Indicator_Status' />
									<argument exp='Mtr_home' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Call Component Macro' component='can1' macro='SendBuffer' >
							<argument exp='0' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Inter_Error' description='' >
						<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOff' />
						<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOn' />
						<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOn' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Indicators' description='' >
						<command class_type='comment' title='' comment='Indicator status from Main ECU CAN message' textarea='12,0,12,0' />
						<command class_type='switch' title='Switch' textarea='36,25,36,25' exp='Indicator_Status' >
							<case >
								<flowline >
									<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOff' />
									<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOff' />
								</flowline>
							</case>
							<case exp='1' >
								<flowline >
									<command class_type='comment' title='' comment='Left Indicator' textarea='12,0,12,0' />
									<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOn' />
									<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOff' />
								</flowline>
							</case>
							<case exp='2' >
								<flowline >
									<command class_type='comment' title='' comment='Right indicator' textarea='12,0,12,0' />
									<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOff' />
									<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOn' />
								</flowline>
							</case>
							<case exp='3' >
								<flowline >
									<command class_type='comment' title='' comment='Hazard (Both indicators)' textarea='12,0,12,0' />
									<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOn' />
									<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOn' />
								</flowline>
							</case>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Braking' description='' >
						<command class_type='call' title='Call Component Macro' component='Brake_Sw' macro='ReadState' >
							<return exp='Driver_Braking' />
						</command>
						<command class_type='call' title='Call Component Macro' component='Clutch_Slp' macro='ReadState' >
							<return exp='Clutch_Slip' />
						</command>
						<command class_type='decision' title='Decision' exp='Driver_Braking = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Call Component Macro' component='Driver_brake_LED' macro='TurnOn' />
								<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOff' />
							</flowline>
							<flowline >
								<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOn' />
								<command class_type='call' title='Call Component Macro' component='Driver_brake_LED' macro='TurnOff' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Sign_Get' description='' >
						<command class_type='call' title='Call Component Macro' component='Clutch_Slp' macro='ReadState' >
							<return exp='Clutch_Slip' />
						</command>
						<command class_type='call' title='Call Component Macro' component='Fluid_Level' macro='ReadState' >
							<return exp='Fluid_OK' />
						</command>
						<command class_type='call' title='Call Component Macro' component='Mot_Switch' macro='ReadState' >
							<return exp='Mtr_home' />
						</command>
						<command class_type='comment' title='' comment='This is the PROBLEM HERE!' textarea='12,0,12,0' />
						<command class_type='call' title='Call Component Macro' component='Encoder_Pn' macro='GetAverageByte' >
							<return exp='Enc_Posn' />
							<argument exp='10' />
							<argument exp='2' />
						</command>
						<command class_type='comment' title='' comment='This is the PROBLEM HERE!' textarea='12,0,12,0' />
						<command class_type='call' title='Call Component Macro' component='can1' macro='CheckRx' >
							<return exp='message' />
							<argument exp='0' />
						</command>
						<command class_type='decision' title='Decision' exp='message = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' >
									<exp exp='Data_CAN = 1' />
								</command>
								<command class_type='comment' title='' comment='Reset CAN time out to 0' textarea='12,0,12,0' />
								<command class_type='calculation' title='Calculation' >
									<exp exp='CAN_TIME = 0' />
								</command>
								<command class_type='call' title='Call Component Macro' component='can1' macro='GetRxIDSimple' >
									<return exp='CAN_id' />
									<argument exp='0' />
								</command>
								<command class_type='switch' title='Switch' textarea='36,25,36,25' exp='CAN_id' >
									<case >
										<flowline />
									</case>
									<case exp='512' >
										<flowline >
											<command class_type='calculation' title='Calculation' >
												<exp exp='Old_Sch_Hb = Sced_HB' />
											</command>
											<command class_type='call' title='Call Component Macro' component='can1' macro='GetRxData' >
												<return exp='Sced_HB' />
												<argument exp='0' />
												<argument exp='0' />
											</command>
											<command class_type='decision' title='Decision' exp='Sced_HB &gt; 0 &amp;&amp; Sced_HB = Old_Sch_Hb' swap='0' >
												<flowline >
													<command class_type='calculation' title='Calculation' >
														<exp exp='ERROR = 1' />
														<exp exp='Data_CAN = 0' />
													</command>
												</flowline>
												<flowline >
													<command class_type='decision' title='Decision' exp='Sced_HB &gt;= Old_Sch_Hb + 3' swap='0' >
														<flowline >
															<command class_type='calculation' title='Calculation' >
																<exp exp='ERROR = 1' />
																<exp exp='Data_CAN = 0' />
															</command>
														</flowline>
														<flowline >
															<command class_type='call' title='Call Component Macro' component='can1' macro='GetRxData' >
																<return exp='Clutch_enable' />
																<argument exp='0' />
																<argument exp='1' />
															</command>
															<command class_type='call' title='Call Component Macro' component='can1' macro='GetRxData' >
																<return exp='Indicator_Status' />
																<argument exp='0' />
																<argument exp='2' />
															</command>
															<command class_type='call' title='Call Component Macro' component='can1' macro='GetRxData' >
																<return exp='Mode' />
																<argument exp='0' />
																<argument exp='3' />
															</command>
														</flowline>
													</command>
												</flowline>
											</command>
										</flowline>
									</case>
									<case exp='513' >
										<flowline >
											<command class_type='call' title='Call Component Macro' component='can1' macro='GetRxData' >
												<return exp='Int_Error' />
												<argument exp='0' />
												<argument exp='0' />
											</command>
											<command class_type='calculation' title='Calculation' >
												<exp exp='Data_CAN = 0' />
											</command>
										</flowline>
									</case>
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' >
						<command class_type='comment' title='' comment='CAN Set up etc.

' textarea='12,0,12,0' />
						<command class_type='call' title='Call Component Macro' component='can1' macro='Initialise' />
						<command class_type='call' title='Call Component Macro' component='can1' macro='SetTxIDSimple' >
							<argument exp='0' />
							<argument exp='528' />
						</command>
						<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOff' />
						<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOff' />
						<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOff' />
						<command class_type='call' title='Call Component Macro' component='Error_Lamp' macro='TurnOff' />
						<command class_type='interrupt' title='Interrupt' enable='1' name='TMR1' call='CAN_Schedule' >
							<settings timer='1' prescale='256' postscale='-1' rollover='65536' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='3' />
								<option value='65536' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='loop' title='Loop' type='0' exp='1' >
							<flowline >
								<command class_type='comment' title='' comment='Stop systems and Freeze if main ERROR detected' textarea='12,0,12,0' />
								<command class_type='decision' title='Decision' exp='ERROR = 1' swap='0' >
									<flowline >
										<command class_type='call' title='Call Component Macro' component='Error_Lamp' macro='TurnOn' />
										<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOff' />
										<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOn' />
										<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOn' />
										<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOff' />
										<command class_type='loop' title='Loop' type='0' exp='1' >
											<flowline />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='label' title='Connection Point' labelid='0' labelname='A' />
								<command class_type='call' title='Call Macro' macro='Sign_Get' />
								<command class_type='loop' title='Loop' type='0' exp='Data_CAN = 1' >
									<flowline >
										<command class_type='call' title='Call Macro' macro='Sign_Get' />
										<command class_type='comment' title='' comment='Wait for intermitent error to clear' textarea='402,98,402,98' />
										<command class_type='decision' title='Decision' exp='Int_Error = 1' swap='0' >
											<flowline >
												<command class_type='call' title='Call Component Macro' component='Error_Lamp' macro='TurnOn' />
												<command class_type='call' title='Call Macro' macro='Inter_Error' />
												<command class_type='goto' title='Goto Connection Point' labelid='0' labelname='' />
											</flowline>
											<flowline >
												<command class_type='comment' title='' comment='Make sure indicator signal has been canceled' textarea='12,0,12,0' />
												<command class_type='call' title='Call Component Macro' component='Error_Lamp' macro='TurnOff' />
											</flowline>
										</command>
										<command class_type='comment' title='' comment='Determine required mode of opperation' textarea='12,0,12,0' />
										<command class_type='switch' title='Switch' textarea='36,25,36,25' exp='Mode' >
											<case >
												<flowline />
											</case>
											<case exp='1' >
												<flowline >
													<command class_type='comment' title='' comment='System Monitor + hb only' textarea='12,0,12,0' />
													<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOff' />
													<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOff' />
													<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOff' />
													<command class_type='calculation' title='Calculation' >
														<exp exp='Clutch_Enabled = 0' />
													</command>
												</flowline>
											</case>
											<case exp='2' >
												<flowline >
													<command class_type='comment' title='' comment='HB + Indicators' textarea='12,0,12,0' />
													<command class_type='call' title='Call Macro' macro='Indicators' />
													<command class_type='call' title='Call Component Macro' component='Clutch_Energised' macro='TurnOff' />
													<command class_type='calculation' title='Calculation' >
														<exp exp='Clutch_Enabled = 0' />
													</command>
												</flowline>
											</case>
											<case exp='3' >
												<flowline >
													<command class_type='comment' title='' comment='HB + Braking only' textarea='12,0,12,0' />
													<command class_type='call' title='Call Macro' macro='Braking' />
													<command class_type='call' title='Call Component Macro' component='Ind_Right' macro='TurnOff' />
													<command class_type='call' title='Call Component Macro' component='Ind_Left' macro='TurnOff' />
												</flowline>
											</case>
											<case exp='4' >
												<flowline >
													<command class_type='comment' title='' comment='HB+ Indicators + Braking' textarea='12,0,12,0' />
													<command class_type='call' title='Call Macro' macro='Indicators' />
													<command class_type='call' title='Call Macro' macro='Braking' />
												</flowline>
											</case>
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='7fdaec78-394e-4ec9-a578-4f1a12a12076' vmin='1' vmaj='1' codename='Ind_Left' x='-88' y='40' z='-3.85' xsz='2.05128' ysz='2.05128' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='pin' data='$PORTB.0' />
					<value target='polarity' data='001' />
					<value target='on_color' data='65535' />
					<value target='show_label' data='002' />
					<value target='label_property' data='pin' />
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					<value target='label_scale' data='1.000000' />
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