/**************************************************************************** Module TestHarnessService0.c Revision 1.0.1 Description This is the first service for the Test Harness under the Gen2 Events and Services Framework. Notes History When Who What/Why -------------- --- -------- 10/26/17 18:26 jec moves definition of ALL_BITS to ES_Port.h 10/19/17 21:28 jec meaningless change to test updating 10/19/17 18:42 jec removed referennces to driverlib and programmed the ports directly 08/21/17 21:44 jec modified LED blink routine to only modify bit 3 so that I can test the new new framework debugging lines on PF1-2 08/16/17 14:13 jec corrected ONE_SEC constant to match Tiva tick rate 11/02/13 17:21 jec added exercise of the event deferral/recall module 08/05/13 20:33 jec converted to test harness service 01/16/12 09:58 jec began conversion from TemplateFSM.c ****************************************************************************/ /*----------------------------- Include Files -----------------------------*/ // This module #include "TestHarnessService0.h" // Hardware #include "inc/hw_memmap.h" #include "inc/hw_types.h" #include "inc/hw_gpio.h" #include "inc/hw_sysctl.h" #include "inc/hw_nvic.h" #include "inc/hw_pwm.h" #include "inc/hw_timer.h" // Event & Services Framework #include "ES_Configure.h" #include "ES_Framework.h" #include "ES_DeferRecall.h" #include "ES_ShortTimer.h" #include "ES_Port.h" //Other Includes #include "GameplayHSM.h" #include "MotorSM.h" #include "ServoModule.h" #include "GameControlService.h" #include "Gameplay_GameTasksSM.h" #include "BallSortingService.h" /*----------------------------- Module Defines ----------------------------*/ // these times assume a 1.000mS/tick timing #define ONE_SEC 1000 #define HALF_SEC (ONE_SEC / 2) #define TWO_SEC (ONE_SEC * 2) #define FIVE_SEC (ONE_SEC * 5) #define ENTER_POST ((MyPriority << 3) | 0) #define ENTER_RUN ((MyPriority << 3) | 1) #define ENTER_TIMEOUT ((MyPriority << 3) | 2) // #define ALL_BITS (0xff<<2) Moved to ES_Port.h /*---------------------------- Module Functions ---------------------------*/ /* prototypes for private functions for this service.They should be functions relevant to the behavior of this service */ /*---------------------------- Module Variables ---------------------------*/ // with the introduction of Gen2, we need a module level Priority variable static uint8_t MyPriority; // add a deferral queue for up to 3 pending deferrals +1 to allow for ovehead static ES_Event_t DeferralQueue[3 + 1]; /*------------------------------ Module Code ------------------------------*/ /**************************************************************************** Function InitTestHarnessService0 Parameters uint8_t : the priorty of this service Returns bool, false if error in initialization, true otherwise Description Saves away the priority, and does any other required initialization for this service Notes Author J. Edward Carryer, 01/16/12, 10:00 ****************************************************************************/ bool InitTestHarnessService0(uint8_t Priority) { ES_Event_t ThisEvent; MyPriority = Priority; /******************************************** in here you write your initialization code *******************************************/ // initialize deferral queue for testing Deferal function ES_InitDeferralQueueWith(DeferralQueue, ARRAY_SIZE(DeferralQueue)); // initialize LED drive for testing/debug output // initialize the Short timer system for channel A ES_ShortTimerInit(MyPriority, SHORT_TIMER_UNUSED); #ifdef _INCLUDE_BYTE_DEBUG_ // initialize the byte-wide debugging _HW_ByteDebug_Init(); #endif // // set up I/O lines for debugging // // enable the clock to Port B // HWREG(SYSCTL_RCGCGPIO) |= SYSCTL_RCGCGPIO_R1; // // kill a few cycles to let the peripheral clock get going // while ((HWREG(SYSCTL_PRGPIO) & BIT1HI) != BIT1HI) // {} // // Enable pins for digital I/O // HWREG(GPIO_PORTB_BASE + GPIO_O_DEN) |= (BIT2HI); // // make pin 2 on Port B into outputs // HWREG(GPIO_PORTB_BASE + GPIO_O_DIR) |= (BIT2HI); // // start with the lines low // HWREG(GPIO_PORTB_BASE + (GPIO_O_DATA + ALL_BITS)) &= BIT2LO; // post the initial transition event ThisEvent.EventType = ES_INIT; if (ES_PostToService(MyPriority, ThisEvent) == true) { return true; } else { return false; } } /**************************************************************************** Function PostTestHarnessService0 Parameters EF_Event ThisEvent ,the event to post to the queue Returns bool false if the Enqueue operation failed, true otherwise Description Posts an event to this state machine's queue Notes Author J. Edward Carryer, 10/23/11, 19:25 ****************************************************************************/ bool PostTestHarnessService0(ES_Event_t ThisEvent) { #ifdef _INCLUDE_BYTE_DEBUG_ _HW_ByteDebug_SetValueWithStrobe( ENTER_POST); _HW_ByteDebug_SetValueWithStrobe( END_SERVICE); #endif return ES_PostToService(MyPriority, ThisEvent); } /**************************************************************************** Function RunTestHarnessService0 Parameters ES_Event : the event to process Returns ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise Description add your description here Notes Author J. Edward Carryer, 01/15/12, 15:23 ****************************************************************************/ ES_Event_t RunTestHarnessService0(ES_Event_t ThisEvent) { ES_Event_t ReturnEvent; ReturnEvent.EventType = ES_NO_EVENT; // assume no errors ES_Event_t NextEvent; #ifdef _INCLUDE_BYTE_DEBUG_ _HW_ByteDebug_SetValueWithStrobe(ENTER_RUN); #endif switch (ThisEvent.EventType) { case ES_INIT: { ES_Timer_InitTimer(SERVICE0_TIMER, HALF_SEC); puts("Key Mapping:"); //NextEvent.EventType=MOTOR_COMMAND; //NextEvent.EventParam=FORWARD; //PostMotorSM(NextEvent); } break; case ES_NEW_KEY: // announce { printf("\n\rES_NEW_KEY received with -> %c <- in Service 0\r\n", (char)ThisEvent.EventParam); if ('F' == ThisEvent.EventParam) { printf("\n\rForward"); NextEvent.EventType = MOTOR_COMMAND; NextEvent.EventParam = FORWARD; PostMotorSM(NextEvent); } else if ('B' == ThisEvent.EventParam) { printf("\n\rBackward"); NextEvent.EventType = MOTOR_COMMAND; NextEvent.EventParam = BACKWARDS; // This one gets posted normally PostMotorSM(NextEvent); // but we slide the deferred events under it so it(they) should come out first } else if ('L' == ThisEvent.EventParam) { printf("\n\rLeft Stop"); NextEvent.EventType = MOTOR_COMMAND; NextEvent.EventParam = LEFT_STOP_RIGHT_BACK; PostMotorSM(NextEvent); } else if ('R' == ThisEvent.EventParam) { printf("\n\rRight Stop"); NextEvent.EventType = MOTOR_COMMAND; NextEvent.EventParam = RIGHT_STOP_LEFT_BACK; PostMotorSM(NextEvent); } else if ('S' == ThisEvent.EventParam) { printf("\n\rStop"); NextEvent.EventType = MOTOR_COMMAND; NextEvent.EventParam = STOP; PostMotorSM(NextEvent); } else if ('Q' == ThisEvent.EventParam) { printf("\n\rCW"); NextEvent.EventType = MOTOR_COMMAND; NextEvent.EventParam = CW; PostMotorSM(NextEvent); } else if ('W' == ThisEvent.EventParam) { printf("\n\rCCW"); NextEvent.EventType = MOTOR_COMMAND; NextEvent.EventParam = CCW; PostMotorSM(NextEvent); } else if ('T' == ThisEvent.EventParam) { uint8_t LEDStatus = (HWREG(GPIO_PORTF_BASE + (GPIO_O_DATA + ALL_BITS)) & BIT1HI); printf("Toggling LED %x\n\r", LEDStatus); if (LEDStatus == 0) { printf("Turning OFF LED"); HWREG(GPIO_PORTF_BASE + (GPIO_O_DATA + ALL_BITS)) |= BIT1HI; } else { printf("Turning on LED"); HWREG(GPIO_PORTF_BASE + (GPIO_O_DATA + ALL_BITS)) &= BIT1LO; } } else if ('P' == ThisEvent.EventParam) { printf("Send out trash"); SortTrash(); } else if ('O' == ThisEvent.EventParam) { printf("Send out recycle"); SortRecycle(); } else if ('I' == ThisEvent.EventParam) { printf("Reset Sorter"); ResetSorter(); } else if ('G' == ThisEvent.EventParam) { printf("\r\nHARD CODED GAME START\r\n"); NextEvent.EventType = GAME_STARTED; PostGameplayMasterSM(NextEvent); PostGameControlService(NextEvent); } else if ('0' == ThisEvent.EventParam) { printf("\r\nHARD CODED GAME OVER\r\n"); NextEvent.EventType = GAME_OVER; PostGameplayMasterSM(NextEvent); PostGameControlService(NextEvent); } else if ('1' == ThisEvent.EventParam) { printf("\r\nHARD CODED START_DUMPING\r\n"); NextEvent.EventType = START_DUMPING; PostGameplayMasterSM(NextEvent); PostGameControlService(NextEvent); } else if ('6' == ThisEvent.EventParam) { printf("\r\nHARD CODED BEACON_DETECTED with Freq %d\r\n", QueryBeaconRearFreq()); NextEvent.EventType = BEACON_DETECTED; NextEvent.EventParam = REAR; PostGameplayMasterSM(NextEvent); PostGameControlService(NextEvent); } else if ('5' == ThisEvent.EventParam) { printf("\r\nHARD CODED TAPE_DETECTED\r\n"); NextEvent.EventType = TAPE_DETECTED; NextEvent.EventParam = CENTER; PostGameplayMasterSM(NextEvent); PostGameControlService(NextEvent); } else if ('3' == ThisEvent.EventParam) { printf("\r\nOpen Recycle Chute\r\n"); OpenRecycleChute(); NextEvent.EventType = RECYCLE_EMPTY; PostGameplayMasterSM(NextEvent); PostBallSortingService(NextEvent); } else if ('7' == ThisEvent.EventParam) { printf("\r\nClose Recycle Chute\r\n"); CloseRecycleChute(); } else if ('8' == ThisEvent.EventParam) { printf("\r\nOpen Trash Chute\r\n"); OpenTrashChute(); NextEvent.EventType = TRASH_EMPTY; PostGameplayMasterSM(NextEvent); PostBallSortingService(NextEvent); } else if ('9' == ThisEvent.EventParam) { printf("\r\nClose Trash Chute\r\n"); CloseTrashChute(); } } break; default: {} break; } #ifdef _INCLUDE_BYTE_DEBUG_ _HW_ByteDebug_SetValueWithStrobe(END_SERVICE); #endif return ReturnEvent; } /*************************************************************************** private functions ***************************************************************************/ /*------------------------------- Footnotes -------------------------------*/ /*------------------------------ End of file ------------------------------*/