bool InitDisarmFSM ( uint8_t Priority )
{
ES_Event ThisEvent;
PortFunctionInit(); //initialize pins PA2-5, PB2-3, PD7, PF0 as GPIO
initTapeSensors(); //initialize tape sensor
initPhototransistor(); //initialize phototransisor
initMotors(); //initialize motors
initializeServos(); //initialize servo motors
LEDShiftRegInit(); //initialize LED shift register
LCDInit(); //initialize LCD display
InitAdafruitAudioPortLines(); //initialize audio
initArmedLine();
MyPriority = Priority;
CurrentState = Armed;
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
// if initialization failed
{
return false;
}
}
bool InitGameplay(uint8_t Priority) {
MyPriority = Priority;
// initialize servo
ServoInit();
SetFlagsInactive();
// initialize audio
AudioControlInit();
ExternalLineInit();
// set currentState to INIT
currentState = INIT;
ES_Event ThisEvent;
ThisEvent.EventType = ES_INIT;
// post ES_INIT to itself
if (ES_PostToService(MyPriority, ThisEvent) == true)
{
return true;
} else {
return false;
}
}
/****************************************************************************
Function
InitCannonControlService
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
****************************************************************************/
bool InitCannonControlService ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
GPIO_Init(CANNONANGLE_SYSCTL, CANNONANGLE_BASE, CANNON_DIRECTION_PIN, OUTPUT);
GPIO_Clear(CANNONANGLE_BASE, CANNON_DIRECTION_PIN);
//Initialize Our Input Captures for Encoder
InitInputCapture(CANNON_ENCODER_INTERRUPT_PARAMATERS);
//Initialize Periodic Interrupt for Control Laws
InitPeriodic(CANNON_CONTROL_INTERRUPT_PARAMATERS);
//Start the Cannon at Rest
setTargetCannonSpeed(0);
//Set Hopper to proper position
SetPWM_Hopper(HOPPER_DEFAULT_DUTY);
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
/****************************************************************************
Function
InitEncoderService
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, initializes TIVA pins, sets up init capture,
starts RPM timer
****************************************************************************/
bool InitEncoderService ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
// Setup init capture
InitInputCapturePeriod( );
// Setup periodic timer
InitPeriodicInt( );
// Start RPM timer
ES_Timer_InitTimer(RPMtimer, RPMtime);
// Post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
/****************************************************************************
Function
InitTemplateFSM
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, sets up the initial transition and does any
other required initialization for this state machine
Notes
Author
J. Edward Carryer, 10/23/11, 18:55
****************************************************************************/
bool InitPlayerTransmitSM ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
// put us into the Initial PseudoState
CurrentState = Sleep;
CurrentSubState = Send_Delim;
// post the initial transition event
ThisEvent.EventType = ES_INIT;
InitTxSCI();
//InitTxSPI();
InitTxPorts();
InitTxTimers();
//ES_Timer_InitTimer(1, 195);
transmitFlag = 0;
responseCounter = 0;
addr = 0;
commActive = 0;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
bool InitLidarService( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
Init_LidarCapture();
_HW_Timer_Init(ES_Timer_RATE_1mS);
//ES_Timer_InitTimer(AD_TIMER, 100);
ThisEvent.EventType = ES_INIT;
CurrentLidarState = InitLidar;
HWREG(SYSCTL_RCGCGPIO) |= SYSCTL_RCGCGPIO_R4;
HWREG(GPIO_PORTE_BASE+GPIO_O_DEN) |= BIT2HI;
// Set PE2 as output pin
HWREG(GPIO_PORTE_BASE+GPIO_O_DIR) |= BIT2HI;
// Write 1 to PE2, this will not trigger the measurement
HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA + ALL_BITS)) |= BIT2HI;
// PE1 to power up the Lidar 3.3V
HWREG(GPIO_PORTE_BASE+GPIO_O_DEN) |= BIT1HI;
HWREG(GPIO_PORTE_BASE+GPIO_O_DIR) |= BIT1HI;
HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA + ALL_BITS)) |= BIT1HI;
TriggerLow = false;
Period = 0;
printf("Initialization done\n\r");
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
/****************************************************************************
Function
InitDCMotor
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, sets all the necessary bits for input capture
output compare, PWM setup and enabling interrupts.
Author
J. Edward Carryer, 01/16/12, 10:00
****************************************************************************/
bool InitDCMotor ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
/* Turn on Port U for PWM outputs */
MOTOR_PORT_ADDRESS |= (MOTOR_1_DIR | MOTOR_2_DIR |
MOTOR_1_PWM | MOTOR_2_PWM);
/* Initialize Registers for PWM Capability */
PWME |= _S12_PWME0 | _S12_PWME1; //Enable PWM 0,1
PWMPOL |= (_S12_PPOL0 | _S12_PPOL1); //Set Output Polarity LO
PWMCLK |= (_S12_PCLK0 | _S12_PCLK1); //Enable Clock A Scaling
PWMPRCLK &= ~(_S12_PCKA2|_S12_PCKA1|_S12_PCKA0);//Set A Clock prescale /1
PWMSCLA = 4; //Clock Scaler
PWMCAE &= ~_S12_CAE0; //Set to Left Align
PWMCAE |= _S12_CAE1; //Set to Center Align
MODRR |= _S12_MODRR0 | _S12_MODRR1; //Port U Mapping - Pin(s) 0,1 to PWM
/* Set Period/Initial Duty Cycle/Initial Dir */
PWMPER0 = 100; //Set PWM freq to 30 kHz
PWMPER1 = 50;
PWMDTY0 = 0;
PWMDTY1 = 0;
MOTOR_PORT &= ~MOTOR_1_DIR & ~MOTOR_2_DIR;
ES_InitDeferralQueueWith( DeferralQueue, ARRAY_SIZE(DeferralQueue) );
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
return true;
else
return false;
}
//PostCamera
bool PostCamera(ES_Event thisEvent) {
//Takes an Event, returns a bool.
//Post the event to the Camera queue using ES_PostToService.
//Return the value outputted by ES_PostToService.
return ES_PostToService(MyPriority, thisEvent);
//End of PostCamera
}
/****************************************************************************
Function
InitGridlinq
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
Description
Initializes the UART and Pins necessary for communication
****************************************************************************/
bool InitGridlinq ( uint8_t Priority ) {
MyPriority = Priority;
CurrentState = Detached;
InitUART();
// post the initial transition event
ES_Event ThisEvent = {ES_INIT,0};
return ES_PostToService(MyPriority, ThisEvent);
}
/**
* @Function InitRoachFSM(uint8_t Priority)
* @param Priority - internal variable to track which event queue to use
* @return TRUE or FALSE
* @brief This will get called by the framework at the beginning of the code
* execution. It will post an ES_INIT event to the appropriate event
* queue, which will be handled inside RunRoachFSM function.
* Returns TRUE if successful, FALSE otherwise
* @author Gabriel H Elkaim, 2013.09.26 15:33 */
uint8_t InitMotorYFSM(uint8_t Priority) {
//printf("InitMotorYFSM\n");
MyPriority = Priority;
// put us into the Initial PseudoState
CurrentState = InitQState;
// post the initial transition event
if (ES_PostToService(MyPriority, INIT_EVENT) == TRUE) {
return TRUE;
} else {
return FALSE;
}
}
/**
* @Function InitExitHSM(uint8_t Priority)
* @param Priority - internal variable to track which event queue to use
* @return TRUE or FALSE
* @brief This will get called by the framework at the beginning of the code
* execution. It will post an ES_INIT event to the appropriate event
* queue, which will be handled inside RunExitFSM function. Remember
* to rename this to something appropriate.
* Returns TRUE if successful, FALSE otherwise
* @author J. Edward Carryer, 2011.10.23 19:25 */
uint8_t InitExitHSM(uint8_t Priority)
{
MyPriority = Priority;
// put us into the Initial PseudoState
CurrentState = Exit_Init;
// post the initial transition event
if (ES_PostToService(MyPriority, INIT_EVENT) == TRUE) {
return TRUE;
} else {
return FALSE;
}
}
/**
* @Function InitKeyboardInput(uint8_t Priority)
* @param Priority - internal variable to track which event queue to use
* @return TRUE or FALSE
* @brief this initializes the keyboard input system which
* Returns TRUE if successful, FALSE otherwise
* @author Max Dunne , 2013.09.26 */
uint8_t InitKeyboardInput(uint8_t Priority)
{
ES_Event ThisEvent;
MyPriority = Priority;
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService(MyPriority, ThisEvent) == TRUE) {
return TRUE;
} else {
return FALSE;
}
}
//------------------------------------------------------------------------------
// ES FUNCTIONS
//------------------------------------------------------------------------------
uint8_t InitBeaconService(uint8_t Priority)
{
ES_Event ThisEvent;
MyPriority = Priority;
//Initialize relevant hardware
IO_PortsSetPortInputs(BEACON_PORT, BEACON_PIN);
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService(MyPriority, ThisEvent) == TRUE) {
return TRUE;
} else {
return FALSE;
}
}
boolean InitLabFSM ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
// put us into the Initial PseudoState
CurrentState = InitPState;
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == True)
{
return True;
}else
{
return False;
}
}
/****************************************************************************
Function
InitAdafruitAudioService
Parameters
uint8_t : the priority 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
****************************************************************************/
bool InitAdafruitAudioService ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
InitAdafruitAudioPortLines();
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
/****************************************************************************
Function
InitTemplateService
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 InitTemplateService ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
/********************************************
in here you write your initialization code
*******************************************/
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
/**
* @Function InitTemplateService(uint8_t Priority)
* @param Priority - internal variable to track which event queue to use
* @return TRUE or FALSE
* @brief This will get called by the framework at the beginning of the code
* execution. It will post an ES_INIT event to the appropriate event
* queue, which will be handled inside RunTemplateService function. Remember
* to rename this to something appropriate.
* Returns TRUE if successful, FALSE otherwise
* @author J. Edward Carryer, 2011.10.23 19:25 */
uint8_t InitTestBumpService(uint8_t Priority)
{
ES_Event ThisEvent;
MyPriority = Priority;
// in here you write your initialization code
// this includes all hardware and software initialization
// that needs to occur.
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService(MyPriority, ThisEvent) == TRUE) {
return TRUE;
} else {
return FALSE;
}
}
/****************************************************************************
Function
InitIRemitter
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 InitIRemitter ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
//Init pins as digital outputs and OFF
IRemitter_ADDRESS |= IRemitter_PIN;
IRemitter_PORT &= ~IRemitter_PIN;
ReloadLED_ADDRESS |= ReloadLED_PIN;
ReloadLED_PORT &= ~ReloadLED_PIN;
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
return true;
else
return false;
}
/****************************************************************************
Function
InitPhotoTransistorService
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
****************************************************************************/
bool InitPhotoTransistorService ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
InitInputCapture(PHOTOTRANSISTOR_INTERRUPT_PARAMATERS);
disableCaptureInterrupt(PHOTOTRANSISTOR_INTERRUPT_PARAMATERS);
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
}
/**
* @Function InitTestTapeServiceService(uint8_t Priority)
* @param Priority - internal variable to track which event queue to use
* @return TRUE or FALSE
* @brief This will get called by the framework at the beginning of the code
* execution. It will post an ES_INIT event to the appropriate event
* queue, which will be handled inside RunTestTapeServiceService function. Remember
* to rename this to something appropriate.
* Returns TRUE if successful, FALSE otherwise
* @author J. Edward Carryer, 2011.10.23 19:25 */
uint8_t InitTestTapeService(uint8_t Priority) {
ES_Event ThisEvent;
MyPriority = Priority;
// in here you write your initialization code
// this includes all hardware and software initialization
// that needs to occur.
Dagobot_SetLED(1); //setting LEDS for digital
for (ind = 0; ind < 100; ind++)
currentTapeState[ind] = 0x00;
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService(MyPriority, ThisEvent) == TRUE) {
return TRUE;
} else {
return FALSE;
}
}
/****************************************************************************
Function
InitJSRcommand
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 InitJSRcommand ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
// post the initial transition event
DDRS |= BIT7HI; // To control SS line manually
RED_DARK_ADDRESS &= ~RED_DARK_PIN; // Set pin as input
RED_DARK_PORT &= ~RED_DARK_PIN; //Set button low
InitSPI();
readFrom = 4;// Looking for the 4th command from JSR
InitVariables();
QueryCommand = STATUS_QUERY;
ES_Timer_InitTimer(JSRtimer, 3); // Start JSRtimer for 2ms.
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
return true;
else
return false;
}
/****************************************************************************
Function
PostMasterSM
Parameters
ES_Event ThisEvent , the event to post to the queue
Returns
boolean False if the post 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 PostMasterSM( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/**
* @Function PostRoachFSM(ES_Event ThisEvent)
* @param ThisEvent - the event (type and param) to be posted to queue
* @return TRUE or FALSE
* @brief This function is a wrapper to the queue posting function, and its name
* will be used inside ES_Configure to point to which queue events should
* be posted to. Returns TRUE if successful, FALSE otherwise
* @author Gabriel H Elkaim, 2013.09.26 15:33 */
uint8_t PostMotorYFSM(ES_Event ThisEvent) {
return ES_PostToService(MyPriority, ThisEvent);
}
/****************************************************************************
Function
PostAdafruitAudioService
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
****************************************************************************/
bool PostAdafruitAudioService( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/****************************************************************************
Function
PostJSRcommand
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 PostJSRcommand( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/****************************************************************************
Function
PostPhotoTransistorService
Parameters
EF_Event ThisEvent ,the event to post to the queue
Returns
bool false if the Enqueue operation failed, true otherwise
****************************************************************************/
bool PostPhotoTransistorService( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/**
* @Function PostKeyboardInput(ES_Event ThisEvent)
* @param ThisEvent - the event (type and param) to be posted to queue
* @return TRUE or FALSE
* @brief Used to post events to keyboard input
* Returns TRUE if successful, FALSE otherwise
* @author Max Dunne , 2013.09.26 */
uint8_t PostKeyboardInput(ES_Event ThisEvent)
{
return ES_PostToService(MyPriority, ThisEvent);
}
bool PostLidarService( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/****************************************************************************
Function
PostStatusPAC
Parameters
ES_Event ThisEvent , the event to post to the queue
Returns
boolean False if the post 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 PostStatusPAC( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/****************************************************************************
Function
PostMasterSM
Parameters
ES_Event ThisEvent , the event to post to the queue
Returns
boolean False if the post operation failed, True otherwise
Description
Posts an event to this state machine's queue
Notes
Author
J. Edward Carryer, 10/23/11, 19:25
****************************************************************************/
boolean PostTankSM( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
