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Grenade_19_05_new.cpp
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Grenade_19_05_new.cpp
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/*
* Grenade.cpp
*
* Created: 30.11.2013 0:05:50
* Author: csv
*/
#include <avr/io.h>
#include "globals.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <math.h>
#include "IRMiles.h"
#include "pt.h"
#include <util/delay.h>
decode_results results;
#define STATE_SWITCH_ON 1 // blink, zummer, sleep
#define STATE_SLEEP 2 // sleep
#define STATE_WAKE_UP 4 // wake up, blink, zummer
#define STATE_RESPAWN 8 // wait ir respown
#define STATE_TRIGGER 16 // sleep wait for trigger
#define STATE_EXPLODE 32 // boom, blink, zoomer
#define STATE_FIND_ME 64 // blink, zoomer, wait RESP-IR or long press button or long for sleep
int state = STATE_SWITCH_ON;
unsigned long tsBtnPressed = 0;
static struct pt ptIRReceive, ptWaitForTrigger, ptExplode, ptFinder;
void piezo(bool allowed) {
if (allowed) {
PORTD |= 0b00100000; // ����� ���
} else {
PORTD &= 0b11011111; // ����� ����
}
}
void redInd(bool allowed) {
if (allowed) {
PORTD |= 0b01000000; // ������� ���������
} else {
PORTD &= 0b10111111; // ������� ���������
}
}
void setup() {
DDRD |= 0b01000000; // ������� ���������
PORTD &= 0b10111111; // ������� ���������
DDRD |= 0b00100000; // ����� �������
PORTD &= 0b11011111; // ����� �������
DDRD |= 0b00010000; // ��������� ��
PORTD &= 0b11101111; // ��������� ��
DDRD &= 0b11111011; // ������
PORTD |= 0b00000100; // ������
enableIROut(56);
enableIRIn();
//���������� ��� ���� ISCxx
//����������� �� ������������ INT0 �� ������� ������
MCUCR &= ~( (1<<ISC11)|(1<<ISC10)|(1<<ISC01)|(1<<ISC00) );
//��������� ������� ���������� INT0
GICR |= (1<<INT0);
//���������� ���� ����������� ���������� ����������
PT_INIT(&ptIRReceive);
PT_INIT(&ptWaitForTrigger);
PT_INIT(&ptExplode);
PT_INIT(&ptFinder);
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
}
//������� ���������� �������� ���������� INT0
ISR( INT0_vect )
{
if ( (PIND & 0b00000100) > 0 ) {
tsBtnPressed = millis();
} else {
tsBtnPressed = 0;
}
}
static int protothreadIrReceive(struct pt *pt) {
PT_BEGIN(pt);
while(1) {
PT_WAIT_UNTIL(pt, decode(&results) );
if (state == STATE_WAKE_UP && results.bits == 24 && results.value == 0b100000110000010111101000) {
state = STATE_RESPAWN;
redInd(false);
piezo(false);
}
resumeIRIn();
}
PT_END(pt);
}
static int protothreadWaitForTrigger(struct pt *pt) {
PT_BEGIN(pt);
while(1) {
PT_WAIT_UNTIL(pt, (state == STATE_SWITCH_ON) || (state == STATE_RESPAWN));
if (tsBtnPressed == 0) {
sleep_enable();
sei();
sleep_cpu();
sleep_disable();
} else {
if (state == STATE_SWITCH_ON && millis() - tsBtnPressed > 2000) {
state = STATE_WAKE_UP;
}
if (state == STATE_RESPAWN) {
state = STATE_EXPLODE;
}
}
}
PT_END(pt);
}
static int protothreadExplode(struct pt *pt) {
static unsigned long ts = 0;
PT_BEGIN(pt);
while(1) {
PT_WAIT_UNTIL(pt, state == STATE_EXPLODE);
ts = millis();
// countdown before explode
int tDelay = 100;
while (millis() - ts < 3000) {
redInd(true);
piezo(true);
_delay_ms(tDelay);
redInd(false);
piezo(false);
_delay_ms(tDelay);
if (tDelay > 10) tDelay -= 10;
}
// explode
unsigned long data;
data = 0b100000110000000011101000;
for (int i = 1; i < 4; i++) {
redInd(true);
piezo(true);
sendSony(data, 24);
_delay_ms(200);
redInd(false);
piezo(false);
_delay_ms(100);
}
state = STATE_FIND_ME;
}
PT_END(pt);
}
static int protothreadFinder(struct pt *pt) {
static unsigned long tsFind = 0;
PT_BEGIN(pt);
while(1) {
PT_WAIT_UNTIL(pt, state == STATE_FIND_ME);
tsFind = millis();
redInd(true);
piezo(true);
PT_WAIT_UNTIL(pt, millis() - tsFind > 500 || state != STATE_FIND_ME);
tsFind = millis();
redInd(false);
piezo(false);
PT_WAIT_UNTIL(pt, millis() - tsFind > 500 || state != STATE_FIND_ME);
}
PT_END(pt);
}
int main(void)
{
setup();
while(1) {
protothreadIrReceive(&ptIRReceive);
protothreadWaitForTrigger(&ptWaitForTrigger);
protothreadExplode(&ptExplode);
protothreadFinder(&ptFinder);
}
}