/*${components::aoGrinder::SM::grinding} ...................................*/
static QState aoGrinder_grinding(aoGrinder * const me) {
QState status_;
switch (Q_SIG(me)) {
/* ${components::aoGrinder::SM::grinding} */
case Q_ENTRY_SIG: {
BSP_println("Start grinding.");
BSP_ledOn();
QActive_postISR((QActive *)&AO_Scale, SCALE_START_SIG, 0);
QActive_postISR((QActive *)&AO_Display, DISPLAY_WEIGHT_SIG, 0);
status_ = Q_HANDLED();
break;
}
/* ${components::aoGrinder::SM::grinding} */
case Q_EXIT_SIG: {
BSP_println("Stop grinding.");
BSP_ledOff();
status_ = Q_HANDLED();
break;
}
/* ${components::aoGrinder::SM::grinding::THRESHOLD_REACHED} */
case THRESHOLD_REACHED_SIG: {
status_ = Q_TRAN(&aoGrinder_settling);
break;
}
default: {
status_ = Q_SUPER(&QHsm_top);
break;
}
}
return status_;
}
/*${components::aoGrinder::SM::done} .......................................*/
static QState aoGrinder_done(aoGrinder * const me) {
QState status_;
switch (Q_SIG(me)) {
/* ${components::aoGrinder::SM::done} */
case Q_ENTRY_SIG: {
BSP_println("Grinder done.");
QActive_postISR((QActive *)&AO_Display, DISPLAY_RESULT_SIG, 0);
status_ = Q_HANDLED();
break;
}
/* ${components::aoGrinder::SM::done} */
case Q_EXIT_SIG: {
QActive_postISR((QActive *)&AO_Scale, SCALE_STOP_SIG, 0);
QActive_postISR((QActive *)&AO_Display, DISPLAY_IDLE_SIG, 0);
status_ = Q_HANDLED();
break;
}
/* ${components::aoGrinder::SM::done::NEGATIVE_REACHED} */
case NEGATIVE_REACHED_SIG: {
status_ = Q_TRAN(&aoGrinder_idle);
break;
}
default: {
status_ = Q_SUPER(&QHsm_top);
break;
}
}
return status_;
}
/*..........................................................................*/
static void interrupt ISR_tmr(void) {
QK_ISR_ENTRY(); /* inform QK-nano about ISR entry */
QF_tickISR(); /* process all armed time events */
QActive_postISR((QActive *)&AO_Tunnel, TIME_TICK_SIG, 0);
QActive_postISR((QActive *)&AO_Ship, TIME_TICK_SIG, 0);
QActive_postISR((QActive *)&AO_Missile, TIME_TICK_SIG, 0);
QK_ISR_EXIT(); /* inform QK-nano about ISR exit */
}
/*${components::aoWeight::SM::aboveTreshold} ...............................*/
static QState aoWeight_aboveTreshold(aoWeight * const me) {
QState status_;
switch (Q_SIG(me)) {
/* ${components::aoWeight::SM::aboveTreshold} */
case Q_ENTRY_SIG: {
BSP_println("Weight above threshold.");
status_ = Q_HANDLED();
break;
}
/* ${components::aoWeight::SM::aboveTreshold::REFRESH} */
case REFRESH_SIG: {
/* ${components::aoWeight::SM::aboveTreshold::REFRESH::[Weight>TargetDose]} */
if (Weight > TargetDose) {
QActive_postISR((QActive *)&AO_Grinder, DOSE_REACHED_SIG, 0);
status_ = Q_TRAN(&aoWeight_aboveDose);
}
/* ${components::aoWeight::SM::aboveTreshold::REFRESH::[<threshold]} */
else if (Weight < (TargetDose + SCALE_TARGET_THRESHOLD)) {
status_ = Q_TRAN(&aoWeight_positive);
}
else {
status_ = Q_UNHANDLED();
}
break;
}
default: {
status_ = Q_SUPER(&QHsm_top);
break;
}
}
return status_;
}
/*${components::aoWeight::SM::negative} ....................................*/
static QState aoWeight_negative(aoWeight * const me) {
QState status_;
switch (Q_SIG(me)) {
/* ${components::aoWeight::SM::negative} */
case Q_ENTRY_SIG: {
BSP_println("Weight negative.");
QActive_postISR((QActive *)&AO_Grinder, NEGATIVE_REACHED_SIG, 0);
status_ = Q_HANDLED();
break;
}
/* ${components::aoWeight::SM::negative::REFRESH} */
case REFRESH_SIG: {
/* ${components::aoWeight::SM::negative::REFRESH::[>negative]} */
if (Weight > SCALE_NEGATIVE_THRESHOLD) {
status_ = Q_TRAN(&aoWeight_aroundZero);
}
else {
status_ = Q_UNHANDLED();
}
break;
}
default: {
status_ = Q_SUPER(&QHsm_top);
break;
}
}
return status_;
}
/*${components::aoWeight::SM::positive} ....................................*/
static QState aoWeight_positive(aoWeight * const me) {
QState status_;
switch (Q_SIG(me)) {
/* ${components::aoWeight::SM::positive} */
case Q_ENTRY_SIG: {
BSP_println("Weight positive.");
status_ = Q_HANDLED();
break;
}
/* ${components::aoWeight::SM::positive::REFRESH} */
case REFRESH_SIG: {
/* ${components::aoWeight::SM::positive::REFRESH::[>threshold]} */
if (Weight > (TargetDose + SCALE_TARGET_THRESHOLD)) {
QActive_postISR((QActive *)&AO_Grinder, THRESHOLD_REACHED_SIG, 0);
status_ = Q_TRAN(&aoWeight_aboveTreshold);
}
/* ${components::aoWeight::SM::positive::REFRESH::[<zero]} */
else if (Weight < SCALE_ZERO_THRESHOLD) {
status_ = Q_TRAN(&aoWeight_aroundZero);
}
else {
status_ = Q_UNHANDLED();
}
break;
}
default: {
status_ = Q_SUPER(&QHsm_top);
break;
}
}
return status_;
}
/*..........................................................................*/
void BSP_onKeyboardInputISR(uint8_t key) {
switch (key) {
case 129: { /* ESC pressed? */
QActive_postISR((QActive *)&AO_Sensor, TERMINATE_SIG, 0);
break;
}
}
}
/*..........................................................................*/
static void interrupt ISR_kbd() {
static uint8_t ship_pos = GAME_SHIP_Y;
uint8_t key;
uint8_t kcr;
QK_ISR_ENTRY(); /* inform QK-nano about ISR entry */
key = inp(0x60); /* key scan code from 8042 kbd controller */
kcr = inp(0x61); /* get keyboard control register */
outp(0x61, (uint8_t)(kcr | 0x80)); /* toggle acknowledge bit high */
outp(0x61, kcr); /* toggle acknowledge bit low */
switch (key) {
case 200: /* Up-arrow */
case 208: { /* Down-arrow */
if ((key == (uint8_t)200) && (ship_pos > 0x00)) {
--ship_pos;
}
else if ((key == (uint8_t)208)
&& (ship_pos < (GAME_SCREEN_HEIGHT - 3))) {
++ship_pos;
}
QActive_postISR((QActive *)&AO_Ship, PLAYER_SHIP_MOVE_SIG,
((ship_pos << 8) | GAME_SHIP_X));
Video_printNumAt(24, 24, VIDEO_FGND_YELLOW, ship_pos);
break;
}
case 57: { /* Space */
static uint16_t ntrig = 0;
QActive_postISR((QActive *)&AO_Ship, PLAYER_TRIGGER_SIG, 0);
QActive_postISR((QActive *)&AO_Tunnel, PLAYER_TRIGGER_SIG, 0);
Video_printNumAt(47, 24, VIDEO_FGND_YELLOW, ++ntrig);
break;
} /* Esc */
case 129: {
QActive_postISR((QActive *)&AO_Tunnel, PLAYER_QUIT_SIG, 0);
break;
}
}
QK_ISR_EXIT(); /* inform QK-nano about ISR exit */
}
/*..........................................................................*/
static void interrupt kbdISR() {
uint8_t key = inport(0x60); /* key scan code from 8042 kbd controller */
uint8_t kcr = inport(0x61); /* get keyboard control register */
outportb(0x61, (uint8_t)(kcr | 0x80)); /* toggle acknowledge bit high */
outportb(0x61, kcr); /* toggle acknowledge bit low */
if (key == (uint8_t)129) { /* ESC key pressed? */
QActive_postISR((QActive *)&AO_Table, TERMINATE_SIG, 0);
}
outportb(0x20, 0x20); /* write EOI to the master PIC */
}
__interrupt void port1_ISR(void) { /* for testing */
#ifdef NDEBUG
__low_power_mode_off_on_exit();
#endif
P1IFG &= ~BIT3; /* clear interrupt source */
QK_ISR_ENTRY(); /* inform QK kernel about ISR entry */
QActive_postISR((QActive *)&AO_Ped, TEST_SIG, 0); /* post test event */
QK_ISR_EXIT(); /* inform QK kernel about ISR exit */
}
/*..........................................................................*/
void SysTick_Handler(void) {
static uint32_t btn_debounced = USR_SW1;
static uint8_t debounce_state = 0U;
uint32_t btn;
QK_ISR_ENTRY(); /* infrom QK about entering an ISR */
QF_tickISR(); /* process all armed time events */
/* debounce the USER button... */
btn = GPIOF->DATA_Bits[USR_SW1]; /* read the User Sw1 */
switch (debounce_state) {
case 0:
if (btn != btn_debounced) {
debounce_state = 1U; /* transition to the next state */
}
break;
case 1:
if (btn != btn_debounced) {
debounce_state = 2U; /* transition to the next state */
}
else {
debounce_state = 0U; /* transition back to state 0 */
}
break;
case 2:
if (btn != btn_debounced) {
debounce_state = 3U; /* transition to the next state */
}
else {
debounce_state = 0U; /* transition back to state 0 */
}
break;
case 3:
if (btn != btn_debounced) {
btn_debounced = btn; /* save the debounced button value */
if (btn == 0U) { /* is the button depressed? */
QActive_postISR((QActive *)&AO_Pelican,
PEDS_WAITING_SIG, 0U);
}
else { /* button released */
}
}
debounce_state = 0U; /* transition back to state 0 */
break;
}
QK_ISR_EXIT(); /* inform QK-nano about exiting the ISR */
}
/*..........................................................................*/
static void interrupt ISR_kbd() {
uint8_t key;
uint8_t kcr;
QK_ISR_ENTRY(); /* inform QK-nano about ISR entry */
key = inp(0x60); /* key scan code from 8042 kbd controller */
kcr = inp(0x61); /* get keyboard control register */
outp(0x61, (uint8_t)(kcr | 0x80)); /* toggle acknowledge bit high */
outp(0x61, kcr); /* toggle acknowledge bit low */
if (key == 129) { /* ESC pressed? */
QActive_postISR((QActive *)&AO_Ped, TERMINATE_SIG, 0);
}
QK_ISR_EXIT(); /* inform QK-nano about ISR exit */
}
/*..........................................................................*/
static void interrupt kbdISR() {
uint8_t key = inport(0x60); /* key scan code from 8042 kbd controller */
uint8_t kcr = inport(0x61); /* get keyboard control register */
dispPreemptions(KBD_ISR_PRIO); /* for testing only, NOTE01 */
QK_ISR_ENTRY(); /* inform QK-nano about entering the ISR */
outportb(0x61, (uint8_t)(kcr | 0x80)); /* toggle acknowledge bit high */
outportb(0x61, kcr); /* toggle acknowledge bit low */
if (key == (uint8_t)129) { /* ESC key pressed? */
QActive_postISR((QActive *)&AO_Table, TERMINATE_SIG, 0);
}
Video_printNumAt(60, 12 + 0, VIDEO_FGND_YELLOW, key);/* display the key */
BSP_busyDelay(); /* for testing, NOTE02 */
QK_ISR_EXIT(); /* inform QK-nano about exiting the ISR */
}
/*${components::aoGrinder::SM::calibration} ................................*/
static QState aoGrinder_calibration(aoGrinder * const me) {
QState status_;
switch (Q_SIG(me)) {
/* ${components::aoGrinder::SM::calibration} */
case Q_ENTRY_SIG: {
QActive_postISR((QActive *)&AO_Scale, SCALE_TARE_SIG, 0);
status_ = Q_HANDLED();
break;
}
/* ${components::aoGrinder::SM::calibration::SCALE_TARE_DONE} */
case SCALE_TARE_DONE_SIG: {
status_ = Q_TRAN(&aoGrinder_grinding);
break;
}
default: {
status_ = Q_SUPER(&QHsm_top);
break;
}
}
return status_;
}
/*${components::aoGrinder::SM::idle} .......................................*/
static QState aoGrinder_idle(aoGrinder * const me) {
QState status_;
switch (Q_SIG(me)) {
/* ${components::aoGrinder::SM::idle} */
case Q_ENTRY_SIG: {
BSP_println("Grinder enter idle.");
QActive_postISR((QActive *)&AO_Display, DISPLAY_IDLE_SIG, 0);
status_ = Q_HANDLED();
break;
}
/* ${components::aoGrinder::SM::idle::BUTTON_DOWN} */
case BUTTON_DOWN_SIG: {
status_ = Q_TRAN(&aoGrinder_calibration);
break;
}
default: {
status_ = Q_SUPER(&QHsm_top);
break;
}
}
return status_;
}
/*..........................................................................*/
void GPIOPortA_IRQHandler(void) {
QK_ISR_ENTRY(); /* inform QK-nano about entering the ISR */
QActive_postISR((QActive *)&AO_Pelican, PEDS_WAITING_SIG, 0);/* testing */
QK_ISR_EXIT(); /* inform QK-nano about exiting the ISR */
}
