void advancedConfig() {
while(1) {
menuMax = 1;
selectedMenu = NOT_SELECTED;
currentMenu = 0;
while(selectedMenu == NOT_SELECTED) {
if (currentMenu == 0) { // DWELL
greenOn();
delay_ms(50);
greenOff();
redOn();
delay_ms(50);
redOff();
delay_ms(800);
} else if (currentMenu == 1) { // DEBOUNCE 2
for (uint8_t i = 0; i < 2; i++) {
greenOn();
delay_ms(50);
greenOff();
redOn();
delay_ms(50);
redOff();
delay_ms(100);
}
delay_ms(700);
}
}
if (selectedMenu == 0) { // DWELL
// Max is set high to prevent wrapping around to 0 without the user knowing
getNumberFromUser(USER_DWELL, 255);
// Dwell was entered into selectedMenu. Verify it and save it.
if (selectedMenu >= 2 && selectedMenu <= 20) {
eeprom_write_byte(&EEPROM_USER_DWELL, selectedMenu);
USER_DWELL = selectedMenu;
successBlink();
} else {
failureBlink();
}
} else { // DEBOUNCE
// Max is set high to prevent wrapping around to 0 without the user knowing
getNumberFromUser(USER_DEBOUNCE, 255);
// Debounce was entered into selectedMenu. Verify it and save it.
if (selectedMenu >= 5 && selectedMenu <= 50) {
eeprom_write_byte(&EEPROM_USER_DEBOUNCE, selectedMenu);
USER_DWELL = selectedMenu;
successBlink();
} else {
failureBlink();
}
}
}
}
void presetMenu() {
// SELECTOR
currentSelector = 0;
menuMax = 1;
selectedMenu = NOT_SELECTED;
currentMenu = 0;
while(selectedMenu == NOT_SELECTED) {
if (currentMenu == 0) { // Preset 1
redOn();
delay_ms(100);
redOff();
delay_ms(800);
} else if (currentMenu == 1) { // Preset 2
for (uint8_t i = 0; i < 2; i++) {
redOn();
delay_ms(100);
redOff();
delay_ms(100);
}
delay_ms(700);
}
}
currentSelector = selectedMenu;
////////
menuMax = 2;
selectedMenu = NOT_SELECTED;
currentMenu = 0;
while(selectedMenu == NOT_SELECTED) {
if (currentMenu == 0) { // Preset 1
orangeLed();
delay_ms(800);
} else if (currentMenu == 1) { // Preset 2
for (uint8_t i = 0; i < 2; i++) {
orangeLed();
delay_ms(100);
}
delay_ms(800);
} else if (currentMenu == 2) { // Preset 3
for (uint8_t i = 0; i < 3; i++) {
orangeLed();
delay_ms(100);
}
delay_ms(800);
}
}
CURRENT_PRESET[currentSelector] = selectedMenu;
}
void mainMenu() {
menuMax = 4;
selectedMenu = NOT_SELECTED;
currentMenu = 0;
bool state = false;
while(selectedMenu == NOT_SELECTED) {
if (currentMenu == 0) { // Firing Mode (toggle green then red)
state = !state;
redSet(!state);
greenSet(state);
delay_ms(100);
} else if (currentMenu == 1) { // Firing Rate (fast green blink)
state = !state;
redOff();
greenSet(state);
delay_ms(50);
} else if (currentMenu == 2) { // Burst size (three red blinks)
lightsOff();
// Display as three blinks of red then pause and repeat
for (uint8_t i = 0; i < 3; i++) {
redOn();
delay_ms(100);
redOff();
if (i == 2) {
for (uint8_t i = 0; i < 100; i++) {
delay_ms(10);
if (selectedMenu != NOT_SELECTED) {
break;
}
}
} else {
delay_ms(100);
}
}
} else if (currentMenu == 3) { // Ammo Limit (Solid Red)
redOn();
greenOff();
} else if (currentMenu == 4) { // Safety Shot (Solid Green)
redOff();
greenOn();
}
}
}
void redSet(bool state) {
if (state) {
redOn();
} else {
redOff();
}
}
void failureBlink() {
delay_ms(200);
for (uint8_t i = 0; i < 10; i++) {
redOn();
delay_ms(50);
redOff();
delay_ms(50);
}
}
void orangeLed() {
for (uint8_t x = 0; x < 33; x++) {
greenOn();
delay_ms(2);
redOn();
greenOff();
delay_ms(1);
redOff();
}
}
void successBlink() {
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t x = 0; x < 200; x++) {
greenOn();
delay_ms(2);
redOn();
greenOff();
delay_ms(1);
redOff();
}
}
}
void main_loop(){
unsigned char message[5];
int count = 0;
//pwmCounter = 0;
//parse and execute loop
while (1)
{
if (UARTCharsAvail(UART0_BASE)){
if(count==0){
message[0] = UARTCharGet(UART0_BASE); //grab first byte
//toggle();
}
if(count==1){
message[1] = UARTCharGet(UART0_BASE);
//toggle();
}
if(count==2){
message[2] = UARTCharGet(UART0_BASE);
//toggle();
}
if(count==3){
message[3] = UARTCharGet(UART0_BASE); //grab last byte
//toggle();
}
if(count==4){
message[4] = UARTCharGet(UART0_BASE); //grab CRC
if (crc8(0,message,4)==message[4]){
UARTCharPut(UART0_BASE, 0xFF); //CRC good (tell python end that)
parseAndExecute(message);
}else{
UARTCharPut(UART0_BASE, 0x00); //CRC bad
redOn();
}
}
count = count + 1;
if(count == 5)
count = 0;
}
}
}
void Traffic_Light::allOn() {
redOn();
yellowOn();
greenOn();
}
int main(void) {
TCCR0B |= (1 << CS01); // Enable timer with 1/8th prescale
TIMSK0 |= 1 << OCIE0A; // Configure Timer0 for Compare Match
OCR0A = 255; // Match at 200
sei(); // Enable global interrupts
initialize();
DDRA |= (1 << PINA1); // Pin 12 - Red LED
DDRA |= (1 << PINA2); // Pin 11 - Green LED
DDRA |= (1 << PINA7); // Pin 6 - Solenoid
DDRB &= ~(1 << PINB1); // Pin 3 - Push button
DDRB &= ~(1 << PINB2); // Pin 5 - Trigger Pin 1
DDRA &= ~(1 << PINA6); // Pin 7 - Trigger Pin 2
// Other unknown pins
//DDRA |= (1 << PINA0); // Pin 13
//PORTA |= (1 << PINA0); // 13 - HIGH
#ifdef X7CLASSIC
DDRA |= (1 << PINA3); // Pin 10 - Power pin
PORTA |= (1 << PINA3); // 10 - HIGH
#endif
//PORTA &= ~(1 << PINA4); // 9 - LOW
//PORTA &= ~(1 << PINA5); // 8 - LOW
// Set Triggers HIGH
PORTB |= (1 << PINB2);
PORTA |= (1 << PINA6);
// Set Pushbutton HIGH
PORTB |= (1 << PINB1);
#ifdef X7CLASSIC
// Selector switch on pin 2
DDRB &= ~(1 << PINB0); // Pin 2
PORTB |= (1 << PINB0); // Pin 2 set HIGH
#endif
// If the trigger is held, don't do anything until it's release
while (macHold()) {
// Show the Red LED as solid
redOn();
}
// If the button is held during startup, enter config mode.
uint16_t buttonHeldTime = 0;
bool configMode = false;
while ((PINB & (1 << PINB1)) <= 0) {
delay_ms(1);
// Prevent overflow
buttonHeldTime++;
if (buttonHeldTime > 20000) {
buttonHeldTime = 20000;
}
}
if (buttonHeldTime >= 1000) {
configMode = true;
}
#ifdef DWELL_DEBOUNCE
bool advancedMenu = 0;
if (buttonHeldTime >= 10000) {
advancedMenu = 1;
}
#endif
if (configMode) {
// Initialize interrupts for the menu system
PCMSK1 |= (1 << PCINT10); //Enable interrupts on PCINT10 (trigger)
PCMSK1 |= (1 << PCINT9); // Enable interrupts for the push button
GIMSK = (1 << PCIE1); //Enable interrupts period for PCI0 (PCINT11:8
#ifdef DWELL_DEBOUNCE
if (advancedMenu) {
advancedConfig();
} else {
handleConfig();
}
#else
handleConfig();
#endif
} else { // Normal run mode
for (;;) {
// This prevents time from changing within an iteration
trigger_run(&millis);
pushbutton_run(&millis);
}
}
}
static void TaskSerialCmdProc(void) {
uartInit();
uint16_t uint16;
while( true ) {
Sys_WaitSemaphore(hSerial, 153);
if( SysWaitTimedOut(hTaskSerialCmdProc) == false ) {
// pkt is ready to parse
rxPktCnt++;
switch( buffer[0] ) {
case SERCMD_LEDON:
redOn();
buffer[1] = '0';
buffer[2] = '\n';
break;
case SERCMD_LEDOFF:
redOff();
buffer[1] = '0';
buffer[2] = '\n';
break;
case SERCMD_CHKBUSY:
buffer[1] = '0';
buffer[2] = '0'+injIsBusy();
buffer[3] = '\n';
break;
case SERCMD_GETCYCLES:
buffer[1] = '0'+injGetCycles(&uint16);
uitoa_hex(&buffer[2], uint16, 4);
buffer[6] = '\n';
break;
case SERCMD_SETCYCLES:
uint16 = atoui_hex(&buffer[1]);
buffer[1] = '0'+injSetCycles(&uint16);
buffer[2] = '\n';
break;
case SERCMD_GETACCCYCLES:
buffer[1] = '0'+injGetAccumulatedCycles(&uint16);
uitoa_hex(&buffer[2], uint16, 4);
buffer[6] = '\n';
break;
case SERCMD_SETACCCYCLES:
uint16 = atoui_hex(&buffer[1]);
buffer[1] = '0'+injSetAccumulatedCycles(&uint16);
buffer[2] = '\n';
break;
case SERCMD_START:
buffer[1] = '0'+injStart();
buffer[2] = '\n';
break;
case SERCMD_SETONWIDTH:
uint16 = atoui_hex(&buffer[1]);
buffer[1] = '0'+injSetOnWidth(&uint16);
buffer[2] = '\n';
break;
case SERCMD_GETONWIDTH:
buffer[1] = '0'+injGetOnWidth(&uint16);
uitoa_hex(&buffer[2], uint16, 4);
buffer[6] = '\n';
break;
case SERCMD_ABORT:
buffer[1] = '0'+injAbort();
buffer[2] = '\n';
break;
case SERCMD_GETOFFWIDTH:
buffer[1] = '0'+injGetOffWidth(&uint16);
uitoa_hex(&buffer[2], uint16, 4);
buffer[6] = '\n';
break;
case SERCMD_SETFPPWM:
uint16 = atoui_hex(&buffer[1]);
buffer[1] = '0'+fpSet(&uint16);
buffer[2] = '\n';
break;
case SERCMD_GETFPPWM:
buffer[1] = '0'+fpGet(&uint16);
uitoa_hex(&buffer[2], uint16, 4);
buffer[6] = '\n';
break;
default:
errors++;
buffer[1] = 'F';
buffer[2] = '\n';
break;
}
// buffer already contains response, trigger
// a send and wait for it to complete
pie1.TXIE = true; // goes straight to int and loads the first item
Sys_WaitSemaphore(hSerial, 153);
if( SysWaitTimedOut(hTaskSerialCmdProc) == false ) {
txPktCnt++;
} else {
// tx never finished - got a timeout
errors++;
}
}
}
}
void firingModeMenu() {
menuMax = 3;
selectedMenu = NOT_SELECTED;
currentMenu = FIRING_MODE;
bool state = LOW;
while(selectedMenu == NOT_SELECTED) {
if (currentMenu == 0) {
state = !state;
redSet(state);
greenOff();
delay_ms(50);
} else if (currentMenu == 1) { // Three Round Burst
lightsOff();
// Display as three blinks of green then pause and repeat
for (uint8_t i = 0; i < 3; i++) {
greenOn();
delay_ms(100);
greenOff();
if (selectedMenu != NOT_SELECTED) {
break;
}
if (i == 2) {
delay_ms(1000);
} else {
delay_ms(100);
}
}
} else if (currentMenu == 2) { // Auto Response
lightsOff();
// Display as blink green, blink red, then pause
greenOn();
delay_ms(100);
greenOff();
delay_ms(100);
redOn();
delay_ms(100);
redOff();
if (selectedMenu != NOT_SELECTED) {
break;
}
delay_ms(1000);
} else if (currentMenu == 3) { // Auto Response
redOff();
greenOn();
}
}
if (selectedMenu >= 0 && selectedMenu <= 3) {
eeprom_write_byte(&EEPROM_FIRING_MODE[currentSelector][CURRENT_PRESET[currentSelector]], selectedMenu);
successBlink();
} else {
failureBlink();
}
}
void presetMenu() {
#ifdef X7CLASSIC
/************************************************************************/
/* This is used for the X7 classic to distinguish between F and FA */
/************************************************************************/
// SELECTOR
currentSelector = 0;
menuMax = 1;
selectedMenu = NOT_SELECTED;
currentMenu = 0;
while(selectedMenu == NOT_SELECTED) {
if (currentMenu == 0) { // Preset 1
redOn();
delay_ms(100);
redOff();
delay_ms(800);
} else if (currentMenu == 1) { // Preset 2
for (uint8_t i = 0; i < 2; i++) {
redOn();
delay_ms(100);
redOff();
delay_ms(100);
}
delay_ms(700);
}
}
currentSelector = selectedMenu;
////////
#endif
menuMax = 2;
selectedMenu = NOT_SELECTED;
currentMenu = 0;
while(selectedMenu == NOT_SELECTED) {
if (currentMenu == 0) { // Preset 1
orangeLed();
delay_ms(800);
} else if (currentMenu == 1) { // Preset 2
for (uint8_t i = 0; i < 2; i++) {
orangeLed();
delay_ms(100);
}
delay_ms(800);
} else if (currentMenu == 2) { // Preset 3
for (uint8_t i = 0; i < 3; i++) {
orangeLed();
delay_ms(100);
}
delay_ms(800);
}
}
#ifdef X7CLASSIC
CURRENT_PRESET[currentSelector] = selectedMenu;
#else
CURRENT_PRESET = selectedMenu;
#endif
}
