void MENU_Event( MENU_Event_t event )
{
//MENU_LOG( "MENU_Event: %s\n", gMenuEventStr[ event ]);
if ( !MENU_IsActive() )
{
MENU_MemItem_t mainMenu;
// Menu isn't currently being displayed. Activate at the top.
gMenuStackTop = 0;
gMenuModified = 0;
MENU_GetItem( gMenuStack[ 0 ], &mainMenu );
MENU_Activate( mainMenu.val.menu );
}
else
{
MENU_MemItem_t topItem;
MENU_GetItem( gMenuStack[ gMenuStackTop ], &topItem );
if ( MENU_IsEditing() )
{
(gMenuEditFunc[ topItem.type ])( event, &topItem );
if ( event == MENU_EVENT_LEFT )
{
// Acts like a cancel
gMenuIsEditing = 0;
}
else
if ( event == MENU_EVENT_SELECT )
{
// Value was selected
gMenuModified = 1;
gMenuIsEditing = 0;
}
}
else
{
MENU_EventEditMenu( event, &topItem );
}
}
if ( event != MENU_EVENT_TIMER )
{
MENU_Draw();
}
} // MENU_Event
int main( void )
{
int i;
int led = 0;
uint16_t prevSwitches = 0;
InitHardware();
InitADC();
InitMotors();
eeprom_read_block( &gMemParam, &gEEParam, sizeof( gMemParam ));
if ( gMemParam.thresh_hi == 0xFF )
{
gMemParam.thresh_hi = 0x80;
}
if ( gMemParam.thresh_lo == 0xFF )
{
gMemParam.thresh_lo = 0x10;
}
#if CFG_LOG_USE_STDIO
fdevopen( UART0_PutCharStdio, UART0_GetCharStdio );
LogInit( stdout );
#endif
// The first handle opened for read goes to stdin, and the first handle
// opened for write goes to stdout. So u0 is stdin, stdout, and stderr
Log( "*****\n" );
Log( "***** Line Maze program\n" );
Log( "*****\n" );
LCD_Init( 2, 16 );
LCD_Printf( " SRS Sample Bot " );
LCD_MoveTo( 0, 1 );
LCD_Printf( "Second line" );
Log( "\n" );
MENU_Init( gTopMenu );
LED_OFF( GREEN );
while( 1 )
{
uint16_t switches;
uint8_t pinc;
uint8_t pind;
int8_t error;
LED_TOGGLE( GREEN );
led++;
if ( led >= 6 )
{
led = 0;
}
error = GetLineError();
if ( MENU_IsActive() )
{
MENU_Event( MENU_EVENT_TIMER );
}
else
{
if ( MENU_IsModified() )
{
eeprom_write_block( &gMemParam, &gEEParam, sizeof( gMemParam ));
MENU_ClearModified();
LCD_Clear();
LCD_Printf( "EEPROM Updated\n" );
Log( "EEPROM Updated\n" );
ms_spin( 1000 );
}
//switches = EXP_TransferWord( ~( 1 << ( led + 2 )), EXP_OUT_LED_MASK );
switches = EXP_TransferWord( 0, 0 );
Log( "SW:%04x ", switches );
if ( switches != prevSwitches )
{
LCD_Clear();
prevSwitches = switches;
}
for ( i = 0; i < 8; i++ )
{
Log( "%02x ", gLineADC[ i ]);
}
//Log( "C: %02x\n", PINC );
switch (( switches & 0xF0 ) >> 4 )
{
case 0:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( " SRS Sample Bot " );
LCD_MoveTo( 0, 1 );
LCD_Printf( "Second line" );
break;
}
case 1:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( "Joy: %c%c%c%c%c",
(( switches & 0x4000 ) == 0 ) ? 'L' : ' ',
(( switches & 0x2000 ) == 0 ) ? 'R' : ' ',
(( switches & 0x0800 ) == 0 ) ? 'U' : ' ',
(( switches & 0x0400 ) == 0 ) ? 'D' : ' ',
(( switches & 0x1000 ) == 0 ) ? 'X' : ' ' );
LCD_MoveTo( 0, 1 );
LCD_Printf( "S1:%d S2:%d S3:%d",
( switches & 0x0200 ) == 0,
( switches & 0x0100 ) == 0,
( PIND & ( 1 << 6 )) == 0 );
break;
}
case 2:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( "L %02x %02x %02x %02x %02x",
gLineADC[ 0 ],
gLineADC[ 1 ],
gLineADC[ 2 ],
gLineADC[ 3 ],
gLineADC[ 4 ] );
LCD_MoveTo( 0, 1 );
LCD_Printf( "E %02x %02x %3d B %02x", gADC[ 0 ], gADC[ 7 ], error, gADC[ 6 ] );
break;
}
default:
{
LCD_MoveTo( 0, 0 );
LCD_Printf( "Setting: %d", ( switches & 0xF0 ) >> 4 );
break;
}
}
pinc = PINC;
pind = PIND;
Log( " QL:%d%d QR:%d%d EC-L:%d EC-R:%d Err:%2d L:%5b H:%5b\n",
( ENCODER_L_A_PIN & ENCODER_L_A_MASK ) != 0,
( ENCODER_L_B_PIN & ENCODER_L_B_MASK ) != 0,
( ENCODER_R_A_PIN & ENCODER_R_A_MASK ) != 0,
( ENCODER_R_B_PIN & ENCODER_R_B_MASK ) != 0,
gEncoderCountL,
gEncoderCountR,
error, gLowMask, gHighMask );
}
// Tick rate is 100/sec so waiting for 50 waits for 1/2 sec
for ( i = 0; i < 50; i++ )
{
WaitForTimer0Rollover();
CheckSwitches();
#if 1
if ( UART0_IsCharAvailable() )
{
char ch = UART0_GetChar();
if ( ch == ' ' )
{
DebugKey();
}
else
{
Log( "Read: '%c'\n", ch );
}
}
#endif
}
}
return 0;
}
void MENU_Draw( void )
{
char *s;
char fmtStr[ 10 ];
uint16_t val = 0;
uint16_t maxVal = 0;
int16_t ival = 0;
int16_t maxIVal = 0;
uint8_t maxLen;
uint8_t valLen;
MENU_MemItem_t item;
uint8_t signedVal = 0;
if ( !MENU_IsActive() )
{
return;
}
if ( MENU_IsEditing() )
{
MENU_GetItem( gMenuStack[ gMenuStackTop ], &item );
}
else
{
// By only drawing when we're not editing, we reduce flicker
LCD_Clear();
// First of all, draw the title of the containing menu
MENU_GetItem( gMenuStack[ gMenuStackTop - 1 ], &item );
LCD_PutStr_P( item.name );
// Now draw the currently selected item
LCD_MoveTo( 0, 1 );
MENU_GetItem( gMenuStack[ gMenuStackTop ], &item );
LCD_PutStr_P( item.name );
}
switch ( item.type )
{
case MENU_TYPE_BYTE:
{
if ( MENU_IsEditing() )
{
val = gMenuEditVal.uintVal;
}
else
{
val = *item.val.byteVal.bytePtr;
}
maxVal = item.val.byteVal.maxVal;
break;
}
case MENU_TYPE_UINT:
{
if ( MENU_IsEditing() )
{
val = gMenuEditVal.uintVal;
}
else
{
val = *item.val.uintVal.uintPtr;
}
maxVal = item.val.uintVal.maxVal;
break;
}
case MENU_TYPE_INT:
{
signedVal = 1;
if ( MENU_IsEditing() )
{
ival = gMenuEditVal.intVal;
}
else
{
ival = *item.val.intVal.intPtr;
}
maxIVal = item.val.intVal.maxVal;
break;
}
default:
{
return;
}
}
if ( signedVal )
{
snprintf( fmtStr, sizeof( fmtStr ), "%d", maxIVal );
maxLen = strlen( fmtStr );
snprintf( fmtStr, sizeof( fmtStr ), "%d", ival );
}
else
{
snprintf( fmtStr, sizeof( fmtStr ), "%u", maxVal );
maxLen = strlen( fmtStr );
snprintf( fmtStr, sizeof( fmtStr ), "%u", val );
}
LCD_MoveTo( LCD_NumCols() - maxLen - 2, LCD_NumLines() - 1 );
LCD_PutChar( MENU_IsEditing() ? '[' : ' ' );
valLen = strlen( fmtStr );
while ( maxLen > valLen )
{
LCD_PutChar( ' ' );
maxLen--;
}
s = fmtStr;
while ( valLen > 0 )
{
LCD_PutChar( *s++ );
valLen--;
}
LCD_PutChar( MENU_IsEditing() ? ']' : ' ' );
} // MENU_Draw
