//======================= Blink ========================= //
// Blinks a circle on the screen at a rate of 1 blink per second
static PT_THREAD (protothread_blink(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
PT_YIELD_TIME_msec(1000);
tft_drawCircle(10, 10, 10, ILI9340_WHITE);
PT_YIELD_TIME_msec(1000);
tft_drawCircle(10, 10, 10, ILI9340_BLACK);
}
PT_END(pt);
} // blink
// This thread blinks a circle on the display every second as a heartbeat
static PT_THREAD(protothread_blink(struct pt *pt)) {
PT_BEGIN(pt);
while(1) {
//draw circle
tft_fillCircle(xc, yc, 4, ILI9340_GREEN);
//yield time 1 second
PT_YIELD_TIME_msec(500);
//erase circle
tft_fillCircle(xc, yc, 4, ILI9340_BLACK);
//yield time 1 second
PT_YIELD_TIME_msec(500);
}
PT_END(pt);
}
/**
* The first protothread function. A protothread function must always
* return an integer, but must NEVER explicitly return - returning is
* performed inside the protothread statements.
*
* The protothread function is driven by the main loop further down in
* the code.
*/
static PT_THREAD (protothread1(struct pt *pt))
{
// mark beginning of thread
PT_BEGIN(pt);
/* We loop forever here. */
while(1) {
//stop until thread 2 signals
PT_SEM_WAIT(pt, &control_t1);
// put a 2 microsec pulse on the debug pin with amplitude 3
PT_DEBUG_VALUE(3, 2) ;
// toggle a port pin
mPORTAToggleBits(BIT_0);
// tell thread 2 to go
PT_SEM_SIGNAL(pt, &control_t2);
// Allow thread 3 to control blinking
// thru command interface
PT_YIELD_UNTIL(pt, cntl_blink) ;
// This is a locally written macro using timer5 to count millisec
// to program a yield time
PT_YIELD_TIME_msec(wait_t1) ;
// NEVER exit while
} // END WHILE(1)
// mark end the thread
PT_END(pt);
} // thread 1
//==================== Calculate ===================== //
static PT_THREAD (protothread_calculate (struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
PT_YIELD_TIME_msec(refreshRate);
struct Ball *ti = head;
struct Ball *tj = head;
while(ti !=NULL){
//Calculates the collisions between every ball
while(tj != NULL) {
signed short rij_x = ti->xpos - tj->xpos;
signed short rij_y = ti->ypos - tj->ypos;
signed short mag_rij = pow(rij_x,2) + pow(rij_y,2);
//Checks if ti and tj are not pointing to the same ball,
//If they close enough for a collision and there is no collision
//delay.
if(ti != tj && ti->delay + tj->delay == 0 && mag_rij < 4*pow(ballradius,2)) {
signed short vij_x = ti->xvel - tj->xvel;
signed short vij_y = ti->yvel - tj->yvel;
signed short temp = pow(2*pow(ballradius,2),2);
signed short deltaVi_x = -1*(rij_x * (rij_x * vij_x+ rij_y*vij_y))/temp;
signed short deltaVi_y = -1*(rij_y * (rij_x * vij_x+ rij_y*vij_y))/temp;
//Updates the velocity
ti->xvel = ti->xvel + deltaVi_x;
ti->yvel = ti->yvel + deltaVi_y;
tj->xvel = tj->xvel - deltaVi_x;
tj->yvel = tj->yvel - deltaVi_y;
ti->delay = delay_master;
tj->delay = delay_master;
collisions++;
}
tj = tj->b;
}
//"Clears" the image of the last ball
tft_fillCircle(ti->xpos,ti->ypos,ballradius,ILI9340_BLACK);
//Updates the new position of the ball
ti->xpos = ti->xpos + ti->xvel * refreshRate/10;
ti->ypos = ti->ypos + ti->yvel * refreshRate/10;
//checks for wall collisions
if(ti->xpos > 240 || ti->xpos < 0)
ti->xvel = -1*ti->xvel;
if(ti->ypos > 320 || ti->ypos < 0)
ti->yvel = -1*ti->yvel;
//Decrement the collide delay
if(ti->delay > 0)
ti->delay = ti->delay -1;
ti = ti->b;
tj = head;
}
}
PT_END(pt);
}
// === Launching balls =================================================
static PT_THREAD (protothread_launch_balls(struct pt *pt))
{
PT_BEGIN(pt);
while(1){
//make sure we don't put in too many balls
PT_WAIT_UNTIL(pt, current_balls < MAX_BALLS);
while(current_balls < MAX_BALLS) {
PT_YIELD_TIME_msec(200); //5 balls per second
current_balls++; //increase ball count in field
ball *new_ball = (ball*) malloc (sizeof(ball));
new_ball->xc = int2fix16(315);
new_ball->yc = int2fix16(120);
new_ball->vxc = int2fix16(-8 + (rand()>>28));
new_ball->vyc = int2fix16(-8 + (rand()>>27));
new_ball->next = NULL;
new_ball->hit_counter = 0;
if (initial_ball == NULL) { //if chain is empty, this ball is first ball
initial_ball = new_ball;
new_ball->prev = NULL;
}
else {//otherwise, put it at end
end_ball->next = new_ball;
new_ball->prev = end_ball;
}
end_ball = new_ball;
}
}
PT_END(pt);
} // end launch ball thread
//method to figure out what sound to play
// === Timer Thread =================================================
static PT_THREAD (protothread_timer(struct pt *pt))
{
PT_BEGIN(pt);
tft_setCursor(100, 0);
tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1);
tft_writeString("Elapsed time : \t Score");
while(1) {
PT_YIELD_TIME_msec(1000) ;
sys_time_seconds++ ;
tft_fillRect(100, 10, 150, 8, ILI9340_BLACK);// x,y,w,h,radius,color
tft_setCursor(100, 10);
tft_setTextColor(ILI9340_YELLOW); tft_setTextSize(1);
sprintf(buffer,"%*d %*d", 7, sys_time_seconds, 12, score);
tft_writeString(buffer);
tft_fillRect(175, 18, 2, 7, ILI9340_CYAN);
tft_fillRect(248, 18, 2, 7, ILI9340_CYAN);
tft_fillRect(175, 18, 75, 2, ILI9340_CYAN);
tft_fillRect(175, 233, 2, 7, ILI9340_CYAN);
tft_fillRect(248, 233, 2, 7, ILI9340_CYAN);
tft_fillRect(175, 238, 75, 2, ILI9340_CYAN);
if(score >= 50 && sys_time_seconds <= 60) {
tft_setCursor(100, 90);
tft_setTextColor(ILI9340_GREEN); tft_setTextSize(3);
tft_writeString("You Win!");
}
else if(score <= -50 || sys_time_seconds > 60) {
tft_setCursor(100, 90);
tft_setTextColor(ILI9340_RED); tft_setTextSize(3);
tft_writeString("You Lose!");
}
}
PT_END(pt);
} // timer thread
// === Color Thread =================================================
// draw 3 color patches for R,G,B from a random number
//static int color ;
//static int i;
static PT_THREAD (protothread_color(struct pt *pt))
{
PT_BEGIN(pt);
static int color ;
static int i;
while(1) {
// yield time 1 second
PT_YIELD_TIME_msec(2000) ;
// choose a random color
color = rand() & 0xffff ;
// draw color string
tft_fillRoundRect(0,50, 150, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color
tft_setCursor(0, 50);
tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1);
sprintf(buffer," %04x %04x %04x %04x", color & 0x1f, color & 0x7e0, color & 0xf800, color);
tft_writeString(buffer);
// draw the actual color patches
tft_fillRoundRect(5,70, 30, 30, 1, color & 0x1f);// x,y,w,h,radius,blues
tft_fillRoundRect(40,70, 30, 30, 1, color & 0x7e0);// x,y,w,h,radius,greens
tft_fillRoundRect(75,70, 30, 30, 1, color & 0xf800);// x,y,w,h,radius,reds
// now draw the RGB mixed color
tft_fillRoundRect(110,70, 30, 30, 1, color);// x,y,w,h,radius,mix color
// NEVER exit while
} // END WHILE(1)
PT_END(pt);
} // color thread
static PT_THREAD (protothread_key(struct pt *pt))
{
PT_BEGIN(pt);
static int keypad, i, pattern;
// order is 0 thru 9 then * ==10 and # ==11
// no press = -1
// table is decoded to natural digit order (except for * and #)
// 0x80 for col 1 ; 0x100 for col 2 ; 0x200 for col 3
// 0x01 for row 1 ; 0x02 for row 2; etc
static int keytable[12]={0x108, 0x81, 0x101, 0x201, 0x82, 0x102, 0x202, 0x84, 0x104, 0x204, 0x88, 0x208};
// init the keypad pins A0-A3 and B7-B9
// PortA ports as digital outputs
mPORTASetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3); //Set port as output
// PortB as inputs
mPORTBSetPinsDigitalIn(BIT_7 | BIT_8 | BIT_9); //Set port as input
while(1) {
// read each row sequentially
mPORTAClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3);
pattern = 1; mPORTASetBits(pattern);
// yield time
PT_YIELD_TIME_msec(30);
//mPORTAClearBits(BIT_0 | BIT_1 | BIT_2 | BIT_3);
//pattern = 1; mPORTASetBits(pattern);
for (i=0; i<4; i++) {
keypad = mPORTBReadBits(BIT_7 | BIT_8 | BIT_9);
if(keypad!=0) {keypad |= pattern ; break;}
mPORTAClearBits(pattern);
pattern <<= 1;
mPORTASetBits(pattern);
}
// search for keycode
if (keypad > 0){ // then button is pushed
for (i=0; i<12; i++){
if (keytable[i]==keypad) break;
}
}
else i = -1; // no button pushed
// draw key number
tft_fillRoundRect(30,200, 100, 28, 1, ILI9340_BLACK);// x,y,w,h,radius,color
tft_setCursor(30, 200);
tft_setTextColor(ILI9340_YELLOW); tft_setTextSize(4);
sprintf(buffer,"%d", i);
if (i==10)sprintf(buffer,"*");
if (i==11)sprintf(buffer,"#");
tft_writeString(buffer);
// NEVER exit while
} // END WHILE(1)
PT_END(pt);
} // keypad thread
// === Thread 5 ======================================================
// update a 1 second tick counter
static PT_THREAD (protothread5(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
// yield time 1 second
PT_YIELD_TIME_msec(1000) ;
sys_time_seconds++ ;
// NEVER exit while
} // END WHILE(1)
PT_END(pt);
} // thread 4
//======================= Refresh ========================= //
static PT_THREAD (protothread_refresh(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
PT_YIELD_TIME_msec(10);
struct Ball *ti = head;
while(ti != NULL){
tft_fillCircle(ti->xpos, ti->ypos, ballradius, ILI9340_WHITE);
ti = ti->b;
}
}
PT_END(pt);
} // blink
static PT_THREAD(protothread_anim(struct pt *pt)) {
// runs the LCD and updates around 5/second
PT_BEGIN(pt);
//write to screen
tft_fillRect(0,0, 50, 50, ILI9340_BLACK);//write black over previous message
tft_setCursor(0, 0);
tft_setTextColor(ILI9340_WHITE);
tft_setTextSize(1);//smallest size
sprintf(buffer,"%s%d", "time since startup:\n", PT_GET_TIME()/1000 );
tft_writeString(buffer);
PT_YIELD_TIME_msec(30);
PT_END(pt);
} // animation thread
// This thread is responsible for all the code not involving the TFT Display, it handled discharging and charging the capacitor and calculating the
// capacitance of the capacitor.
static PT_THREAD(protothread_cap(struct pt *pt)){
PT_BEGIN(pt);
while(1){
// Discharge Capacitor
// Set pin as output
mPORTBSetPinsDigitalOut(BIT_3);
// Drive RB3 low so capacitor can discharge into the pin
mPORTBClearBits(BIT_3);
// Yield until discharge is complete
PT_YIELD_TIME_msec(2); // 2ms is given for the capacitor to discharge and for the display to update if needed
Comp1Setup();
// Charge Capacitor
// Set RB3 as an input to detect capacitor's current charge
mPORTBSetPinsDigitalIn(BIT_3);
// Set up the timer for charging the capcitor
capTimerSetup();
// Set up the input capture to capture when the capacitor voltage reaches the reference voltage
IC1setup();
// Yield while waiting for event from comparator
PT_YIELD_UNTIL(pt, charged);
CloseTimer2();
// Reset thread wait variable
charged = 0;
// Calculate capacitance in nF
capacitance = (((charge_time*-1)/1000000)/(log(1-(VREF / VDD)) * RESISTOR))*1000000000;
CMP1Close();
PT_YIELD_TIME_msec(20);
}
PT_END(pt);
}
//===================== Capture ==================== //
// Discharges capacitor, displays and begins measurement of C1INA
static PT_THREAD (protothread_capture(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
// sets pin 7 to an output
mPORTBSetPinsDigitalOut(BIT_3);
mPORTBClearBits(BIT_3);
tft_setCursor(10, 50);
tft_setTextColor(ILI9340_YELLOW); tft_setTextSize(3);
tft_writeString("Capacitance: ");
//sets up for the capacitor reading
char buffer[20];
tft_setCursor(10, 90);
tft_fillRect(10,90, 300, 100, ILI9340_BLACK);
sprintf(buffer,"%.1f nF",cap);
tft_setTextColor(ILI9340_WHITE);
//displays the capacitor value if it is above the threshold of 1 nF
if(cap < 1.0*(1-ERROR))
tft_writeString("No capacitor");
else
tft_writeString(buffer);
cap = 0.0;
PT_YIELD_TIME_msec(1);
//Clear timer and sets pin 7 as input
WriteTimer2(0);
mPORTBSetPinsDigitalIn(BIT_3);
PT_YIELD_TIME_msec(100);
}
PT_END(pt);
} // capture
//static PT_THREAD(protothread_I2C(struct pt *pt)){
// PT_BEGIN(pt);
// while(1){
//
// PT_YIELD_TIME_msec(500);
// }
// PT_END(pt);
//}
static PT_THREAD(protothread_uart(struct pt *pt)) {
// this thread interacts with the PC keyboard to take user input and set up PID parameters
PT_BEGIN(pt);
// send the prompt via DMA to serial
sprintf(PT_send_buffer, "%s", "cmd>");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
while (1) {
buffer[0] = RcvIMUData(BNO055_QUATERNION_DATA_W_LSB_ADDR);
buffer[1] = RcvIMUData(BNO055_QUATERNION_DATA_X_LSB_ADDR);
buffer[2] = RcvIMUData(BNO055_QUATERNION_DATA_Y_LSB_ADDR);
buffer[3] = RcvIMUData(BNO055_QUATERNION_DATA_Z_LSB_ADDR);
// temp = RcvIMUData(BNO055_ACCEL_DATA_X_LSB_ADDR);
sprintf(PT_send_buffer, "%s %s%d, %s%d, %s%d, %s%d%s", "Accelerometer value: " , "W: ", buffer[0], "X: "
, buffer[1], "Y: ", buffer[2], "Z: ", buffer[3],"\n\r");
// sprintf(PT_send_buffer, "%s %s%d, %s%d, %s%d%s", "Accelerometer value: " , "W: ", buffer[0], "X: "
// , buffer[1], "Y: ", buffer[2],"\n\r");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
// //spawn a thread to handle terminal input
// // the input thread waits for input
// // -- BUT does NOT block other threads
// // string is returned in "PT_term_buffer"
// PT_SPAWN(pt, &pt_input, PT_GetSerialBuffer(&pt_input));//wait for input
// sscanf(PT_term_buffer, "%s %f", cmd, &value);
//
// // echo
// sprintf(PT_send_buffer,"%04x%s", rcv, "\n");//send original message
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\n");//next line
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\r");//carriage return
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
PT_YIELD_TIME_msec(500);
} // while(1)
PT_END(pt);
} // uart input thread
// === Thread 4 ======================================================
// just blinks
static PT_THREAD (protothread4(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
mPORTBToggleBits(BIT_0);
// put a 10 microsec pulse on the debug pin with amplitude 1
PT_DEBUG_VALUE(1, 10) ;
PT_YIELD_TIME_msec(wait_t2) ;
// never exit while
} // END WHILE(1)
PT_END(pt);
} // thread 4
// === Animation Thread =============================================
// move a disk
static PT_THREAD (protothread_anim(struct pt *pt))
{
PT_BEGIN(pt);
static int xc=10, yc=150, vxc=2, vyc=0;
while(1) {
// yield time 1 second
PT_YIELD_TIME_msec(32);
// erase disk
tft_fillCircle(xc, yc, 4, ILI9340_BLACK); //x, y, radius, color
// compute new position
xc = xc + vxc;
if (xc<5 || xc>235) vxc = -vxc;
// draw disk
tft_fillCircle(xc, yc, 4, ILI9340_GREEN); //x, y, radius, color
// NEVER exit while
} // END WHILE(1)
PT_END(pt);
} // animation thread
// === ADC Thread =============================================
static PT_THREAD (protothread_adc(struct pt *pt))
{
PT_BEGIN(pt);
myPaddle = (paddle*) malloc(sizeof(paddle));
myPaddle->xc = 4;
static int adc_10;
while(1) {
PT_YIELD_TIME_msec(2);
// read the ADC from pin 24 (AN11)
adc_10 = ReadADC10(0); // read the result of channel 9 conversion from the idle buffer
AcquireADC10(); // not needed if ADC_AUTO_SAMPLING_ON below
//READADC10 value is between 0-1020
tft_fillRect(myPaddle->xc, myPaddle->yc, 2, PADDLE_LEN, ILI9340_BLACK);
if(adc_10 < 3) adc_10 = 0;
else if (adc_10 > 920) adc_10 = 920;
myPaddle->vyc = (adc_10 >> 2) - myPaddle->yc;
myPaddle->yc = (adc_10 >> 2);
tft_fillRect(myPaddle->xc, myPaddle->yc, 2, PADDLE_LEN, ILI9340_WHITE);
} // END WHILE(1)
PT_END(pt);
} // ADC thread
// === Timer Thread =================================================
// update a 1 second tick counter
static PT_THREAD (protothread_timer(struct pt *pt))
{
PT_BEGIN(pt);
tft_setCursor(0, 0);
tft_setTextColor(ILI9340_WHITE); tft_setTextSize(1);
tft_writeString("Time in seconds since boot\n");
while(1) {
// yield time 1 second
PT_YIELD_TIME_msec(1000) ;
sys_time_seconds++ ;
// draw sys_time
tft_fillRoundRect(0,10, 100, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color
tft_setCursor(0, 10);
tft_setTextColor(ILI9340_YELLOW); tft_setTextSize(2);
sprintf(buffer,"%d", sys_time_seconds);
tft_writeString(buffer);
// NEVER exit while
} // END WHILE(1)
PT_END(pt);
} // timer thread
//static PT_THREAD(protothread_I2C(struct pt *pt)){
// PT_BEGIN(pt);
// while(1){
//
// PT_YIELD_TIME_msec(500);
// }
// PT_END(pt);
//}
static PT_THREAD(protothread_uart(struct pt *pt)) {
// this thread interacts with the PC keyboard to take user input and set up PID parameters
PT_BEGIN(pt);
// send the prompt via DMA to serial
sprintf(PT_send_buffer, "%s", "cmd>");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
while (1) {
temp = RcvData2(addr);
sprintf(PT_send_buffer, "%s%d%s", "Temperature value: " ,temp, "\n\r");
// by spawning a print thread
PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output));//send date and time
// //spawn a thread to handle terminal input
// // the input thread waits for input
// // -- BUT does NOT block other threads
// // string is returned in "PT_term_buffer"
// PT_SPAWN(pt, &pt_input, PT_GetSerialBuffer(&pt_input));//wait for input
// sscanf(PT_term_buffer, "%s %f", cmd, &value);
//
// // echo
// sprintf(PT_send_buffer,"%04x%s", rcv, "\n");//send original message
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\n");//next line
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
// sprintf(PT_send_buffer,"\r");//carriage return
// PT_SPAWN(pt, &pt_DMA_output, PT_DMA_PutSerialBuffer(&pt_DMA_output) );
PT_YIELD_TIME_msec(500);
} // while(1)
PT_END(pt);
} // uart input thread
// This thead displays the value of the capcitor if it is in the 1nF-100nF range
// or diplays a message if the capacitor is out of range
static PT_THREAD(protothread_cap_read(struct pt *pt)) {
PT_BEGIN(pt);
tft_setCursor(0,0);
tft_setTextColor(ILI9340_WHITE);
tft_setTextSize(2);
tft_writeString("Measuring capacitance:");
while(1) {
tft_setCursor(0,30);
tft_setTextColor(ILI9340_YELLOW);
tft_setTextSize(2);
if (capacitance < 1 || capacitance > 99) {
tft_fillRoundRect(0,30, 320, 40, 1, ILI9340_BLACK);// x,y,w,h,radius,color
tft_writeString("Capacitor out of range!");
}
else {
tft_fillRoundRect(0,30, 320, 40, 1, ILI9340_BLACK);// x,y,w,h,radius,color
sprintf(buffer, "%4.1f nF", capacitance);
tft_writeString(buffer);
}
PT_YIELD_TIME_msec(200);
}
PT_END(pt);
}
static PT_THREAD(protothread_cap_read(struct pt *pt)) {
PT_BEGIN(pt);
tft_setCursor(0,0);
tft_setTextColor(ILI9340_WHITE);
tft_setTextSize(3);
tft_writeString("Measuring capacitance:\n");
while(1) {
tft_setCursor(0,10);
tft_setTextColor(ILI9340_YELLOW);
tft_setTextSize(3);
if (capacitance == 0) {
tft_writeString("No capacitor detected");
}
else if (capacitance == 999) {
tft_writeString("Capacitor out of range!");
}
else {
sprintf(buffer, "%5.1f", capacitance);
}
tft_writeString(buffer);
PT_YIELD_TIME_msec(200);
}
PT_END(pt);
}
//======================= Refresh ========================= //
//Does Ball calculations and Draws the necessary elements on the screen
static PT_THREAD (protothread_refresh(struct pt *pt))
{
PT_BEGIN(pt);
PT_YIELD_TIME_msec(100);
//waits for the scoreboard to be set up
while(1) {
while (timeElapsed <=60) {
PT_YIELD_TIME_msec(10);
DmaChnDisable(dmaChn);
DmaChnDisable(dmaChn2);
//Generates a new ball at a given interval
if(ballgen >= 10) {
int troll1 = -((rand()) % 2)-1;
int troll2 = ((rand()) % 6) - 3;
struct Ball *temp = Ball_create(320,120,troll1,troll2,(numBalls+1)*500,0,NULL);
temp->b = head;
head = temp;
ballgen = 0;
numBalls++;
}
else
ballgen ++;
//collision calculations
struct Ball *ti = head;
struct Ball *tj = NULL;
if(ti != NULL)
tj = ti->b;
while(ti !=NULL){
//Calculates the collisions between every ball
while(tj != NULL) {
int rij_x = ti->xpos - tj->xpos;
int rij_y = ti->ypos - tj->ypos;
int mag_rij = pow(rij_x,2) + pow(rij_y,2);
//Checks if ti and tj are not pointing to the same ball,
//If they close enough for a collision and there is no collision
//delay.
if( ti->delay + tj->delay == 0 && mag_rij < dist) {
int vij_x = ti->xvel - tj->xvel;
int vij_y = ti->yvel - tj->yvel;
if (mag_rij==0) {
mag_rij=dist;
}
int deltaVi_x = (int)((-1*(rij_x) * ((((rij_x * vij_x)+ (rij_y*vij_y)) << 7)/mag_rij)) >> 7);
int deltaVi_y = (int)((-1*(rij_y) * ((((rij_x * vij_x)+ (rij_y*vij_y)) << 7)/mag_rij)) >> 7);
/*
tft_fillRoundRect(0,30, 320, 14, 1, ILI9340_BLACK);// x,y,w,h,radius,color
tft_setCursor(0, 30);
tft_setTextColor(ILI9340_WHITE); tft_setTextSize(2);
sprintf(buffer,"%d:%d", (-1*(rij_x)/128 * (128*((rij_x * vij_x)+ (rij_y*vij_y))/mag_rij)), mag_rij);
tft_writeString(buffer);
*/
//Updates the velocity
ti->xvel = ti->xvel + deltaVi_x;
ti->yvel = ti->yvel + deltaVi_y;
tj->xvel = tj->xvel - deltaVi_x;
tj->yvel = tj->yvel - deltaVi_y;
ti->delay = delay_master;
tj->delay = delay_master;
}
tj = tj->b;
}
//checks for wall collisions
if(ti->xpos >= 320*scale || ti->xpos <= 0)
ti->xvel = -1*ti->xvel;
if(ti->ypos >= 240*scale || ti->ypos <= 35*scale) {
ti->yvel = -1*ti->yvel;
if (ti->xpos > 120*scale && ti->xpos < 200*scale) { //check for catch bin
ti->delay=-1; //set to -1 to indicate +1 point
}
}
//calculates the drag
if(ti->xvel > 0)
ti->xvel = ti->xvel - ti->xvel/drag;
else
ti->xvel = ti->xvel + ti->xvel/drag;
if(ti->yvel > 0)
ti->yvel = ti->yvel - ti->yvel/drag;
else
ti->yvel = ti->yvel - ti->yvel/drag;
// Check for paddle Collisions
if(abs(paddle_xpos-ti->xpos/scale) <= ballradius && ti->delay == 0)
if(ti->ypos/scale > paddle_ypos - half_paddle_length && ti->ypos/scale < paddle_ypos + half_paddle_length) {
ti->xvel = -1*ti->xvel;
ti->yvel = ti->yvel + paddle_drag*paddle_v;
ti->delay=delay_master;
}
//Decrement the collide delay
if(ti->delay > 0)
ti->delay = ti->delay -1;
//iterates through the next set
ti = ti->b;
if(ti != NULL)
tj = ti->b;
//removes the last element if the limit is reached
if(numBalls > maxBalls && tj->b == NULL) {
tft_fillCircle(tj->xpos/scale,tj->ypos/scale,ballradius,ILI9340_BLACK); //erases from the screen
ti->b = NULL;
numBalls--;
score++;
//free(tj);
}
}
// Calculates position of the paddle and draw
//TODO: Calculate paddle position
tft_drawLine(paddle_xpos,paddle_ypos - half_paddle_length, paddle_xpos, paddle_ypos + half_paddle_length, ILI9340_BLACK);
paddle_v=paddle_ypos;
paddle_ypos=(adc_9*240)/1023;
paddle_v=paddle_ypos-paddle_v;
tft_drawLine(paddle_xpos,paddle_ypos - half_paddle_length, paddle_xpos, paddle_ypos + half_paddle_length, ILI9340_WHITE);
// Now it calculates the new position
ti = head;
tj = head;
while(ti != NULL){
//"Clears" the image of the last ball
tft_fillCircle(ti->xpos/scale,ti->ypos/scale,ballradius,ILI9340_BLACK);
//Updates the new position of the ball
ti->xpos = ti->xpos + ti->xvel;
ti->ypos = ti->ypos + ti->yvel;
//ensures the positions are within bounds
//If the pos is less than 0 then we remove it
//delay must also not be -1 (ie >=0)
if(ti->xpos > paddle_xpos && ti->delay != -1) {
if(ti->xpos > 320*scale)
ti->xpos = 320*scale;
if(ti->ypos > 240*scale)
ti->ypos = 240*scale;
else if(ti->ypos < 35*scale)
ti->ypos = 35*scale;
if(ti->delay > 0)
tft_fillCircle(ti->xpos/scale, ti->ypos/scale, ballradius, ILI9340_WHITE);
else
tft_fillCircle(ti->xpos/scale, ti->ypos/scale, ballradius, ti->color);
}
else { //REMOVES THE BALL IF IT CROSSES THE BOUNDARY
if (ti->delay==-1) { //check if went into catch bins
score++;
DmaChnEnable(dmaChn2);
}
else {
DmaChnEnable(dmaChn);
score--;
}
if(ti == head)
head = head->b;
else
tj->b = ti->b;
numBalls--;
//free(ti);
}
tj = ti;//what does this do?
ti = ti->b;
}
frames ++;
}
tft_fillRoundRect(0,35, 320, 205, 1, ILI9340_BLACK);// x,y,w,h,radius,color
DmaChnDisable(dmaChn);
DmaChnDisable(dmaChn2);
DmaChnEnable(dmaChn3);
while (1) {
tft_setCursor(20, 120);
tft_setTextColor(ILI9340_WHITE); tft_setTextSize(4);
sprintf(buffer,"Game Over!");
tft_writeString(buffer);
}
}
static PT_THREAD(protothread_CSense(struct pt *pt)) {
PT_BEGIN(pt);
while (1) {
if (config1 & CUR_SENSE_EN) {
if(Status2 & M7_CUR){
if(M7_LastDir != M7_Dir)//if direction has changed, lower CS flag, which enables PWM writing
Status2 &= !M7_CUR;
}
if(Status2 & M6_CUR){
if(M6_LastDir != M6_Dir)
Status2 &= !M6_CUR;
}
if(Status2 & M6_CUR){
if(M6_LastDir != M6_Dir)
Status2 &= !M6_CUR;
}
if(Status2 & M5_CUR){
if(M5_LastDir != M5_Dir)
Status2 &= !M5_CUR;
}
if(Status2 & M4_CUR){
if(M4_LastDir != M4_Dir)
Status2 &= !M4_CUR;
}
if(Status2 & M3_CUR){
if(M3_LastDir != M3_Dir)
Status2 &= !M3_CUR;
}
if (mPORTBReadBits(BIT_3)) {//CS triggered!
M7_PWM = 0;
SetDCOC1PWM(M7_PWM);//Halt motor
Status2 |= M7_CUR;//set CS flag
M7_LastDir = M7_Dir;//save direction
}
if (mPORTBReadBits(BIT_1)) {
M6_PWM = 0;
SetDCOC2PWM(M6_PWM);
Status2 |= M6_CUR;
M6_LastDir = M6_Dir;
}
if (mPORTAReadBits(BIT_3)) {
M5_PWM = 0;
SetDCOC3PWM(M5_PWM);
Status2 |= M5_CUR;
M5_LastDir = M5_Dir;
}
if (mPORTBReadBits(BIT_4)) {
M4_PWM = 0;
SetDCOC5PWM(M4_PWM);
Status2 |= M4_CUR;
M4_LastDir = M4_Dir;
}
if (mPORTAReadBits(BIT_4)) {
M3_PWM = 0;
SetDCOC4PWM(M3_PWM);
Status2 |= M3_CUR;
M3_LastDir = M3_Dir;
}
}
PT_YIELD_TIME_msec(10);
}
PT_END(pt);
}
// === Animation Thread =============================================
static PT_THREAD (protothread_anim_balls(struct pt *pt))
{
PT_BEGIN(pt);
while(1) {
PT_YIELD_TIME_msec(20);
iterator = initial_ball;
while(iterator != NULL) {
iterator2 = iterator->next;
tft_fillCircle(fix2int16(iterator->xc), fix2int16(iterator->yc), RADIUS, ILI9340_BLACK);
(iterator->xc) = (iterator->xc) + multfix16((iterator->vxc), drag);
(iterator->yc) = (iterator->yc) + multfix16((iterator->vyc), drag);
tft_fillCircle(fix2int16(iterator->xc), fix2int16(iterator->yc), RADIUS, ILI9340_WHITE);
while(iterator2 != NULL) {
if (balls_collide(iterator, iterator2) && (iterator->hit_counter <= 0) && (iterator2->hit_counter <= 0))
computeVelocityChange(iterator, iterator2);
else if (balls_collide(iterator, iterator2))
{
iterator->hit_counter = COUNTER;
iterator2->hit_counter = COUNTER;
}
else{
iterator->hit_counter--;
iterator2->hit_counter--;
}
iterator2 = iterator2->next;
}
// If the ball hits the paddle
if ((myPaddle->xc+DIAMETER >= fix2int16(iterator->xc)) && (myPaddle->yc <= fix2int16(iterator->yc))
&& ((myPaddle->yc+PADDLE_LEN) >= fix2int16(iterator->yc))){
iterator->vxc = -(iterator->vxc);
iterator->vyc = iterator->vyc + multfix16(int2fix16(myPaddle->vyc),pdrag);
//DmaChnSetTxfer(dmaChn, sine_table2, (void*)&CVRCON, sizeof(sine_table2), 1, 1);
//DmaChnEnable(dmaChn);
//PT_YIELD_TIME_msec(2);
//DmaChnDisable(dmaChn);
}
// Else the ball went off the right edge
else if (myPaddle->xc+DIAMETER >= fix2int16(iterator->xc))
{
DmaChnSetTxfer(dmaChn, ball_scored, (void*)&CVRCON, sizeof(ball_scored), 1, 1);
DmaChnEnable(dmaChn);
PT_YIELD_TIME_msec(2);
DmaChnDisable(dmaChn);
deleteBall(iterator);
score--;
}
// Calculate top bin
else if ((iterator->xc) <= int2fix16(250+2) && iterator->xc >= int2fix16(175-2) && iterator->yc <= int2fix16(25+9))
{ deleteBall(iterator); score++;}
// Calculate bottom bin
else if ((iterator->xc) <= int2fix16(250+2) && iterator->xc >= int2fix16(175-2) && iterator->yc >= int2fix16(233-2))
{ deleteBall(iterator); score++;}
// Bounce off right wall
else if ((iterator->xc) >= int2fix16(315))
(iterator->vxc) = -(iterator->vxc);
// Bounce off top or bottom wall
else if ((iterator->yc) <= int2fix16(25) ||(iterator->yc) >= int2fix16(233))
(iterator->vyc) = -(iterator->vyc);
iterator = iterator->next;
}
} // END WHILE(1)
PT_END(pt);
} // animation thread