void USART3_callback_fn(uint8_t byte)
{
if(fsm_get_state() == STATE_1 || fsm_get_state() == STATE_RESET){
USART2_putchar(byte); //forward to console
}
else if(fsm_get_state() == STATE_2){
//Store the received byte in the Ping structure
Wifly_Receive_Ping(byte);
}
}
void systick_callback_fn(){
if(fsm_lock() == FSM_LOCK_ACQUIRED){
if(fsm_get_state() == STATE_2){
fsm_set_state(STATE_2_READ);
}
else if(fsm_get_state() == STATE_2_READ){
fsm_set_state(STATE_2);
}
else{
USART2_putstr("BAD STATE IN SYSTICK CALLBACK \n\r\0");
}
fsm_unlock();
}
}
void userbutton_callback_fn(void)
{
if( fsm_lock() == FSM_LOCK_ACQUIRED )
{
if(fsm_get_state() == STATE_1 || fsm_get_state() == STATE_RESET){
fsm_set_state(STATE_2);
}
else if(fsm_get_state() == STATE_2 || fsm_get_state() == STATE_2_READ){
fsm_set_state(STATE_1);
}
else{
USART2_putstr("Userbutton: Bad state!\n\r\0");
}
fsm_unlock();
}
}
int keyboard_event_generate( int fd )
{
char buf[64];
int n;
fgets( buf, 32, stdin );
n = strlen( buf );
buf[n-1] = '\0';
DPRINTF( "From Client keyboard: %s (%d bytes received) \n", buf, n-1 );
if( strcmp(buf, "") == 0 )
fsm_event_insert( C0_K0_INPUT_NULL );
else if( strcmp(buf, "new") == 0 )
fsm_event_insert( C2_K1_INPUT_NEW );
else
{ // should be K_INPUT_STRING
switch( fsm_get_state() )
{
case S3_WAIT_USER_NAME:
fsm_event_insert( C4_K2_INPUT_NAME );
break;
case S5_WAIT_USER_INFO:
fsm_event_insert( C6_K3_INPUT_INFO );
break;
default:
fsm_event_insert( C0_K0_INPUT_NULL );
break;
}
}
return 0;
}
void userbutton_callback_fn(void)
{
//Advance the fsm to the next state.
if( fsm_lock() == FSM_LOCK_ACQUIRED )
{
if(fsm_get_state() == STATE_RESET){
USART2_putstr("SWITCHING TO STATE 2! \n\r\0");
fsm_set_state(STATE_2);
}
else if(fsm_get_state() == STATE_1){
USART2_putstr("SWITCHING TO STATE 2! \n\r\0");
fsm_set_state(STATE_2);
}
else if(fsm_get_state() == STATE_2){
USART2_putstr("SWITCHING TO STATE 1! \n\r\0");
fsm_set_state(STATE_1);
}
fsm_unlock();
}
}
void receive_message_systick_callback(){
//Print out the received message
USART2_putstr("\n\rReceived!\n\r\0");
Wifly_Print_Last_Received_Message();
//Set the message reported flag to 1;
message_reported = 1;
//Disable the systick timer
set_systick_disabled();
//Restart the state to send the message again.
if( fsm_lock() == FSM_LOCK_ACQUIRED )
{
if(fsm_get_state() == STATE_2){
fsm_set_state(STATE_2);
}
fsm_unlock();
}
}
void USART2_callback_fn(uint8_t byte)
{
if(fsm_get_state() == STATE_1 || fsm_get_state() == STATE_RESET){
USART3_putchar(byte); //forward to wifi module
}
}
void vControl ( void *pvParameters )
{
portTickType xLastWakeTime;
signed char valx, valy;
unsigned char ls, rs, lb, rb;
can_frame_t out_frame;
can_frame_t in_frame;
out_frame.id = 1;
out_frame.dlc = 6;
xLastWakeTime = xTaskGetTickCount ();
/* Button init */
buttons_init ();
/* FSM init */
fsm_init ();
/* CAN init */
can_init ();
/* ADC init */
adc_init ( ctrlNUM_ADC_VALUES );
/* Touch init */
touch_init ( 30, 30, 30, 30 );
while (1)
{
vTaskDelayUntil ( &xLastWakeTime, ctrlTASK_FREQUENCY );
if ( adc_conversion_complete () == pdTRUE )
{
adc_disable ();
adc_get_value ( &valx, 0 );
adc_get_value ( &valy, 0 );
touch_measure ( &ls, &rs, &lb, &rb );
out_frame.data[0] = valx;
out_frame.data[1] = valy;
out_frame.data[2] = ls;
out_frame.data[3] = rs;
out_frame.data[4] = lb;
out_frame.data[5] = rb;
if (fsm_get_state() == ST_PLAY)
{
can_transmit (&out_frame);
}
can_receive (&in_frame, 0);
if (in_frame.data[0] == GAME_SENSOR_TRIGGERED)
{
// TODO: set triggered state
fsm_event_t *event = pvPortMalloc (sizeof (fsm_event_t));
event->type = EV_STOP;
event->ptr = NULL;
fsm_event_put (event, portMAX_DELAY);
in_frame.data[0] = 0;
}
else if (in_frame.data[0] == GAME_SENSOR_CLEARED)
{
// TODO: set cleared state
in_frame.data[0] = 0;
}
adc_enable ();
adc_conversion_start ();
}
fsm_update ();
}
}
void state_INIT_USART3_callback_fn(uint8_t byte){
USART2_putchar(byte);
*init_input_end = byte;
init_input_end++;
init_input_end = '\0';
if(strcmp(&init_input,"AOK\0") || strcmp(&init_input,"ERR\0")){
out_of_CMD = 1;
}
if(fsm_get_state() == STATE_INIT && has_been_initialized != 1 && out_of_CMD == 1){
fsm_set_state(STATE_INIT_a);
}
if(strcmp(&init_input,"AOK\0") == 1){
//Advance the fsm to the next state.
if( fsm_lock() == FSM_LOCK_ACQUIRED )
{
if(fsm_get_state() == STATE_INIT_a){
fsm_set_state(STATE_INIT_b);
}
else if(fsm_get_state() == STATE_INIT_b){
fsm_set_state(STATE_INIT_c);
}
else if(fsm_get_state() == STATE_INIT_c){
fsm_set_state(STATE_INIT_d);
}
else if(fsm_get_state() == STATE_INIT_d){
fsm_set_state(STATE_INIT_e);
}
else if(fsm_get_state() == STATE_INIT_e){
fsm_set_state(STATE_INIT_f);
}
else if(fsm_get_state() == STATE_INIT_f){
fsm_set_state(STATE_INIT_g);
}
else if(fsm_get_state() == STATE_INIT_g){
fsm_set_state(STATE_INIT_h);
}
else if(fsm_get_state() == STATE_INIT_h){
fsm_set_state(STATE_INIT_i);
}
else if(fsm_get_state() == STATE_INIT_i){
fsm_set_state(STATE_INIT_j);
}
else if(fsm_get_state() == STATE_INIT_j){
fsm_set_state(STATE_RESET);
}
fsm_unlock();
}
}
}
