/* Radio control interface */
int menuTask(task* t)
{
if(USART_HasReceived(0))
{
char uInput = USART_Receive(0);
switch(uInput)
{
// Fan
case 'f':
tempProcess(0x3F); // emulate "?" function button
tempProcess(0x32); // emulate "2" function button
break;
// Enable
case 'e':
tempProcess(0x3F); // emulate "?" function button
tempProcess(0x31); // emulate "2" function button
break;
default:
if(uInput >= '0' && uInput <= '9')
{
tempProcess(0x30 | (uInput - '0'));
}
break;
}
}
return 0;
}
unsigned char receiveData(unsigned char port)
{
unsigned char temp1 = 2;
while(1)
{
if(USART_HasReceived(port))
{
temp1 = USART_Receive(port);
return temp1;
}
}
}
int TickFct_D(int state) {
// State Transitions
switch(state) {
case START_D:
state = INIT_D; break; // transition to INIT_D state
case INIT_D:
incoming_data = data_avail = 0;
state = WAIT_D; break; // transition to WAIT_D state
case WAIT_D:
if(USART_HasReceived(0)) {
data_avail = 1;
// if(!wired)
state = READ_D;
/*if (USART_IsSendReady(0)) {
USART_Send(incoming_data,0);
}*/
}
else {
data_avail = 0;
}
break;
case READ_D:
state = WAIT_D; break;
default:
state = START_D; // error likely happened, restart
break;
}
// State Actions
switch(state) {
case READ_D:
incoming_data = USART_Receive(0);
break;
default:
break;
}
return state;
}
int main(void)
{
DDRA = 0xF0; PORTA = 0x0F;
DDRB = 0x00; PORTB = 0xFF;
DDRC = 0xFF; PORTC = 0x00;
DDRD = 0xFF; PORTD = 0x00;
gameSelector = 0xFF;
LINE_init();
TimerSet(1);
TimerOn();
srand(0);
InitADC();
initUSART(1);
while (1)
{
if(SandM_period >= 10)
{
if(USART_HasReceived(1)){
gameSelector = receiveData(1);
}
SandM_period = 0;
}
++SandM_period;
if(gameSelector == 0x02)
{
if(TRLINES_period >= 9)
{
TRLINES_period = 0;
}
if(TRuser_period >= 80)
{
TunRun_ChkLoss();
TunRun_JoyStk();
TUNRUN_LINES();
TunRun_Input();
TRuser_period = 0;
}
displayMatrix();
++TRLINES_period;
++TRuser_period;
}
if(gameSelector == 0x04)
{
if(arrows_period >= 750)
{
DDR_arrows();
if((arrow == 0) || (arrow == 2))
{
ADMUX = 0x40;
}
else
{
ADMUX = 0x41;
}
arrows_period = 0;
}
if(arrows_inputP >= 20)
{
DDR_Input();
DDR_JoyStk();
arrows_inputP = 0;
}
if(arrowsPeriod >= 250)
{
DDR_ChkLoss();
arrowsPeriod = 0;
}
displayMatrix();
++arrows_inputP;
++arrows_period;
++arrowsPeriod;
}
if(gameSelector == 0x03)
{
if(snakeJoystick > 30)
{
Snake_JoyStk();
Snake_Input();
snakeJoystick = 0;
}
if(body > body_period)
{
SnakeBody();
Snake_Movement();
body = 0;
}
++snakeJoystick;
++joystick;
++body;
displayMatrix();
}
while(!TimerFlag);
TimerFlag = 0;
}
}
void Tick_Fct(){
distance = read_ultrasonic();
if (USART_HasReceived(0))
{
direction = USART_Receive(0);
PORTC = direction;
}
switch(state){//transitions
case init:
state = start;
break;
case start:
if(direction == 0xFF){
state = wait_impact;
}else{
state = controlled;
}break;
case controlled:
if(direction == 0xFF){
state = wait_impact;
}else{
count_1 = 0;
state = hold_direction;
}break;
case hold_direction:
if(count_1 < 30){
state = hold_direction;
}else{
state = reset_direction;
}
break;
case reset_direction:
state = controlled;
break;
case wait_impact:
if (direction != 0xFF)
{
state = controlled;
}
else if(direction == 0xFF && distance > 30){
state = wait_impact;
}else {
state = stop_car;
count = 0;
PORTA = 0x00;
}
break;
case stop_car:
if (direction != 0xFF)
{
state = controlled;
}
else if(direction == 0xFF && count < 100){
state = stop_car;
}
else if(direction == 0xFF && !(count < 100)){
state = turn_left;
count = 0;
}
break;
case turn_left:
if (direction != 0xFF)
{
state = controlled;
}
else if(direction == 0xFF && count < 100){
state = turn_left;
}
else if(direction == 0xFF && !(count < 100)){
state = wait_impact;
}
break;
default:
state = init;
break;
}
switch(state){//actions
case wait_impact:
PORTA = 0x04;
break;
case stop_car:
count++;
PORTA = 0x42;
break;
case turn_left:
count++;
PORTA = 0x24;
break;
case start:
PORTA = 0x00;
break;
case controlled:
if(direction == 0x0A){
PORTA = 0x00;
}else if (direction == 0x01){
PORTA = 0x44;//forward
}else if (direction == 0x02){//reverse or backward
PORTA = 0x42;
}else if (direction == 0x04){//left
PORTA = 0x24;
}else if(direction == 0x08){//right
PORTA = 0x44;
}
break;
case hold_direction:
count_1++;
break;
case reset_direction:
PORTA = 0x00;
break;
default:
break;
}
}
int TickFct_BluetoothReceiver(int state){
switch(state){
case bluetoothWait:
if(USART_HasReceived(0) && !bluetoothEnable){
USART_Flush(0);
state = bluetoothWait;
}
else if(USART_HasReceived(0) && bluetoothEnable){
state = bluetoothReceived;
position = 0;
lastReceivedChar = 0;
clearInputPin();
}
else{
state = bluetoothWait;
}
break;
case bluetoothReceived:
if(!bluetoothEnable){
state = bluetoothWait;
}
else if(lastReceivedChar != '*'){
state = bluetoothWaitForNext;
}
else{
state = bluetoothWait;
}
break;
case bluetoothWaitForNext:
if(!bluetoothEnable){
state = bluetoothWait;
}
else if(!USART_HasReceived(0)){
state = bluetoothWaitForNext;
}
else{
state = bluetoothReceived;
}
break;
default:
state = bluetoothWait;
break;
}
switch(state){
case bluetoothWait:
break;
case bluetoothReceived:
while(lastReceivedChar != '*'){
lastReceivedChar = USART_Receive(0);
if(lastReceivedChar != '*'){
inputPin[position++] = lastReceivedChar;
}
else{
inputPin[position] = '\0';
pinInputComplete = 1;
}
}
break;
case bluetoothWaitForNext:
break;
}
return state;
}
void mainTick(){
static unsigned char button;
static unsigned char pressed; //decrease states for buttonpress
button = ~PINA;
switch(gameStatus){
case intro:
if(GetBit(button,0)){
gameStatus = play;
playTime = 0;
pressed = 1;
currScore = 0;
lcdTick();
if(USART_IsSendReady())
USART_Send(0x41);
}
else if(USART_HasReceived()){
tempMessage = USART_Receive();
if( tempMessage == 0xC1 ){
gameStatus = highscore;
playTime = 0;
lcdTick();
}
else if( tempMessage == 0xC2){
gameStatus = resetHighScore;
currHighScore = 0;
eeprom_write_byte ((uint8_t*) 46, currHighScore);
playTime = 0;
lcdTick();
}
}
else
gameStatus = intro;
break;
case highscore:
if(playTime == 500){
gameStatus = intro;
lcdTick();
}
else
gameStatus = highscore;
break;
case resetHighScore:
if(playTime == 500){
gameStatus = intro;
lcdTick();
}
else
gameStatus = resetHighScore;
break;
case play:
if(!(GetBit(button,0) && !pressed) && playTime < 4000 )
gameStatus = play;
else if((GetBit(button,0) && !pressed) || playTime == 4000){
gameStatus = gameOver;
lcdTick();
playTime = 0;
if(currScore > currHighScore){
currHighScore = currScore;
eeprom_write_byte ((uint8_t*) 46, currHighScore);
}
if(USART_IsSendReady())
USART_Send(0x40);
}
else
gameStatus = play;
break;
case gameOver:
if(playTime == 500){
gameStatus = intro;
lcdTick();
}
else if(playTime < 500)
gameStatus = gameOver;
else
gameStatus = gameOver;
break;
}
switch(gameStatus){
case intro:
PORTB = 0;
currScore = 0;
break;
case highscore:
playTime++;
break;
case resetHighScore:
playTime++;
break;
case play:
if(!GetBit(button,0))
pressed = 0;
playTime++;
if(USART_HasReceived()){
tempMessage = USART_Receive();
if(GetBit(tempMessage,7) && !GetBit(tempMessage,6))
if((tempMessage & 0x3F) != currScore)
updateScore(tempMessage & 0x3F);
}
break;
case gameOver:
playTime++;
break;
}
}