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;
}
}
//Main function to proccess the timers and events
uint16 ParkWay_ProcessEvent( uint8 task_id, uint16 events )
{
afIncomingMSGPacket_t *MSGpkt;
//afDataConfirm_t *afDataConfirm;
zAddrType_t dstAddr;
// Data Confirmation message fields
//byte sentEP;
//ZStatus_t sentStatus;
//byte sentTransID; // This should match the value sent
(void)task_id; // Intentionally unreferenced parameter
if ( events & SYS_EVENT_MSG )
{
MSGpkt = (afIncomingMSGPacket_t *)osal_msg_receive( ParkWay_TaskID );
while ( MSGpkt )
{
switch ( MSGpkt->hdr.event )
{
case ZDO_CB_MSG: //Event trigger by ZigBee Device Object like connect, bind...etc
ParkWay_ProcessZDOMsgs( (zdoIncomingMsg_t *)MSGpkt );
break;
case AF_DATA_CONFIRM_CMD: //Event trigger by a confirmation of sent message
// This message is received as a confirmation of a data packet sent.
// The status is of ZStatus_t type [defined in ZComDef.h]
// The message fields are defined in AF.h
// afDataConfirm = (afDataConfirm_t *)MSGpkt;
// sentEP = afDataConfirm->endpoint;
// sentStatus = afDataConfirm->hdr.status;
// sentTransID = afDataConfirm->transID;
// (void)sentEP;
// (void)sentTransID;
// // Action taken when confirmation is received.
// if ( sentStatus != ZSuccess )
// {
// // The data wasn't delivered -- Do something
// }
break;
case AF_INCOMING_MSG_CMD: //Event trigger by a receive message
ParkWay_MessageMSGCB( MSGpkt );
break;
case ZDO_STATE_CHANGE: //Event trigger by a connection to the coordinator or Router
ParkWay_NwkState = (devStates_t)(MSGpkt->hdr.status);
if ( (ParkWay_NwkState == DEV_ZB_COORD)
|| (ParkWay_NwkState == DEV_ROUTER)
|| (ParkWay_NwkState == DEV_END_DEVICE) )
{
// Start sending the status message in a regular interval.
osal_start_timerEx( ParkWay_TaskID,
ParkWay_SEND_MSG_EVT,
ParkWay_SEND_MSG_TIMEOUT );
// Start reading ultrasonic in a regular interval.
osal_start_timerEx( ParkWay_TaskID,
POLLING_ULTRASONIC,
TIME_ULTRA);
}
break;
default:
break;
}
// Release the memory
osal_msg_deallocate( (uint8 *)MSGpkt );
// Next
MSGpkt = (afIncomingMSGPacket_t *)osal_msg_receive( ParkWay_TaskID );
}
// return unprocessed events
return (events ^ SYS_EVENT_MSG);
}
// Send to the coordinator the status of ultrasound
if ( events & ParkWay_SEND_MSG_EVT )
{
// Send "the" message
ParkWay_SendTheMessage();
// Setup to send message again
osal_start_timerEx( ParkWay_TaskID,
ParkWay_SEND_MSG_EVT,
ParkWay_SEND_MSG_TIMEOUT );
// return unprocessed events
return (events ^ ParkWay_SEND_MSG_EVT);
}
if(events & POLLING_ULTRASONIC)
{
osal_start_timerEx( ParkWay_TaskID,
POLLING_ULTRASONIC,
TIME_ULTRA);
read_ultrasonic();
}
if(events & POLLING_OF_DEV_EVT) //This force the auto bind to the coordinator or Router
{
//HalLedSet ( HAL_LED_1, HAL_LED_MODE_ON);
// Initiate a Match Description Request (Service Discovery)
dstAddr.addrMode = AddrBroadcast;
dstAddr.addr.shortAddr = NWK_BROADCAST_SHORTADDR;
ZDP_MatchDescReq( &dstAddr, NWK_BROADCAST_SHORTADDR,
ParkWay_PROFID,
ParkWay_MAX_CLUSTERS, (cId_t *)ParkWay_ClusterList,
ParkWay_MAX_CLUSTERS, (cId_t *)ParkWay_ClusterList,
FALSE );
osal_start_timerEx( ParkWay_TaskID,
POLLING_OF_DEV_EVT,
TIME_TO_CONNECT_COORD);
}
HalLedSet( HAL_LED_ALL, HAL_LED_MODE_OFF ); //Shutdown all LEDS to reduce consumption of power
// Discard unknown events
return 0;
}
