/****************************************************************************
Function
StartMasterSM
Parameters
ES_Event CurrentEvent
Returns
nothing
Description
Does any required initialization for this state machine
Notes
Author
J. Edward Carryer, 02/06/12, 22:15
****************************************************************************/
void StartMasterSM ( ES_Event CurrentEvent )
{
// if there is more than 1 state to the top level machine you will need
// to initialize the state variable
CurrentState = WAITING;
//Initialize the Ports B0-2 on the Tiva as a digital input pins
//to indicate which kart is ours at the start of the race
HWREG(SYSCTL_RCGCGPIO) |= (SYSCTL_RCGCGPIO_R1);
puts("\r\nPort B activated");
int Dummy = HWREG(SYSCTL_RCGCGPIO);
/* set as a digital ports */
HWREG(GPIO_PORTB_BASE+GPIO_O_DEN) |= (LED1_BIT|LED2_BIT|LED3_BIT);
Dummy = HWREG(SYSCTL_RCGCGPIO);
/* set as input ports*/
HWREG(GPIO_PORTB_BASE+GPIO_O_DIR) &= ~(LED1_BIT|LED2_BIT|LED3_BIT);
//decide which Kart is ours and assign names KartA and KartB to opponent Karts
//this happens once per race
initializeKartStatus();
printf("\r\n We are Kart %u", our_kart.kartNumber);
// now we need to let the Run function init the lower level state machines
// use LocalEvent to keep the compiler from complaining about unused var
RunMasterSM(CurrentEvent);
return;
}
void main(void) {
(void)printf("Start of E128 program\r\n");
InitPorts();
InitTimer();
InitMotors();
InitSide();
InitBeacons();
EnableInterrupts;
StartMasterSM();
while(1) { // Repeat State Machine Forever
(void)RunMasterSM(CheckEvents());
}
}
/****************************************************************************
Function
RunMasterSM
Parameters
ES_Event: the event to process
Returns
ES_Event: an event to return
Description
the run function for the top level state machine
Notes
uses nested switch/case to implement the machine.
Author
J. Edward Carryer, 02/06/12, 22:09
****************************************************************************/
ES_Event RunMasterSM( ES_Event CurrentEvent )
{
bool MakeTransition = false;/* are we making a state transition? */
ComState_t NextState = CurrentState;
ES_Event EntryEventKind = { ES_ENTRY, 0 };// default to normal entry to new state
ES_Event ReturnEvent = { ES_NO_EVENT, 0 }; // assume no error
switch ( CurrentState )
{
case WAITING : // If current state is state one
// Execute During function for state one. ES_ENTRY & ES_EXIT are
// processed here allow the lowere level state machines to re-map
// or consume the event
CurrentEvent = DuringWaitingState(CurrentEvent);
//process any events
if ( CurrentEvent.EventType != ES_NO_EVENT ) //If an event is active
{
switch (CurrentEvent.EventType)
{
case ES_TIMEOUT : //If event is event one
if(CurrentEvent.EventParam == COM_TIMER) {
// Execute action function for state one : event one
NextState = PROCESSING;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
// EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
// repeat cases as required for relevant events
}
}
break;
case PROCESSING:
// Do the processing
// Execute During function for state one. ES_ENTRY & ES_EXIT are
// processed here allow the lowere level state machines to re-map
// or consume the event
CurrentEvent = DuringProcessingState(CurrentEvent);
//process any events
if ( CurrentEvent.EventType != ES_NO_EVENT ) //If an event is active
{
switch (CurrentEvent.EventType)
{
case DONE_PROCESSING : //If event is event one
// Execute action function for state one : event one
NextState = WAITING;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
// EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
break;
// repeat cases as required for relevant events
}
}
break;
// repeat state pattern as required for other states
}
// If we are making a state transition
if (MakeTransition == true)
{
// Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
RunMasterSM(CurrentEvent);
CurrentState = NextState; //Modify state variable
// Execute entry function for new state
// this defaults to ES_ENTRY
RunMasterSM(EntryEventKind);
}
// in the absence of an error the top level state machine should
// always return ES_NO_EVENT, which we initialized at the top of func
return(ReturnEvent);
}
