void initAll(void)
{
ledTable[0]=1;
ledTable[1]=2;
ledTable[2]=3;
ledTable[3]=4;
ledTable[4]=0;
ledTable[5]=5;
ledTable[6]=6;
ledTable[7]=7;
ES_Timer_Init(ES_Timer_RATE_1MS);
printf("init started\r\n");
//dont change the order of initializers
initPins();
initSCI();
initCheckers();
ES_Timer_Init(ES_Timer_RATE_1MS);
//sendData[0]=0x13;
//sendData[1]=0x14;
//sendMessage(sendData, 2, 0x21,0x80);
}
/****************************************************************************
Function
ES_Initialize
Parameters
TimerRate_t the rate at which to initialize the framework timer subsystem
Returns
ES_Return_t : FailedPointer if any of the function pointers are NULL
FailedInit if any of the initialization functions failed
Description
Initialize all the services and tests for NULL pointers in the array
Notes
Author
J. Edward Carryer, 10/23/11,
****************************************************************************/
ES_Return_t ES_Initialize( TimerRate_t NewRate ){
uint8_t i;
ES_Timer_Init( NewRate); // start up the timer subsystem
// loop through the list testing for NULL pointers and
for ( i=0; i< ARRAY_SIZE(ServDescList); i++) {
if ( (ServDescList[i].InitFunc == (pInitFunc)0) ||
(ServDescList[i].RunFunc == (pRunFunc)0) )
return FailedPointer; // protect against NULL pointers
// and initializing the event queues (must happen before running inits)
ES_InitQueue( EventQueues[i].pMem, EventQueues[i].Size );
// executing the init functions
if ( ServDescList[i].InitFunc(i) != true )
return FailedInit; // this is a failed initialization
}
return Success;
}
/****************************************************************************
Function
RunDisarmFSM
Parameters
ES_Event : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
The state machine for the overall disarming process - state machine for
keypad, etc. are elsewhere
Notes
****************************************************************************/
ES_Event RunDisarmFSM( ES_Event ThisEvent )
{
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
// initial state: all the LEDs are off.
static char LEDs[8] = {OFF, OFF, OFF, OFF, OFF, OFF , OFF, OFF};
static bool tower_rotate_direction = true;
switch ( CurrentState )
{
case Armed :
switch ( ThisEvent.EventType ) {
case ES_INIT :
// intializing timer to be at 2mS rate (for 60 second count down)
ES_Timer_Init(ES_Timer_RATE_2mS);
printf("Arming...\r\n");
// sets the armed line to +5V
setArmed();
printf(" Setting all tower LEDS off...\r\n");
LEDShiftRegInit();
// all LEDs are off when armed
setLED (LEDs);
printf(" Generating random passwords...\r\n");
// generate random password for keyboard input
randomizePasswords();
printArmedMessage();
printf(" Lowering flag...\r\n");
// lower the flag when armed
lowerFlag();
printf(" Locking the keys\r\n");
// lock the key when armed
lockKeys();
printf(" Setting tower to 0...\r\n\r\n");
// the tower doesn't lean when armed
setTowerToZero();
printf("STATE: Armed\r\n\r\n");
rotateTowerLeft();
ES_Timer_InitTimer(PANIC_TIMER, 350);
// demonstrate panic and start timing
ES_Timer_StartTimer(PANIC_TIMER);
break;
case THREE_HANDS_ON :
printf("EVENT: Three hands detected.\r\n");
printf(" Setting Tower Tier 1 LED on...\r\n");
LEDs[Tier1] = ON;
// light up the LED for bottom layer to show success in task 1
setLED(LEDs);
printf(" Begin printing LCD passcode...\r\n");
resetLCDmessage();
printLCDmessage();
// sends out a message every 2 seconds (2mS timer rate)
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
printf(" Starting 60s disarm timer...\r\n");
//the timer can only go up to 32000
ES_Timer_InitTimer(DISARM_TIMER, 30000);
ES_Timer_StartTimer(DISARM_TIMER);
//begins to run the timing motor
unwindTimingMotor();
// grabs current time to store for rewinding the timer motor
startTime = ES_Timer_GetTime();
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage 1...\r\n\r\n");
CurrentState = Stage1;
printf("STATE: Stage1\r\n\r\n");
break;
case ES_TIMEOUT :
// if panic timer expires
if (ThisEvent.EventParam == PANIC_TIMER) {
if (tower_rotate_direction) {
tower_rotate_direction = false;
rotateTowerRight();
} else {
tower_rotate_direction = true;
rotateTowerLeft();
}
ES_Timer_InitTimer(PANIC_TIMER, 350);
ES_Timer_StartTimer(PANIC_TIMER);
}
// if timing motor rewind timer expires
if (ThisEvent.EventParam == REWIND_TIMER) {
// stop timing motor when the ball reaches the top
stopTimingMotor();
}
default:
;
}
break;
case Stage1 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
if (ThisEvent.EventParam == DISARM_TIMER) {
// if the disarm timer expires
printf("EVENT: Time has run out!\r\n");
printTimeUp();
// gets the time when the game ended
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// go back to armed state
CurrentState = Armed;
}
// if vibration timer expires
if (ThisEvent.EventParam == VIBRATION_TIMER) {
printf(" Turning off vibration pulse...\r\n\r\n");
vibrationMotorOff();
}
// if message timer expires
if (ThisEvent.EventParam == MESSAGE_TIMER) {
printf("EVENT: Printing out the next message...\r\n");
printLCDmessage();
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
}
break;
// one or more hands have been released
case THREE_HANDS_OFF :
printf("EVENT: One or more hands have been released.\r\n");
printf(" Clearing the LCD screen\r\n");
printArmedMessage();
printf(" Setting Tower Tier 1 LED off...\r\n");
// task 1 is not completed
LEDs[Tier1] = OFF;
// turn off the LED for bottom layer
setLED(LEDs);
printf(" Transitioning to Stage1_Stagnated...\r\n\r\n");
CurrentState = Stage1_Stagnated;
printf("STATE: Stage1_Stagnated\r\n\r\n");
break;
// if the user entered the correct password
case CORRECT_PASSWORD_ENTERED :
printf("EVENT: The correct password has been entered.\r\n");
printf(" Unlocking the keys\r\n");
// unlock the key and move to task 3
unlockKeys();
printAuthorizedMessage();
printf(" Setting Tower Tier 2 LED on...\r\n");
LEDs[Tier2] = ON;
// turn on LED on the second tier to show success
setLED(LEDs);
printf(" Playing audio: Wahoo!...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage2...\r\n\r\n");
// set the current state to state 2
CurrentState = Stage2;
printf("STATE: Stage2\r\n\r\n");
break;
// if the user entered incorrect password
case INCORRECT_PASSWORD_ENTERED :
printf("EVENT: The incorrect password has been entered.\r\n");
printIncorrectMessage();
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
printf(" Generating vibration pulse...\r\n");
break;
default :
;
}
break;
case Stage1_Stagnated :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the timing motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// go back to armed state
CurrentState = Armed;
}
break;
// if all three tape sensors are covered
case THREE_HANDS_ON :
printf("EVENT: Three hands detected.\r\n");
printf(" Setting Tower Tier 1 LED on...\r\n");
LEDs[Tier1] = ON;
// light up the LED for bottom layer to show success in task 1
setLED(LEDs);
printf(" Begin printing LCD passcode...\r\n");
resetLCDmessage();
printLCDmessage();
// print message from LCD
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
// play feedback audio wahoo
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage1...\r\n\r\n");
// set current stage to stage 1
CurrentState = Stage1;
printf("STATE: Stage1\r\n\r\n");
break;
default :
;
}
break;
case Stage2 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if the disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
// gets the time when the game ended
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock moto
rewindTimingMotor(); r
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
CurrentState = Armed;
}
break;
// if the key is inserted
case KEY_INSERTED:
printf("EVENT: Key has been inserted.\r\n");
printf(" Setting Tower Tier 3 LED on...\r\n");
LEDs[Tier3] = ON;
// light up LED on tier 3 to show successful completion of task 3
setLED(LEDs);
printf(" Setting Dial LED on...\r\n");
LEDs[pot] = ON;
setLED(LEDs);
printf(" Playing audio: Wahoo!...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf("Initializing the pot value...\r\n");
setPotZero();
printf(" Transitioning to Stage3...\r\n\r\n");
// set current state to state 3
CurrentState = Stage3;
printf("STATE: Stage3\r\n\r\n");
break;
default :
;
}
break;
case Stage3 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if the disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// set current state to armed
CurrentState = Armed;
}
if (ThisEvent.EventParam == FAST_LEDS) {
printf("EVENT: \r\n");
ThisEvent.EventType = CORRECT_VALUE_DIALED;
PostDisarmFSM(ThisEvent);
}
break;
// if the pot is dialed to correct value
case CORRECT_VALUE_DIALED :
printf("EVENT: The correct pot value has been dialed.\r\n");
// Sets the armed line to 0V
setUnarmed();
printf(" Setting Tower Tier 4-6 LED on with delay...\r\n");
ES_Timer_InitTimer(FAST_LEDS, 150);
static int i = Tier4;
if (i<=Tier6){
printf("\n\r looping for LED i + %d\n\r", i);
// turn on all the remaining LEDs one by one
LEDs[i] = 0;
setLED(LEDs);
ES_Timer_StartTimer(FAST_LEDS);
i++;
break;
}
printf(" Raising the flag...\r\n");
// raise flag to show hope and joy
raiseFlag();
printf(" Playing audio: victory song...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 03
ThisEvent.EventParam = 3;
PostAdafruitAudioService(ThisEvent);
printf(" Starting 30s post-disarm timer...\r\n");
ES_Timer_InitTimer(POST_DISARM_TIMER, 30000);
printf(" Raising ball and feather...\r\n");
// stop falling ball
stopTimingMotor();
// get the time when the disarment ends and rearm DDM
endTime = ES_Timer_GetTime();
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
printf(" Transitioning to Stage4...\r\n\r\n");
// set current stage to stage 4
CurrentState = Stage4;
printf("STATE: Stage4\r\n\r\n");
break;
default :
;
}
break;
case Stage4 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if timer expires after successful disarment
if (ThisEvent.EventParam == POST_DISARM_TIMER) {
printf("EVENT: Post-disarm timer expired.\r\n");
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// set current state to armed
CurrentState = Armed;
}
// if rewind timer expires
if (ThisEvent.EventParam == REWIND_TIMER) {
// stop timing motor rewinding
stopTimingMotor();
}
break;
default :
;
}
break;
default :
;
}
return ReturnEvent;
}
