aw/pentabug
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a bit code beautification

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This commit is contained in:
bigalex 2012-10-07 00:52:53 +02:00
parent 799bbdeeeb
commit 06dc89109f
4 changed files with 300 additions and 355 deletions
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18
firmware/lib/bughal.c
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@ -69,7 +69,7 @@ void init_mic(void){
ADCSRB &= (1<<ACME); //leave only ACME as it is (others zerp for free running) ADCSRB &= (1<<ACME); //leave only ACME as it is (others zerp for free running)
ADMUX = (ADMUX & ~(0x1F)) | 5; // select channel 5 ADMUX = (ADMUX & ~(0x1F)) | 5; // select channel 5
ADCSRA |= (1<<ADSC); // start conversion ADCSRA |= (1<<ADSC); // start conversion
uint16_t dummy = ADCW; //read once uint16_t __attribute__((unused)) dummy = ADCW; //read once
return; return;
} }
@ -145,7 +145,7 @@ void button_clear(uint8_t button){
void stateswitch(uint8_t i ){ void stateswitch(uint8_t i ){
switch(btnstates[i]) switch(btnstates[i])
{ {
case BTNST_NTRL: //NEUTRAL case BTNST_NTRL:
if (curinput & (1<<i)){ //button down if (curinput & (1<<i)){ //button down
btncounters[i] = 0; btncounters[i] = 0;
btnstates[i] = BTNST_DBNC; btnstates[i] = BTNST_DBNC;
@ -156,8 +156,7 @@ void stateswitch(uint8_t i ){
btnstates[i] = (curinput & (1<<i))? BTNST_SDN: BTNST_NTRL; btnstates[i] = (curinput & (1<<i))? BTNST_SDN: BTNST_NTRL;
(btncounters[i])++; (btncounters[i])++;
break; break;
case BTNST_SDN:
case BTNST_SDN: //is shortpressed and still held down
if (curinput & (1<<i)){ if (curinput & (1<<i)){
btncounters[i]++; btncounters[i]++;
if (btncounters[i] > BTN_T_LONGFACT){ //500ms held if (btncounters[i] > BTN_T_LONGFACT){ //500ms held
@ -168,27 +167,27 @@ void stateswitch(uint8_t i ){
//signal shortclick //signal shortclick
} }
break; break;
case BTNST_LDN: //is longpressed and still held down case BTNST_LDN:
if (!(curinput & (1<<i))){ if (!(curinput & (1<<i))){
//button was released //button was released
btnstates[i] = BTNST_LUP; //signal longpress btnstates[i] = BTNST_LUP; //signal longpress
} }
break; break;
case BTNST_SUP: //Button came up after being pressed shortly case BTNST_SUP:
if ((curinput & (1<<i))){ if ((curinput & (1<<i))){
//button was pressed again or is bouncing after release //button was pressed again or is bouncing after release
btnstates[i] = BTNST_SUPDBNC; //going in special debounce btnstates[i] = BTNST_SUPDBNC; //going in special debounce
btncounters[i] = 0; btncounters[i] = 0;
} }
break; break;
case BTNST_LUP: //Button came up after being pressed for a long time case BTNST_LUP:
if ((curinput & (1<<i))){ if ((curinput & (1<<i))){
//button was pressed again or is bouncing after release //button was pressed again or is bouncing after release
btnstates[i] = BTNST_LUPDBNC; //going in special debounce btnstates[i] = BTNST_LUPDBNC; //going in special debounce
btncounters[i] = 0; btncounters[i] = 0;
} }
break; break;
case BTNST_SUPDBNC: //Button was pressed again after beeing short pressed(or is bouncing) case BTNST_SUPDBNC:
if ((curinput & (1<<i))){ if ((curinput & (1<<i))){
//button is still pressed --> going to shortpress //button is still pressed --> going to shortpress
btncounters[i]++; btncounters[i]++;
@ -197,7 +196,7 @@ void stateswitch(uint8_t i ){
btnstates[i] = BTNST_SUP; //nope, it was bouncing, back to old state btnstates[i] = BTNST_SUP; //nope, it was bouncing, back to old state
} }
break; break;
case BTNST_LUPDBNC: //Button was pressed again after beeing short pressed(or is bouncing) case BTNST_LUPDBNC:
if ((curinput & (1<<i))){ if ((curinput & (1<<i))){
//button is still pressed --> going to shortpress //button is still pressed --> going to shortpress
btncounters[i]++; btncounters[i]++;
@ -209,6 +208,7 @@ void stateswitch(uint8_t i ){
default: //curently catches nothing default: //curently catches nothing
// do nothing yet // do nothing yet
; ;
break;
} //end switch } //end switch
timer_set(&btntimers[i], BTN_T_DEBOUNCE); timer_set(&btntimers[i], BTN_T_DEBOUNCE);
} }

12
firmware/lib/bughal.h
View File

@ -5,7 +5,8 @@
/* Hardware abstraction layer for Pentabug hardware */ /* Hardware abstraction layer for Pentabug hardware */
enum { BUZZR_OUT, //initialize buzzer for OUTPUT mode (emmiting soundwaves) enum {
BUZZR_OUT, //initialize buzzer for OUTPUT mode (emmiting soundwaves)
BUZZR_IN //initialize buzzer for INPUT mode (registering soundwaves) BUZZR_IN //initialize buzzer for INPUT mode (registering soundwaves)
}; };
@ -19,27 +20,20 @@ enum { BUZZR_OUT, //initialize buzzer for OUTPUT mode (emmiting soundwaves)
#define BTN_BUTTONS 2 //numer of Buttons #define BTN_BUTTONS 2 //numer of Buttons
#define BTN_T_DEBOUNCE 5 // 50ms debounce time = minimum short press time #define BTN_T_DEBOUNCE 5 // 50ms debounce time = minimum short press time
#define BTN_T_LONGFACT 10 // after 10 * T_DEBOUNCE = 500ms button registers as long pressed #define BTN_T_LONGFACT 10 // after 10 * T_DEBOUNCE = 500ms button registers as long pressed
//BUTTON state machine states //BUTTON state machine states
#define BTNST_NTRL 0 // neutral - initial state nothing interesting, please go along #define BTNST_NTRL 0 // neutral - initial state nothing interesting, please go along
#define BTNST_DBNC 1 // debounce - pin went up, but we wait for things to stabilize and stop oscillating #define BTNST_DBNC 1 // debounce - pin went up, but we wait for things to stabilize and stop oscillating
#define BTNST_SDN 4 // affirmative, button is pressed, #define BTNST_SDN 4 // affirmative, button is pressed,
// and it's pressed no longer than // and it's pressed no longer than
// BTN_T_LONGFACT * BTN_T_DEBOUNCE * 10ms // BTN_T_LONGFACT * BTN_T_DEBOUNCE * 10ms
#define BTNST_SUP 8 // and button went up after beeing pressed for a _short_ time #define BTNST_SUP 8 // and button went up after beeing pressed for a _short_ time
#define BTNST_LDN 16 // button is still down for more than #define BTNST_LDN 16 // button is still down for more than
//BTN_T_LONGFACT * BTN_T_DEBOUNCE * 10ms //BTN_T_LONGFACT * BTN_T_DEBOUNCE * 10ms
#define BTNST_LUP 32 // button came up after being pressed for a long time #define BTNST_LUP 32 // button came up after being pressed for a long time
#define BTNST_SUPDBNC 64 // debounce after short up #define BTNST_SUPDBNC 64 // debounce after short up
#define BTNST_LUPDBNC 128 // debounce after long up #define BTNST_LUPDBNC 128 // debounce after long up
void init_leds(void); void init_leds(void);
void led_on(int); void led_on(int);
void led_off(int); void led_off(int);
@ -61,7 +55,6 @@ bool switch_r(void); //switch pressed?
void init_motor(void); void init_motor(void);
void set_motor(int); void set_motor(int);
// higher level functions for accessing switches // higher level functions for accessing switches
void button_poll(void); //needs to be polled in regular intervalls (lets say every 10ms) void button_poll(void); //needs to be polled in regular intervalls (lets say every 10ms)
@ -72,5 +65,4 @@ void button_clear(uint8_t button);
//test if buttonstate of btn eqals btnstate, returns true if yes //test if buttonstate of btn eqals btnstate, returns true if yes
bool btn_state(uint8_t btnstate, uint8_t btn); bool btn_state(uint8_t btnstate, uint8_t btn);
#endif #endif

176
firmware/main.c
View File

@ -20,8 +20,6 @@
#define MODE4 4 #define MODE4 4
#define NUM_MODES 5 #define NUM_MODES 5
uint8_t OpMode = MODE0; //Operation mode uint8_t OpMode = MODE0; //Operation mode
bool ModeChanged = true; bool ModeChanged = true;
@ -39,7 +37,8 @@ void modeswitch_poll(void){
button_clear(BTN_RIGHT); button_clear(BTN_RIGHT);
}; };
return; return;
}; }
;
void do_mode0(void) { void do_mode0(void) {
static timer_t mytimer; static timer_t mytimer;
@ -65,7 +64,6 @@ void do_mode0(void){
curval = ADCW; // read result curval = ADCW; // read result
maxval = (curval > maxval) ? curval : maxval; maxval = (curval > maxval) ? curval : maxval;
//check for Buttons //check for Buttons
if (btn_state(BTNST_SUP, BTN_LEFT)) { if (btn_state(BTNST_SUP, BTN_LEFT)) {
button_clear(BTN_LEFT); button_clear(BTN_LEFT);
@ -92,8 +90,10 @@ void do_mode0(void){
USART0_crlf(); USART0_crlf();
led_on(LED_R | LED_L); led_on(LED_R | LED_L);
init_buzzr(); //buzzr to output init_buzzr(); //buzzr to output
if (sound_on) music_setNote(NOTE_C,5); if (sound_on)
if (motor_on) set_motor(MOTOR_ON); music_setNote(NOTE_C, 5);
if (motor_on)
set_motor(MOTOR_ON);
signaling = true; signaling = true;
timer_set(&mytimer, 5); //sound duration timer_set(&mytimer, 5); //sound duration
} else { } else {
@ -105,25 +105,9 @@ void do_mode0(void){
}; //end if timer_expired }; //end if timer_expired
}
;
}; //end do_mode0 //end do_mode0
void do_mode1(void) { void do_mode1(void) {
static uint16_t tone; static uint16_t tone;
@ -143,14 +127,15 @@ void do_mode1(void){
tone -= 10; tone -= 10;
music_setNote(tone, 0); music_setNote(tone, 0);
}; };
}; }
;
void do_mode2(void) { void do_mode2(void) {
static timer_t mytimer; static timer_t mytimer;
uint8_t max = 50; uint8_t max = 50;
uint8_t min = 5; uint8_t min = 5;
uint8_t maxfreq = 6000; uint16_t maxfreq = 6000;
uint8_t minfreq = 2000; uint16_t minfreq = 2000;
if (ModeChanged) { if (ModeChanged) {
ModeChanged = false; ModeChanged = false;
@ -165,13 +150,22 @@ void do_mode2(void){
music_setNote(NOTE_PAUSE, 0); //mute music_setNote(NOTE_PAUSE, 0); //mute
// set random led // set random led
switch (rand() % 4) { switch (rand() % 4) {
case 0 : led_on(LED_L); break; case 0:
case 1 : led_on(LED_R); break; led_on(LED_L);
case 2 : led_on(LED_L|LED_R); break; break;
default : led_off(LED_L|LED_R); case 1:
led_on(LED_R);
break;
case 2:
led_on(LED_L | LED_R);
break;
default:
led_off(LED_L | LED_R);
break;
}; };
// decide if to switch motor on (40% chance) // decide if to switch motor on (40% chance)
if (rand()%5>2) set_motor(MOTOR_ON); if (rand() % 5 > 2)
set_motor(MOTOR_ON);
//decide if to play sound (70% chance) //decide if to play sound (70% chance)
if (rand() % 10 > 2) { if (rand() % 10 > 2) {
@ -182,10 +176,8 @@ void do_mode2(void){
timer_set(&mytimer, (rand() % (max - min)) + min); timer_set(&mytimer, (rand() % (max - min)) + min);
}; //end if timer_expired }; //end if timer_expired
}
;
};
void do_mode3(void) { void do_mode3(void) {
static timer_t mytimer; static timer_t mytimer;
@ -211,7 +203,6 @@ void do_mode3(void){
blink = false; blink = false;
} }
} //end if timer_expired } //end if timer_expired
if (btn_state(BTNST_SUP, BTN_LEFT)) { if (btn_state(BTNST_SUP, BTN_LEFT)) {
@ -221,12 +212,12 @@ void do_mode3(void){
}; };
if (btn_state(BTNST_SUP, BTN_RIGHT)) { if (btn_state(BTNST_SUP, BTN_RIGHT)) {
button_clear(BTN_RIGHT); button_clear(BTN_RIGHT);
set_motor(MOTOR_ON); }; set_motor(MOTOR_ON);
}; };
}
;
void do_mode4(void) { void do_mode4(void) {
uint8_t max = 200; uint8_t max = 200;
uint8_t min = 10; uint8_t min = 10;
@ -244,11 +235,18 @@ void do_mode4(void){
//lets blink //lets blink
int i = (rand() % 3); int i = (rand() % 3);
switch (i) { switch (i) {
case 0 : led_on(LED_L); break; case 0:
case 1 : led_on(LED_R); break; led_on(LED_L);
default : led_on(LED_L|LED_R); break;
case 1:
led_on(LED_R);
break;
default:
led_on(LED_L | LED_R);
break;
}; };
if (rand()%10>8) set_motor(MOTOR_ON); if (rand() % 10 > 8)
set_motor(MOTOR_ON);
music_setNote(NOTE_C, 5); music_setNote(NOTE_C, 5);
timer_set(&mytimer, 2); timer_set(&mytimer, 2);
blink = true; blink = true;
@ -264,15 +262,11 @@ void do_mode4(void){
} //end if timer_expired } //end if timer_expired
}
;
};
void __attribute__((noreturn)) void __attribute__((noreturn))
main(void) main(void) {
{
/* hardware initialisation: */ /* hardware initialisation: */
init_leds(); init_leds();
init_buzzr(); init_buzzr();
@ -283,74 +277,34 @@ main(void)
timer_init(); timer_init();
music_init(); music_init();
/* here the show begins:*/ /* here the show begins:*/sei();
sei();
timer_t t;
uint8_t ledstate_l =0;
uint8_t ledstate_r =0;
uint8_t motorstate =0;
timer_set(&t, 100);
for (;;) /* ever */{ for (;;) /* ever */{
//do something //do something
//main polling loop; //main polling loop;
button_poll(); button_poll();
modeswitch_poll(); modeswitch_poll();
switch (OpMode) { switch (OpMode) {
case MODE1 : do_mode1(); break; case MODE1:
case MODE2 : do_mode2(); break; do_mode1();
case MODE3 : do_mode3(); break; break;
case MODE4 : do_mode4(); break; case MODE2:
default : do_mode0(); do_mode2();
} break;
/* case MODE3:
do_mode3();
if (timer_expired(&t)){ break;
//while left button is pressed switch left led on case MODE4:
if (btn_state(BTNST_SDN,BTN_LEFT)|btn_state(BTNST_LDN,BTN_LEFT)){ do_mode4();
led_on(LED_L); break;
} else { default:
led_off(LED_L); do_mode0();
}; break;
if (btn_state(BTNST_SUP,BTN_LEFT)){
music_setNote(NOTE_PAUSE,0); //mute
button_clear(BTN_LEFT);
}; };
//when right button has been pressed short, toggle right led
if (btn_state(BTNST_SUP,BTN_RIGHT)){
if (ledstate_r ==0){
ledstate_r = 1;
led_on(LED_R);
} else {
ledstate_r = 0;
led_off(LED_R);
}; };
music_setNote(500,0); //50Hz sound
button_clear(BTN_RIGHT); //this is important, to show the event has been processed
};
//when right button has been pressed long, toggle motor
if (btn_state(BTNST_LUP,BTN_RIGHT)){
if (motorstate ==0){
motorstate = 1;
set_motor(MOTOR_ON);
} else {
motorstate = 0;
set_motor(MOTOR_OFF);
};
music_setNote(NOTE_B,5); //1000Hz sound
button_clear(BTN_RIGHT); //this is important, to show the event has been processed
};
timer_set(&t, 5);
}; //end if timer expired
//USART0_put_uint16(0xA09F);
//USART0_crlf();
*/
}
/* never return 0; */ /* never return 0; */
} }
;

1
firmware/main.h
View File

@ -1,3 +1,2 @@
#pragma once #pragma once