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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66
firmware/lib/bughal.c
View File

@ -65,11 +65,11 @@ void init_mic(void){
PORTB &= ~(1 << PORTB2);//and to GND PORTB &= ~(1 << PORTB2);//and to GND
ADMUX = (1<<REFS1) | (1<<REFS0); //use internal 1.1V as reference ADMUX = (1<<REFS1) | (1<<REFS0); //use internal 1.1V as reference
ADCSRA = (1<<ADPS1) | (1<<ADPS0);// prescaler F_CPU/8 ADCSRA = (1<<ADPS1) | (1<<ADPS0);// prescaler F_CPU/8
ADCSRA |= (1<<ADEN) | (1<<ADATE);// ADC enable - turn it on in free running mode ADCSRA |= (1<<ADEN) | (1<<ADATE);// ADC enable - turn it on in free running mode
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;
} }
@ -145,20 +145,19 @@ 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;
} }
break; break;
//intermediate state, check if button is still pressed to debounce //intermediate state, check if button is still pressed to debounce
case BTNST_DBNC: case BTNST_DBNC:
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
btnstates[i] = BTNST_LDN; btnstates[i] = BTNST_LDN;
@ -167,48 +166,49 @@ void stateswitch(uint8_t i ){
btnstates[i] = BTNST_SUP; btnstates[i] = BTNST_SUP;
//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]++;
btnstates[i] = BTNST_SDN; //starting over from short pressed btnstates[i] = BTNST_SDN; //starting over from short pressed
} else { } else {
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]++;
btnstates[i] = BTNST_SDN; //starting over from short pressed btnstates[i] = BTNST_SDN; //starting over from short pressed
} else { } else {
btnstates[i] = BTNST_LUP; //nope, it was bouncing, back to old state btnstates[i] = BTNST_LUP; //nope, it was bouncing, back to old state
} }
break; break;
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);
} }

22
firmware/lib/bughal.h
View File

@ -5,8 +5,9 @@
/* Hardware abstraction layer for Pentabug hardware */ /* Hardware abstraction layer for Pentabug hardware */
enum { BUZZR_OUT, //initialize buzzer for OUTPUT mode (emmiting soundwaves) enum {
BUZZR_IN //initialize buzzer for INPUT mode (registering soundwaves) BUZZR_OUT, //initialize buzzer for OUTPUT mode (emmiting soundwaves)
BUZZR_IN //initialize buzzer for INPUT mode (registering soundwaves)
}; };
#define LED_L (1 << PORTC0) #define LED_L (1 << PORTC0)
@ -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

564
firmware/main.c
View File

@ -20,259 +20,253 @@
#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;
void modeswitch_poll(void){ void modeswitch_poll(void) {
if (btn_state(BTNST_LUP,BTN_LEFT)){ if (btn_state(BTNST_LUP, BTN_LEFT)) {
//opmode - //opmode -
OpMode = (0 == OpMode) ? (NUM_MODES-1) : (OpMode-1); OpMode = (0 == OpMode) ? (NUM_MODES - 1) : (OpMode - 1);
ModeChanged = true; ModeChanged = true;
button_clear(BTN_LEFT); button_clear(BTN_LEFT);
};
if (btn_state(BTNST_LUP,BTN_RIGHT)){
//opmode +
ModeChanged = true;
OpMode = ((NUM_MODES-1) == OpMode) ? 0 : (OpMode+1);
button_clear(BTN_RIGHT);
};
return;
};
void do_mode0(void){
static timer_t mytimer;
static uint16_t maxval;
static uint16_t lastmaxval;
uint16_t curval;
static bool signaling;
static bool sound_on;
static bool motor_on;
if (ModeChanged){
timer_set(&mytimer, 10);
maxval=0;
ModeChanged = false;
signaling = false;
sound_on = true;
motor_on = true;
init_mic();
maxval=0;
};
// single measurement
curval =ADCW; // read result
maxval = (curval>maxval) ? curval : maxval;
//check for Buttons
if (btn_state(BTNST_SUP,BTN_LEFT)) {
button_clear(BTN_LEFT);
sound_on = !sound_on;
};
if (btn_state(BTNST_SUP,BTN_RIGHT)) {
button_clear(BTN_RIGHT);
motor_on = !motor_on;
};
if(timer_expired(&mytimer)){
if (signaling) {
//turn off sound
music_setNote(NOTE_PAUSE,0); //mute
set_motor(MOTOR_OFF);
//re-init mic
init_mic();
led_off(LED_R|LED_L);
timer_set(&mytimer, 1);
signaling = false;
lastmaxval= 10000;
} else { //sound was off wer're in measuring mode
if(maxval>lastmaxval){
USART0_put_uint16(maxval);
USART0_crlf();
led_on(LED_R|LED_L);
init_buzzr(); //buzzr to output
if (sound_on) music_setNote(NOTE_C,5);
if (motor_on) set_motor(MOTOR_ON);
signaling = true;
timer_set(&mytimer, 5); //sound duration
} else {
timer_set(&mytimer, 1);
};
lastmaxval=maxval;
maxval=0;
}; //end if soundon
}; //end if timer_expired
}; //end do_mode0
void do_mode1(void){
static uint16_t tone;
if (ModeChanged){
ModeChanged = false;
tone = 1000;
music_setNote(tone,0);
led_off(LED_L|LED_R);
};
if (btn_state(BTNST_SUP,BTN_LEFT)) {
button_clear(BTN_LEFT);
tone += 10;
music_setNote(tone,0);
};
if (btn_state(BTNST_SUP,BTN_RIGHT)) {
button_clear(BTN_RIGHT);
tone -= 10;
music_setNote(tone,0);
};
};
void do_mode2(void){
static timer_t mytimer;
uint8_t max = 50;
uint8_t min = 5;
uint8_t maxfreq = 6000;
uint8_t minfreq = 2000;
if (ModeChanged){
ModeChanged = false;
music_setNote(NOTE_PAUSE,4); //mute
timer_set(&mytimer, 10);
led_off(LED_L|LED_R);
set_motor(MOTOR_OFF);
}
if(timer_expired(&mytimer)){
set_motor(MOTOR_OFF);
music_setNote(NOTE_PAUSE,0); //mute
// set random led
switch(rand() % 4) {
case 0 : led_on(LED_L); break;
case 1 : led_on(LED_R); break;
case 2 : led_on(LED_L|LED_R); break;
default : led_off(LED_L|LED_R);
}; };
// decide if to switch motor on (40% chance) if (btn_state(BTNST_LUP, BTN_RIGHT)) {
if (rand()%5>2) set_motor(MOTOR_ON); //opmode +
ModeChanged = true;
//decide if to play sound (70% chance) OpMode = ((NUM_MODES - 1) == OpMode) ? 0 : (OpMode + 1);
if (rand()%10>2) { button_clear(BTN_RIGHT);
music_setNote((rand() % (maxfreq-minfreq)) + minfreq,0);
}
timer_set(&mytimer, (rand() % (max-min)) + min);
}; //end if timer_expired
};
void do_mode3(void){
static timer_t mytimer;
static bool blink;
if (ModeChanged){
ModeChanged = false;
music_setNote(NOTE_PAUSE,4); //mute
set_motor(MOTOR_OFF);
timer_set(&mytimer, 10);
blink = false;
};
if(timer_expired(&mytimer)){
if (!blink) {
//lets blink
led_on(LED_L|LED_R);
timer_set(&mytimer, 1);
blink=true;
} else {
//stop blink
led_off(LED_L|LED_R);
timer_set(&mytimer, 123);
blink=false;
}
} //end if timer_expired
if (btn_state(BTNST_SUP,BTN_LEFT)) {
button_clear(BTN_LEFT);
set_motor(MOTOR_OFF);
};
if (btn_state(BTNST_SUP,BTN_RIGHT)) {
button_clear(BTN_RIGHT);
set_motor(MOTOR_ON); };
};
void do_mode4(void){
uint8_t max = 200;
uint8_t min = 10;
static timer_t mytimer;
static bool blink;
if (ModeChanged){
music_setNote(NOTE_PAUSE,0);
ModeChanged = false;
timer_set(&mytimer, 10);
blink = false;
};
if(timer_expired(&mytimer)){
if (!blink) {
//lets blink
int i = (rand() % 3);
switch(i) {
case 0 : led_on(LED_L); break;
case 1 : led_on(LED_R); break;
default : led_on(LED_L|LED_R);
}; };
if (rand()%10>8) set_motor(MOTOR_ON); return;
music_setNote(NOTE_C,5); }
timer_set(&mytimer, 2); ;
blink=true;
} else {
//stop blink
led_off(LED_L|LED_R);
set_motor(MOTOR_OFF);
music_setNote(NOTE_PAUSE,0);
timer_set(&mytimer, (rand() % (max-min)) + min);
blink=false; void do_mode0(void) {
} static timer_t mytimer;
static uint16_t maxval;
static uint16_t lastmaxval;
uint16_t curval;
static bool signaling;
static bool sound_on;
static bool motor_on;
} //end if timer_expired if (ModeChanged) {
timer_set(&mytimer, 10);
maxval = 0;
ModeChanged = false;
signaling = false;
sound_on = true;
motor_on = true;
init_mic();
maxval = 0;
};
// single measurement
curval = ADCW; // read result
maxval = (curval > maxval) ? curval : maxval;
//check for Buttons
if (btn_state(BTNST_SUP, BTN_LEFT)) {
button_clear(BTN_LEFT);
sound_on = !sound_on;
};
if (btn_state(BTNST_SUP, BTN_RIGHT)) {
button_clear(BTN_RIGHT);
motor_on = !motor_on;
};
if (timer_expired(&mytimer)) {
if (signaling) {
//turn off sound
music_setNote(NOTE_PAUSE, 0); //mute
set_motor(MOTOR_OFF);
//re-init mic
init_mic();
led_off(LED_R | LED_L);
timer_set(&mytimer, 1);
signaling = false;
lastmaxval = 10000;
} else { //sound was off wer're in measuring mode
if (maxval > lastmaxval) {
USART0_put_uint16(maxval);
USART0_crlf();
led_on(LED_R | LED_L);
init_buzzr(); //buzzr to output
if (sound_on)
music_setNote(NOTE_C, 5);
if (motor_on)
set_motor(MOTOR_ON);
signaling = true;
timer_set(&mytimer, 5); //sound duration
} else {
timer_set(&mytimer, 1);
};
lastmaxval = maxval;
maxval = 0;
}; //end if soundon
}; //end if timer_expired
}; }
;
//end do_mode0
void do_mode1(void) {
static uint16_t tone;
if (ModeChanged) {
ModeChanged = false;
tone = 1000;
music_setNote(tone, 0);
led_off(LED_L | LED_R);
};
if (btn_state(BTNST_SUP, BTN_LEFT)) {
button_clear(BTN_LEFT);
tone += 10;
music_setNote(tone, 0);
};
if (btn_state(BTNST_SUP, BTN_RIGHT)) {
button_clear(BTN_RIGHT);
tone -= 10;
music_setNote(tone, 0);
};
}
;
void do_mode2(void) {
static timer_t mytimer;
uint8_t max = 50;
uint8_t min = 5;
uint16_t maxfreq = 6000;
uint16_t minfreq = 2000;
if (ModeChanged) {
ModeChanged = false;
music_setNote(NOTE_PAUSE, 4); //mute
timer_set(&mytimer, 10);
led_off(LED_L | LED_R);
set_motor(MOTOR_OFF);
}
if (timer_expired(&mytimer)) {
set_motor(MOTOR_OFF);
music_setNote(NOTE_PAUSE, 0); //mute
// set random led
switch (rand() % 4) {
case 0:
led_on(LED_L);
break;
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)
if (rand() % 5 > 2)
set_motor(MOTOR_ON);
//decide if to play sound (70% chance)
if (rand() % 10 > 2) {
music_setNote((rand() % (maxfreq - minfreq)) + minfreq, 0);
}
timer_set(&mytimer, (rand() % (max - min)) + min);
}; //end if timer_expired
}
;
void do_mode3(void) {
static timer_t mytimer;
static bool blink;
if (ModeChanged) {
ModeChanged = false;
music_setNote(NOTE_PAUSE, 4); //mute
set_motor(MOTOR_OFF);
timer_set(&mytimer, 10);
blink = false;
};
if (timer_expired(&mytimer)) {
if (!blink) {
//lets blink
led_on(LED_L | LED_R);
timer_set(&mytimer, 1);
blink = true;
} else {
//stop blink
led_off(LED_L | LED_R);
timer_set(&mytimer, 123);
blink = false;
}
} //end if timer_expired
if (btn_state(BTNST_SUP, BTN_LEFT)) {
button_clear(BTN_LEFT);
set_motor(MOTOR_OFF);
};
if (btn_state(BTNST_SUP, BTN_RIGHT)) {
button_clear(BTN_RIGHT);
set_motor(MOTOR_ON);
};
}
;
void do_mode4(void) {
uint8_t max = 200;
uint8_t min = 10;
static timer_t mytimer;
static bool blink;
if (ModeChanged) {
music_setNote(NOTE_PAUSE, 0);
ModeChanged = false;
timer_set(&mytimer, 10);
blink = false;
};
if (timer_expired(&mytimer)) {
if (!blink) {
//lets blink
int i = (rand() % 3);
switch (i) {
case 0:
led_on(LED_L);
break;
case 1:
led_on(LED_R);
break;
default:
led_on(LED_L | LED_R);
break;
};
if (rand() % 10 > 8)
set_motor(MOTOR_ON);
music_setNote(NOTE_C, 5);
timer_set(&mytimer, 2);
blink = true;
} else {
//stop blink
led_off(LED_L | LED_R);
set_motor(MOTOR_OFF);
music_setNote(NOTE_PAUSE, 0);
timer_set(&mytimer, (rand() % (max - min)) + min);
blink = false;
}
} //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 */ {
//do something
//main polling loop;
button_poll();
modeswitch_poll();
switch(OpMode){
case MODE1 : do_mode1(); break;
case MODE2 : do_mode2(); break;
case MODE3 : do_mode3(); break;
case MODE4 : do_mode4(); break;
default : do_mode0();
}
/*
if (timer_expired(&t)){ for (;;) /* ever */{
//while left button is pressed switch left led on //do something
if (btn_state(BTNST_SDN,BTN_LEFT)|btn_state(BTNST_LDN,BTN_LEFT)){ //main polling loop;
led_on(LED_L); button_poll();
} else { modeswitch_poll();
led_off(LED_L); switch (OpMode) {
}; case MODE1:
if (btn_state(BTNST_SUP,BTN_LEFT)){ do_mode1();
music_setNote(NOTE_PAUSE,0); //mute break;
button_clear(BTN_LEFT); case MODE2:
}; do_mode2();
break;
case MODE3:
do_mode3();
break;
case MODE4:
do_mode4();
break;
default:
do_mode0();
break;
};
//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