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higher level button functions implemented

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This commit is contained in:
bigalex 2012-10-01 23:36:37 +02:00
parent e642a725d4
commit 2bcf64740e
3 changed files with 189 additions and 8 deletions
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117
firmware/lib/bughal.c
View File

@ -1,12 +1,24 @@
#include <inttypes.h>
#include <avr/io.h>
#include "bughal.h"
#include "util.h" //for timer
/* Hardware abstraction layer for Pentabug hardware */
/*
* initialize LEDs on C0-C3
*/
static uint8_t oldinput; // button readings from last poll cycle
static uint8_t curinput; // button readings from current poll cycle
//each switch has its own state machine
static uint8_t btnstates[BTN_BUTTONS]; //array for current button states
static uint8_t btncounters[BTN_BUTTONS]; //individual counter for button state machine
static timer_t btntimers[BTN_BUTTONS]; //individiual timer for for button state machine
void init_leds(void){
//enable LED channels as output
DDRC |= (1 << PORTC0) | (1 << PORTC1) | (1 << PORTC2) | (1 << PORTC3);
@ -67,6 +79,15 @@ void buzzr_inv(void){
void init_switch(void){
DDRD &= ~( (1 << PORTD1) | (1<<PORTD0));
PORTD |= (1 << PORTD1) | (1<<PORTD0); //Pullups FTW
// set predefined buttonstates
oldinput = 0;
curinput = 0;
for(uint8_t i=0; i<BTN_BUTTONS; i++){
btnstates[i] = BTNST_NTRL; //init button states
btncounters[i] = 0; //init button counters
timer_set(&btntimers[i], 0x05); //50ms - init button timers
}
return;
}
@ -92,3 +113,99 @@ void set_motor(int val){
return;
}
// reset button to neutral state
void button_clear(uint8_t button){
btnstates[button] = BTNST_NTRL;
}
void stateswitch(uint8_t i ){
switch(btnstates[i])
{
case BTNST_NTRL: //NEUTRAL
if (curinput & (1<<i)){ //button down
btncounters[i] = 0;
btnstates[i] = BTNST_DBNC;
}
break;
//intermediate state, check if button is still pressed to debounce
case BTNST_DBNC:
btnstates[i] = (curinput & (1<<i))? BTNST_SDN: BTNST_NTRL;
(btncounters[i])++;
break;
case BTNST_SDN: //is shortpressed and still held down
if (curinput & (1<<i)){
btncounters[i]++;
if (btncounters[i] > BTN_T_LONGFACT){ //500ms held
btnstates[i] = BTNST_LDN;
}
} else { //button was released
btnstates[i] = BTNST_SUP;
//signal shortclick
}
break;
case BTNST_LDN: //is longpressed and still held down
if (!(curinput & (1<<i))){
//button was released
btnstates[i] = BTNST_LUP; //signal longpress
}
break;
case BTNST_SUP: //Button came up after being pressed shortly
if ((curinput & (1<<i))){
//button was pressed again or is bouncing after release
btnstates[i] = BTNST_SUPDBNC; //going in special debounce
btncounters[i] = 0;
}
break;
case BTNST_LUP: //Button came up after being pressed for a long time
if ((curinput & (1<<i))){
//button was pressed again or is bouncing after release
btnstates[i] = BTNST_LUPDBNC; //going in special debounce
btncounters[i] = 0;
}
break;
case BTNST_SUPDBNC: //Button was pressed again after beeing short pressed(or is bouncing)
if ((curinput & (1<<i))){
//button is still pressed --> going to shortpress
btncounters[i]++;
btnstates[i] = BTNST_SDN; //starting over from short pressed
} else {
btnstates[i] = BTNST_SUP; //nope, it was bouncing, back to old state
}
break;
case BTNST_LUPDBNC: //Button was pressed again after beeing short pressed(or is bouncing)
if ((curinput & (1<<i))){
//button is still pressed --> going to shortpress
btncounters[i]++;
btnstates[i] = BTNST_SDN; //starting over from short pressed
} else {
btnstates[i] = BTNST_LUP; //nope, it was bouncing, back to old state
}
break;
default: //curently catches nothing
// do nothing yet
;
} //end switch
timer_set(&btntimers[i], BTN_T_DEBOUNCE);
}
void button_poll(){
curinput = ~(PIND & 0b00000011);
for(uint8_t i=0; i<BTN_BUTTONS; i++){
if (timer_expired(&btntimers[i])){
stateswitch(i);
} //end if timer expired
} //end for
oldinput = curinput;
return;
}
bool btn_state(uint8_t btnstate, uint8_t btn){
return (btnstates[btn]==btnstate);
}

38
firmware/lib/bughal.h
View File

@ -14,6 +14,32 @@ enum { BUZZR_OUT, //initialize buzzer for OUTPUT mode (emmiting soundwaves)
#define MOTOR_ON (0<<PORTB1)
#define MOTOR_OFF (1<<PORTB1)
#define BTN_RIGHT 1
#define BTN_LEFT 0
#define BTN_BUTTONS 2 //numer of Buttons
#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
//BUTTON state machine states
#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_SDN 4 // affirmative, button is pressed,
// and it's pressed no longer than
// BTN_T_LONGFACT * BTN_T_DEBOUNCE * 10ms
#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
//BTN_T_LONGFACT * BTN_T_DEBOUNCE * 10ms
#define BTNST_LUP 32 // button came up after being pressed for a long time
#define BTNST_SUPDBNC 64 // debounce after short up
#define BTNST_LUPDBNC 128 // debounce after long up
void init_leds(void);
void led_on(int);
void led_off(int);
@ -24,7 +50,10 @@ void buzzr_down(void);
void buzzr_off(void);
void buzzr_inv(void);
// init ports and stuff for button functions
void init_switch(void);
// direct low level access to switches
bool switch_l(void); //switch pressed?
bool switch_r(void); //switch pressed?
@ -32,6 +61,15 @@ void init_motor(void);
void set_motor(int);
// higher level functions for accessing switches
void button_poll(void); //needs to be polled in regular intervalls (lets say every 10ms)
// reset button to neutral state
void button_clear(uint8_t button);
//test if buttonstate of btn eqals btnstate, returns true if yes
bool btn_state(uint8_t btnstate, uint8_t btn);
#endif

42
firmware/main.c
View File

@ -6,7 +6,7 @@
#include <stdlib.h>
#include "main.h"
#include "lib/synth.h"
#include "lib/usart.h"
#include "lib/bughal.h"
#include "lib/util.h"
@ -27,19 +27,45 @@ main(void)
/* here the show begins:*/
sei();
//set_motor(MOTOR_ON);
timer_t t;
uint8_t ledmode =0;
uint16_t ct =0;
led_on(LED_R);
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();
if (timer_expired(&t)){
if (switch_l()) {led_on(LED_L);} else {led_off(LED_L);};
if (switch_r()) {led_on(LED_R);} else {led_off(LED_R);};
if (switch_l()&&switch_r()) {set_motor(MOTOR_ON);} else {set_motor(MOTOR_OFF);};
//while left button is pressed switch left led on
if (btn_state(BTNST_SDN,BTN_LEFT)|btn_state(BTNST_LDN,BTN_LEFT)){
led_on(LED_L);
} else {
led_off(LED_L);
};
//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);
};
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);
};
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);