Add melody support and hal stubs

firmware/README.md

@@ -1,4 +1,8 @@
-## Firmware 
+# Firmware
+
+## Flashing
+
+## General
 
 This firmware is to be flashed to the atmega88 of the pentabug.
 The Makefile supports 2 different ways of flashing the firmware image:
@@ -9,8 +13,8 @@ With the
 
 	make serflash
 
-target of the Makefile You can flash the microcontroler via the serial bootloader that is part of the initial firmware.
-
+target of the Makefile You can flash the microcontroler via the serial
+bootloader that is part of the initial firmware.
 
 ### the isp way 
 
@@ -21,4 +25,17 @@ With the
 target of the Makefile you can flash the microcontroler via an isp programmer.
 Adjust the avrdude settings to Your programmers needs beforehand.
 
+## App API
+
+The new firmware aims to be as simple as possible to the application developer.
+The applications are defined by a function which is called repeatedly in an
+Arduino like main loop. Most hardware components are (read: should be in the
+near future) accessible through an easy API.
+
+There can be multiple different applications in one firmware. The next
+application can be started by pressing one of the two buttons for at least 2
+seconds. The application has to be cooperative as other applications can only
+be started if the `test_app_stop()` function is called in your application
+regularly. You most propably won't have to worry about this as most functions
+in the hardware abstraction layer are already doing this for you.
 

firmware/apps/music.c

@@ -8,39 +8,35 @@
 #include <pentabug/lifecycle.h>
 #include <pentabug/music.h>
 
-#define NOTE_SHORT		0xfffe
+#define NOTE_BREAK		0xfffe
+#define NOTE_SHORT		0xfffd
 
 static uint16_t notes[] = {
-	NOTE_C, NOTE_D, NOTE_E, NOTE_F, NOTE_G, NOTE_G, NOTE_SHORT,
-	NOTE_A, NOTE_A, NOTE_A, NOTE_A, NOTE_G, NOTE_SHORT,
-	NOTE_A, NOTE_A, NOTE_A, NOTE_A, NOTE_G, NOTE_SHORT,
-	NOTE_F, NOTE_F, NOTE_F, NOTE_F, NOTE_E, NOTE_E, NOTE_SHORT,
-	NOTE_D, NOTE_D, NOTE_D, NOTE_D, NOTE_C, NOTE_SHORT,
+	NOTE_C, NOTE_D, NOTE_E, NOTE_F, NOTE_SHORT, NOTE_G, NOTE_G, NOTE_BREAK,
+	NOTE_A, NOTE_A, NOTE_A, NOTE_A, NOTE_SHORT, NOTE_G, NOTE_BREAK,
+	NOTE_A, NOTE_A, NOTE_A, NOTE_A, NOTE_SHORT, NOTE_G, NOTE_BREAK,
+	NOTE_F, NOTE_F, NOTE_F, NOTE_F, NOTE_SHORT, NOTE_E, NOTE_E, NOTE_BREAK,
+	NOTE_D, NOTE_D, NOTE_D, NOTE_D, NOTE_SHORT, NOTE_C, NOTE_BREAK,
 	NOTE_PAUSE, NOTE_PAUSE, NOTE_PAUSE,
 };
 
-static void init(void) {
-	PORTC ^= 1 << 2;
-}
-
 static void run(void) {
 	size_t i;
 	for(i = 0; i < sizeof(notes) / sizeof(*notes); ++i) {
-		if(notes[i] != NOTE_SHORT) {
+		if(notes[i] == NOTE_BREAK) {
+			_delay_ms(120);
+		} else if(notes[i] == NOTE_SHORT) {
+			_delay_ms(20);
+		} else {
 			set_note(notes[i], 4);
-			_delay_ms(200);
+			_delay_ms(180);
 			test_stop_app();
 
 			stop_note();
 			_delay_ms(10);
 			test_stop_app();
-		} else {
-			_delay_ms(100);
 		}
-
-		PORTD ^= 1 << 4;
-		PORTC ^= 1 << 2;
 	}
 }
 
-REGISTER(run, init, NULL);
+REG(run);

firmware/include/pentabug/hal.h

@@ -3,12 +3,34 @@
 
 #include <stdint.h>
 
-#define BUTTON_L	0
-#define BUTTON_R	1
+#define LEFT		0
+#define RIGHT		1
 
+
+// INITIALIZATION
+
+// initializes the hardware (timers, ...)
 void init_hw(void);
+
+// resets hardware to a state which is convenient for starting applications
 void reset_hw(void);
 
-int8_t button_state(void);
+
+// BUTTONS
+
+// returns 1 if the button is pressed, 0 otherwise
+uint8_t button_state(uint8_t btn);
+
+
+// LEDS
+
+void led_on(uint8_t led);
+void led_off(uint8_t led);
+void led_inv(uint8_t led);
+
+// MOTOR
+
+void motor_on(uint8_t led);
+void motor_off(uint8_t led);
 
 #endif /* HAL_H */

firmware/include/pentabug/helper.h

@@ -0,0 +1,6 @@
+#ifndef HELPER_H
+#define HELPER_H 
+
+#define ARRAY_SIZE(array)		(sizeof(array)/sizeof(*array))
+
+#endif /* HELPER_H */

firmware/include/pentabug/music.h

@@ -2,6 +2,7 @@
 #define MUSIC_H 
 
 #include <stdint.h>
+#include <stdlib.h>
 
 #define NOTE_PAUSE	0xffff	// Pause
 #define NOTE_C		30577 // note C 
@@ -17,7 +18,15 @@
 #define NOTE_Bb		17161 // note A# / Bb 
 #define NOTE_B		16198 // note B 
 
+#define MLDY_PAUSE	0xfffe	// user defined pause for melody, the next value is the amount of ms to wait
+
+// plays the note (see defines above) at the given octave until another note is played or the note is stopped
 void set_note(uint16_t note, uint8_t octave);
+
+// plays a melody consisting of the array of tunes of length len with speed ms for each tune
+void play_melody(uint16_t melody[], size_t len, uint8_t octave, int speed);
+
+// stop the currently playing note
 void stop_note(void);
 
 #endif /* MUSIC_H */

firmware/include/pentabug/timer.h

@@ -13,8 +13,11 @@
 
 typedef void (*timer_fun)(void);
 
-void start_timer(uint8_t scaler, uint16_t compare, timer_fun fun);
+// start a timer and call fun() after prescaler*compare ticks
+// use the defines above for prescaler
+void start_timer(uint8_t prescaler, uint16_t compare, timer_fun fun);
 
+// stops the timer
 void stop_timer(void);
 
 #endif /* TIMER_H */

firmware/lib/music.c

@@ -1,8 +1,11 @@
 #include <pentabug/music.h>
 
-#include <pentabug/timer.h>
-
 #include <avr/io.h>
+#define __DELAY_BACKWARD_COMPATIBLE__
+#include <util/delay.h>
+
+#include <pentabug/timer.h>
+#include <pentabug/lifecycle.h>
 
 static void tune(void) {
 	PORTB ^= 1 << 7;
@@ -19,3 +22,25 @@ void set_note(uint16_t note, uint8_t octave) {
 void stop_note(void) {
 	stop_timer();
 }
+
+void play_melody(uint16_t notes[], size_t len, uint8_t octave, int speed) {
+	int pause = speed / 20;
+
+	size_t i;
+
+	// TODO: get away from the int to double conversion to free half of our flash ...
+	for(i = 0; i < len; ++i) {
+		if(notes[i] == MLDY_PAUSE) {
+			++i;
+			_delay_ms(notes[i]);
+		} else {
+			set_note(notes[i], octave);
+			test_stop_app();
+			_delay_ms(speed);
+
+			stop_note();
+			test_stop_app();
+			_delay_ms(pause);
+		}
+	}
+}

firmware/main.c

@@ -5,6 +5,11 @@
 #include <pentabug/hal.h>
 #include <pentabug/app.h>
 #include <pentabug/lifecycle.h>
+#include <pentabug/music.h>
+#include <pentabug/helper.h>
+
+static uint16_t up_mldy[] = { NOTE_C, NOTE_D, NOTE_F, NOTE_PAUSE };
+static uint16_t down_mldy[] = { NOTE_F, NOTE_E, NOTE_C, NOTE_PAUSE };
 
 static inline void run_app(struct app_t* app) {
 	app_should_stop = 0;
@@ -43,13 +48,19 @@ int main(void) {
 
 		run_app(&apps[app_index]);
 
+		reset_hw();
+
 		if(app_direction > 0) {
+			play_melody(up_mldy, ARRAY_SIZE(up_mldy), 4, 60);
+
 			app_index++;
 
 			if(apps[app_index].run == NULL) {
 				app_index = 0;
 			}
 		} else {
+			play_melody(down_mldy, ARRAY_SIZE(down_mldy), 4, 60);
+
 			if(app_index == 0) {
 				app_index = MAX_APPS - 1;
 				while(apps[app_index].run == NULL) --app_index;