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pentabug/firmware/main.c

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C
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#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#define __DELAY_BACKWARD_COMPATIBLE__
#include <util/delay.h>
#include <stdlib.h>
#include "main.h"
#include "lib/usart.h"
#include "lib/bughal.h"
#include "lib/util.h"
#include "lib/music.h"
//operartion modes
#define MODE0 0
#define MODE1 1
#define MODE2 2
#define MODE3 3
#define MODE4 4
#define MODE5 5 //lightsensortest
#define NUM_MODES 6
uint8_t OpMode = MODE5; //Operation mode
bool ModeChanged = true;
// check if mode should be changed (one of the buttons long pressed)
void modeswitch_poll(void) {
if (btn_state(BTNST_LUP, BTN_LEFT)) {
//opmode -
OpMode = (0 == OpMode) ? (NUM_MODES - 1) : (OpMode - 1);
ModeChanged = true;
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;
}
;
/* sound detection mode
* beeps,blinks and moves when sound is detected
* - beep on/off left switch (short)
* - motor on/off right switch (short)
*/
void do_mode0(void) {
static timer_t mytimer;
static uint16_t maxval; //maximum of ADC values read during the las timer interval
static uint16_t lastmaxval; //maximum of values during last timer interval
uint16_t curval; //current value on D5 (one pin of the piezo,the other is on GND)
static bool signaling; //are we currently signaling (beeping, blinking etc...)
static bool sound_on; //should sound be on when signaling
static bool motor_on; //should motor be on when signaling
if (ModeChanged) { //init after mode change
maxval = 0;
lastmaxval = 000;
ModeChanged = false;
signaling = false;
sound_on = true;
motor_on = true;
init_mic();
timer_set(&mytimer, 10);
};
// single ADC 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
/* soundtest mode, just play single tone
* - left buttn: lower frequency
* - right buttn: increase frequency
*/
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);
};
}
;
/* crazymoves mode
* - play random sounds and move in random fashion
*/
void do_mode2(void) {
static timer_t mytimer;
uint8_t max = 50;
uint8_t min = 5;
uint16_t maxfreq = 5000;
uint16_t minfreq = 1000;
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
}
;
/* just blink mode
* - left/right button switch motor off/on
*/
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);
};
}
;
/* ggrbug mode
* - simulate geiger counter sounds
*/
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 do_mode5(void) {
static bool discharge;
static timer_t mytimer;
uint16_t led1;
uint16_t led2;
if (ModeChanged) { //init after mode change
ModeChanged = false;
ADMUX = (1<<REFS0); //use VCC reference
ADCSRA = (1<<ADPS1) | (1<<ADPS0);// prescaler F_CPU/8
ADCSRA |= (1<<ADEN); // ADC enable - turn it on
// do one conversion
ADCSRA |= (1<<ADSC);
while (ADCSRA & (1<<ADSC) ) {} //wait for conversion to end
uint16_t __attribute__((unused)) dummy = ADCW; //read once
timer_set(&mytimer, 10);
discharge = true;
};
if (timer_expired(&mytimer)) {
if (discharge){
//discharge LED
//enable LED channels as output
DDRC |= (1 << PORTC0) | (1 << PORTC1) | (1 << PORTC2) | (1 << PORTC3);
// discharge
PORTC = (PORTC & 0b11110000);
//set C0 and C2 to input (disable pullups)
DDRC &= ~( (1 << PORTC0) | (1 << PORTC2));
//pull ups off
PORTC &= ~( (1 << PORTC0) | (1 << PORTC2));
discharge = false;
} else {
//make a measurement
// single measurement
ADMUX = (ADMUX & ~(0x1F)) | 0; // select channel 0
ADCSRA |= (1<<ADSC); // start single conversion
while (ADCSRA & (1<<ADSC) ) {}; // wait for conversion to end
led1 =ADCW; // read result
ADMUX = (ADMUX & ~(0x1F)) | 2; // select channel 2
ADCSRA |= (1<<ADSC); // start single conversion
while (ADCSRA & (1<<ADSC) ) {}; // wait for conversion to end
led2 =ADCW; // read result
// USART0_putc('1');USART0_putc(':');USART0_put_uint16(led1);USART0_crlf();
// USART0_putc('2');USART0_putc(':');USART0_put_uint16(led2);USART0_crlf();
music_setNote(500+(0x1ff-led1)*10,0);
discharge = true;
}
timer_set(&mytimer, 1);
}; //end if timer_expired
}
;
//end do_mode5
/* our main method
* things happen right here
*/
void __attribute__((noreturn))
main(void) {
/* hardware initialisation: */
init_leds();
init_buzzr();
init_switch();
USART0_Init();
init_motor();
/* software initialisation */
timer_init();
music_init();
/* here the show begins:*/sei();
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;
case MODE5:
do_mode5();
break;
default:
do_mode0();
break;
};
};
/* never return 0; */
}
;
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