/****************************************************************************
Module
CrewService.c
Revision
1.0.1
Description
This is a template file for implementing a simple service under the
Gen2 Events and Services Framework.
Notes
History
When Who What/Why
-------------- --- --------
01/16/12 09:58 jec began conversion from TemplateFSM.c
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
/* include header files for this state machine as well as any machines at the
next lower level in the hierarchy that are sub-machines to this machine
*/
//This Module
#include "CrewService.h"
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "dbprintf.h"
#include "DebouncingService.h"
#include "MasterService.h"
#include "LEDService.h"
#include "Servo.h"
#include "PIC32_AD_Lib.h"
/*----------------------------- Module Defines ----------------------------*/
#define ONE_SEC 1000
#define CREW_UPDATE_FREQUENCY 10
#define CREW_UPDATE_SEC (ONE_SEC /CREW_UPDATE_FREQUENCY)
#define MAX_POSITION 6400
#define MIN_POSITION 0
#define NEUTRAL_POSITION ((MAX_POSITION + MIN_POSITION)/2)
#define MAX_SPEED 5000
#define MAX_MIC_VOLUME 1023
#define MIN_MIC_VOLUME 0
#define ROWS_LEDMATRIX 32
#define AD_CHANNEL (1<<5)
#define NUM_AD_CHANNELS 1
/*---------------------------- Module Functions ---------------------------*/
/* prototypes for private functions for this service.They should be functions
relevant to the behavior of this service
*/
/*---------------------------- Module Variables ---------------------------*/
// with the introduction of Gen2, we need a module level Priority variable
static uint8_t MyPriority;
static int32_t CurrentAD_Value[NUM_AD_CHANNELS];
static int16_t MicVolume = 0;
static int16_t NormalizedCrewPosition = 16;
Crew_Movement_t CrewMovement;
CrewServiceState_t CurrentState = InitCrew;
CrewServiceState_t NextState = InitCrew;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
InitCrewService
Parameters
uint8_t : the priorty of this service
Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, and does any
other required initialization for this service
Notes
Author
J. Edward Carryer, 01/16/12, 10:00
****************************************************************************/
bool InitCrewService(uint8_t Priority)
{
Declare ThisEvent as ES_Event_t
Set MyPriority to Priority
Configure ADC for AutoScan on AD_CHANNEL
Call ADC_MultiRead(CurrentAD_Value)
Initialize CrewMovement:
Set Direction to Stop
Set Position to NEUTRAL_POSITION
Set Speed to MAX_SPEED divided by 10
Set ThisEvent.EventType to ES_INIT
If ES_PostToService(MyPriority, ThisEvent) returns true:
Return true
Else:
Return false
EndIf
}
/****************************************************************************
Function
PostCrewService
Parameters
EF_Event_t ThisEvent ,the event to post to the queue
Returns
bool false if the Enqueue operation failed, true otherwise
Description
Posts an event to this state machine's queue
Notes
Author
J. Edward Carryer, 10/23/11, 19:25
****************************************************************************/
bool PostCrewService(ES_Event_t ThisEvent)
{
return ES_PostToService(MyPriority, ThisEvent);
}
/****************************************************************************
Function
RunCrewService
Parameters
ES_Event_t : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
add your description here
Notes
Author
J. Edward Carryer, 01/15/12, 15:23
****************************************************************************/
ES_Event_t RunCrewService(ES_Event_t ThisEvent)
{
Declare ReturnEvent as ES_Event_t
Set ReturnEvent.EventType to ES_NO_EVENT (assume no errors)
Declare UserInteract as ES_Event_t
Switch CurrentState:
Case InitCrew:
If ThisEvent is GAME_START:
Set NextState to Idle
Set CrewMovement.Direction to Stop
Set CrewMovement.Position to NEUTRAL_POSITION
Set CrewMovement.Speed to MAX_SPEED divided by 10
Case Idle:
If ThisEvent is LEFT_DOWN:
Set NextState to Left_Down
Set CrewMovement.Direction to Left
Initialize CREWSERVICE_TIMER with CREW_UPDATE_SEC
Else If ThisEvent is RIGHT_DOWN:
Set NextState to Right_Down
Set CrewMovement.Direction to Right
Initialize CREWSERVICE_TIMER with CREW_UPDATE_SEC
Else If ThisEvent is USER_LEFT, WIN, or LOSE:
Set NextState to InitCrew
Case Left_Down:
If ThisEvent is LEFT_UP:
Set NextState to Idle
Set CrewMovement.Direction to Stop
Else If ThisEvent is RIGHT_DOWN:
Set NextState to Both_Down
Set CrewMovement.Direction to Stop
Else If ThisEvent is ES_TIMEOUT and Timer is CREWSERVICE_TIMER:
Set NextState to Left_Down
Initialize CREWSERVICE_TIMER with CREW_UPDATE_SEC
Call UpdateCrewPosition()
If ThisEvent is USER_LEFT, WIN, or LOSE:
Set NextState to InitCrew
Set UserInteract to PLAYING
Post UserInteract to MasterService
Case Right_Down:
If ThisEvent is RIGHT_UP:
Set NextState to Idle
Set CrewMovement.Direction to Stop
Else If ThisEvent is LEFT_DOWN:
Set NextState to Both_Down
Set CrewMovement.Direction to Stop
Else If ThisEvent is ES_TIMEOUT and Timer is CREWSERVICE_TIMER:
Set NextState to Right_Down
Initialize CREWSERVICE_TIMER with CREW_UPDATE_SEC
Call UpdateCrewPosition()
If ThisEvent is USER_LEFT, WIN, or LOSE:
Set NextState to InitCrew
Set UserInteract to PLAYING
Post UserInteract to MasterService
Case Both_Down:
If ThisEvent is LEFT_UP:
Set NextState to Right_Down
Set CrewMovement.Direction to Right
Initialize CREWSERVICE_TIMER with CREW_UPDATE_SEC
Else If ThisEvent.EventType is RIGHT_UP:
Set NextState to Left_Down
Set CrewMovement.Direction to Left
Initialize CREWSERVICE_TIMER with CREW_UPDATE_SEC
If ThisEvent is USER_LEFT, WIN, or LOSE:
Set NextState to InitCrew
Set UserInteract to PLAYING
Post UserInteract to MasterService
Default:
Do nothing
EndSwitch
Set CurrentState to NextState
Return ReturnEvent
}
/***************************************************************************
private functions
***************************************************************************/
void UpdateCrewSpeed(void)
{
Read microphone input
Set MicVolume to the absolute value of the first ADC reading
Calculate CrewMovement.Speed as:
MAX_SPEED * (MicVolume - MIN_MIC_VOLUME) / (MAX_MIC_VOLUME - MIN_MIC_VOLUME)
Return
}
void UpdateCrewPosition(void)
{
Create a new event CrewPositionEvent with default EventParam = 16
update CrewMovement.Speed
If CrewMovement.Direction is Left:
If CrewMovement.Position is larger than MIN_POSITION:
Decrease CrewMovement.Position by CrewMovement.Speed / CREW_UPDATE_FREQUENCY
Else:
Set CrewMovement.Position to MIN_POSITION
If CrewMovement.Direction is Right:
If CrewMovement.Position is less than MAX_POSITION:
Increase CrewMovement.Position by CrewMovement.Speed / CREW_UPDATE_FREQUENCY
Else:
Set CrewMovement.Position to MAX_POSITION
Normalize CrewMovement.Position to fit the LED matrix range:
NormalizedCrewPosition = (ROWS_LEDMATRIX - 1) * CrewMovement.Position / (MAX_POSITION - MIN_POSITION)
Set CrewPositionEvent.EventType to NEW_CREW_POSITION
Set CrewPositionEvent.EventParam to NormalizedCrewPosition
Post CrewPositionEvent to LEDService and ServoService
Return
}
/*------------------------------- Footnotes -------------------------------*/
/*------------------------------ End of file *------------------------------*/