PipeSegment.c

/****************************************************************************
 Module
   PipeSegment.c

 Description
   This service implements a state machine to control the movement of 
   the two pipe segments.

 Author
   Margaret Coad
	 
 Date
   11/10/15

****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
/* include header files for the framework and this service
*/
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "ES_DeferRecall.h"
#include "ES_ShortTimer.h"
#include "PipeSegment.h"
#include "Audio1.h"
#include "Audio2.h"
#include "PWM12Tiva.h"

#include "BucketService.h"
#include "WrenchService.h"

#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"   // Define PART_TM4C123GH6PM in project
#include "driverlib/gpio.h"

/*----------------------------- Module Defines ----------------------------*/
#define ALL_BITS (0xff<<2)

/*---------------------------- Module Functions ---------------------------*/
/* prototypes for private functions for this service. They should be functions relevant to the behavior of this service
*/

/*---------------------------- Module Variables ---------------------------*/
// Data private to the module: MyPriority, CurrentState
static uint8_t MyPriority;
static PipeSegmentState_t CurrentState;

/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
 Function
     InitPipeSegment

 Parameters
     uint8_t : the priority 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
     Margaret Coad, 11/10/15
****************************************************************************/
bool InitPipeSegment ( uint8_t Priority )
{
//Initialize the MyPriority variable with the passed in parameter
  MyPriority = Priority;
//Initialize the port lines to write to PipeServo1 (PD0) and PipeServo2 //(PD1)
  // Enable GPIO Port D
  HWREG(SYSCTL_RCGCGPIO) |= BIT3HI;
  // Wait until peripheral reports that clock is ready
  while ((HWREG(SYSCTL_PRGPIO) & SYSCTL_PRGPIO_R3) !=SYSCTL_PRGPIO_R3);
  // Set bits 0 and 1 on Port D to be digital I/O lines
  HWREG(GPIO_PORTD_BASE+GPIO_O_DEN) |= (GPIO_PIN_0 | GPIO_PIN_1); 
  // Set bits 0 and 1 on Port D to be outputs
  HWREG(GPIO_PORTD_BASE+GPIO_O_DIR) |= (GPIO_PIN_0 | GPIO_PIN_1);
	
//Initialize the port lines to write to PipeLED1 (PA4) and PipeLED2 //(PF3)
  // Enable GPIO Port A
  HWREG(SYSCTL_RCGCGPIO) |= BIT0HI;
  // Enable GPIO Port F
  HWREG(SYSCTL_RCGCGPIO) |= BIT5HI;
  // Wait until peripheral reports that clock is ready
  while ((HWREG(SYSCTL_PRGPIO) & SYSCTL_PRGPIO_R0) !=SYSCTL_PRGPIO_R0);
  // Set bit 4 on Port A and bit 3 on Port F to be digital I/O lines
  HWREG(GPIO_PORTA_BASE+GPIO_O_DEN) |= (GPIO_PIN_4); 
  HWREG(GPIO_PORTF_BASE+GPIO_O_DEN) |= GPIO_PIN_3;
  // Set bits 4 on Port A and bit 3 on Port F to be outputs
  HWREG(GPIO_PORTA_BASE+GPIO_O_DIR) |= (GPIO_PIN_4); // Pipe 1 LED
  HWREG(GPIO_PORTF_BASE+GPIO_O_DIR) |= (GPIO_PIN_3); // Pipe 2 LED

//Start both pipes in the “pipes in” position
	// Set frequency for the group for pins D0 and D1 to 50 Hz
	PWM_TIVA_SetFreq(50, 4);
	// Set pulse width on pin D0 for 0 degrees
	PWM_TIVA_SetPulseWidth(700, 8);
	// Set pulse width on pin D1 for 180 degrees
	PWM_TIVA_SetPulseWidth(3000, 9);
//Set CurrentState to BothPipesIn
	CurrentState = BothPipesIn;
//End of InitializePipeSegment (return True)
	return true;
}

/****************************************************************************
 Function
     PostPipeSegment

 Parameters
     EF_Event 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
     Margaret Coad, 11/10/15
****************************************************************************/
bool PostPipeSegment( ES_Event ThisEvent )
{
  return ES_PostToService( MyPriority, ThisEvent);
}

/****************************************************************************
 Function
    RunPipeSegment (implements 3-state state machine for pipe segments)

 Parameters
   ES_Event : the event to process

 Returns
   ES_Event, ES_NO_EVENT if no error, ES_ERROR otherwise

 Description
   The EventType field of ThisEvent will be one of: 
   ES_PIPE1_BUTTON_DBDOWN, ES_PIPE2_BUTTON_DBDOWN, ES_TIMEOUT,  
   ES_GAMEOVER, ES_PIPE_DOWN_LOST

 Notes
   
 Author
   Margaret Coad, 11/10/15
****************************************************************************/
ES_Event RunPipeSegment( ES_Event ThisEvent )
{
      ES_Event ReturnEvent;
      ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
	//Local Variables: NextState
	PipeSegmentState_t NextState;
	//Set NextState to CurrentState
	NextState = CurrentState;
	//Based on the state of the CurrentState variable choose one of 
      //the following blocks of code:
  switch (CurrentState){
      case BothPipesIn:
			// If the pipe timer goes off, we should move one of 
                  // the pipes out
			if ((ThisEvent.EventType == ES_TIMEOUT) &&  
                  (ThisEvent.EventParam == PIPE_TIMER)) {
				// Play a bad sound to show that the pipe is 
                        // out
				ES_Event ThatEvent;
				ThatEvent.EventType = ES_PLAY_TUNE;
				ThatEvent.EventParam = PipeOut;
				PostAudio1(ThatEvent);
				PostAudio2(ThatEvent);
				srand(ES_Timer_GetTime());
				uint8_t whichPipe = rand()%2;
				// Calculate a random integer (either 0 or 1) 
                        // to decide which pipe to move
				if (whichPipe == 0){
					// Move pipe 1 to the out position
					// Set pulse width on pin D0 for 90 
                              // degrees
					PWM_TIVA_SetPulseWidth(2050, 8);
					NextState = Pipe1Out;
					// Turn on pipe 1 button LED
				  HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS)) 
                              |= (BIT4HI);
				}
				else {
					// Move pipe 2 to the out position
					// Set pulse width on pin D1 for 90 
// degrees
					PWM_TIVA_SetPulseWidth(1850, 9);
					NextState = Pipe2Out;
					// Turn on pipe button LED
		              HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) 
      |= (BIT3HI);
				}
			} 
        		// If game is over
else if (ThisEvent.EventType == ES_GAMEOVER) {
				// Move into state where pipe timer will be 
// ignored
NextState = InCelebration;
			}
			break;
			
		case Pipe1Out:
			if ((ThisEvent.EventType == ES_PIPE_DOWN_LOST) ||
			(ThisEvent.EventType == ES_PIPE1_BUTTON_DBDOWN)) {
				// Turn off Pipe button LEDs
				HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS))  
                        &= (BIT4LO);
				HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) 
                        &= (BIT3LO);
				// Play a good sound to show that the pipe is 
                        back in
				ES_Event ThatEvent;
				ThatEvent.EventType = ES_PLAY_TUNE;
				ThatEvent.EventParam = PipeIn;
				PostAudio1(ThatEvent);
				PostAudio2(ThatEvent);

			  // Post Event ES_PIPE_RECOVERED to Bucket Service, 
                    // Wrench Service, Audio1, and Audio2
				ES_Event OtherEvent;
				OtherEvent.EventType = ES_PIPE_RECOVERED;
				OtherEvent.EventParam = ES_Timer_GetTime();
				PostBucketService(OtherEvent);
				PostWrenchService(OtherEvent);
				PostAudio1(OtherEvent);
				PostAudio2(OtherEvent);
			
			  // Move Pipe1 to the in position
					// Set pulse width on pin D0 for 0 
// degrees
					PWM_TIVA_SetPulseWidth(700, 8);
					NextState = BothPipesIn;
			  // Start pipe timer for 16 seconds
					ES_Timer_InitTimer(PIPE_TIMER, 16000);
			} 
                  // If game is over
else if (ThisEvent.EventType == ES_GAMEOVER) {
				// Turn off pipe lights
HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS)) 
                        &= (BIT4LO);
				HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) 
&= (BIT3LO);
	// Set pulse width on pin D0 for 0
	// degrees
					PWM_TIVA_SetPulseWidth(700, 8);
					NextState = InCelebration;
				}
			break;
		case Pipe2Out:
			if ((ThisEvent.EventType == ES_PIPE_DOWN_LOST) ||
			(ThisEvent.EventType == ES_PIPE2_BUTTON_DBDOWN)) {
				// Turn off Pipe button LEDs
				HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS)) 
&= (BIT4LO);
				HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) 
&= (BIT3LO);
				// Play a good sound to show that the pipe is 
// back in
				ES_Event ThatEvent;
				ThatEvent.EventType = ES_PLAY_TUNE;
				ThatEvent.EventParam = PipeIn;
				PostAudio1(ThatEvent);
				PostAudio2(ThatEvent);
			  // Post Event ES_PIPE_RECOVERED to Bucket Service 
  // and Wrench Service
				ES_Event OtherEvent;
				OtherEvent.EventType = ES_PIPE_RECOVERED;
				OtherEvent.EventParam = ES_Timer_GetTime();
				PostBucketService(OtherEvent);
				PostWrenchService(OtherEvent);
				PostAudio1(OtherEvent);
				PostAudio2(OtherEvent);
			  // Move Pipe2 to the in position
					// Set pulse width on pin D1 for 180 
// degrees
					PWM_TIVA_SetPulseWidth(3000, 9);
					NextState = BothPipesIn;
			  // Start pipe timer for 16 seconds
					ES_Timer_InitTimer(PIPE_TIMER, 16000);
				} 
			// If the game is over
else if (ThisEvent.EventType == ES_GAMEOVER) {
				// Turn off button lights
HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS)) 
&= (BIT4LO);
				HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) 
&= (BIT3LO);
	// Set pulse width on pin D1 for 180 
// degrees
					PWM_TIVA_SetPulseWidth(3000, 9);
					NextState = InCelebration;
				}
			break;
		case InCelebration:
if (ThisEvent.EventType == ES_START_BUTTON_DBDOWN)
			{
				NextState = BothPipesIn;
			}
			break;
	}
//Set CurrentState to NextState
	CurrentState = NextState;
//Return ES_NO_EVENT
	return ReturnEvent;
}

/***************************************************************************
 private functions
 ***************************************************************************/

/*------------------------------- Footnotes -------------------------------*/
/*------------------------------ End of file ------------------------------*/