File content as of revision 37:806c7c8381a7:

/*
------------------------------ ADD LIBRARIES ------------------------------
*/
#include "mbed.h" //Base library
#include "MODSERIAL.h"// in order for connection with the pc

/*
------------------------------ DEFINE MBED CONNECTIONS ------------------------------
*/

// PC serial connection
MODSERIAL pc(USBTX, USBRX);

// Buttons
InterruptIn button1(D11);
InterruptIn button2(D10);
InterruptIn switch2(SW2);
InterruptIn switch3(SW3);

/*
------------------------------ GLOBAL VARIABLES ------------------------------
*/

// State machine variables
enum GLOBAL_States { global_failure, global_wait, global_cal_emg, global_cal_motor, global_operation, global_demo }; // Define global states
GLOBAL_States global_curr_state = global_wait; // Initialize global state to waiting state
bool global_state_changed = true; // Enable entry functions
bool failure_mode = false;

bool cal_emg_done = false;
bool cal_motor_done = false;

// Button press interrupts (to prevent bounce)
bool button1_pressed = false;
bool button2_pressed = false;
bool switch2_pressed = false;

// Global program variables
double Fs = 500.0;
double Ts = 1/Fs;

double Tcal_test = 5.0;

/*
------------------------------ HELPER FUNCTIONS ------------------------------
*/
void doStuff() {} // Empty placeholder function, needs to be deleted at end of project



/*
------------------------------ BUTTON FUNCTIONS ------------------------------
*/

// Handle button press
void button1Press()
{
    button1_pressed = true;
}

// Handle button press
void button2Press()
{
    button2_pressed = true;
}

void switch2Press()
{
    switch2_pressed = true;
}

void switch3Press()
{
    global_curr_state = global_failure;
    global_state_changed = true;
}

/*
------------------------------ TICKER, TIMER & TIMEOUT FUNCTIONS ------------------------------
*/
// Initialize tickers and timeouts
Ticker tickGlobal; // Set global ticker
Timer timerStateMachineTest; // Set testing timer

/*
------------------------------ GLOBAL STATE FUNCTIONS ------------------------------
*/
/* ALL STATES HAVE THE FOLLOWING FORM:
void do_state_function() {
    // Entry function
    if ( global_state_changed == true ) {
        global_state_changed = false;
        // More functions
    }

    // Do stuff until end condition is met
    doStuff();

    // State transition guard
    if ( endCondition == true ) {
        global_curr_state = next_state;
        global_state_changed = true;
        // More functions
    }
}
*/

// FAILURE MODE
void do_global_failure()
{
    // Entry function
    if ( global_state_changed == true ) {
        global_state_changed = false;

        failure_mode = true; // Set failure mode
    }

    // Do stuff until end condition is met

    // State transition guard
    if ( false ) { // Never move to other state
        global_curr_state = global_wait;
        global_state_changed = true;
    }
}

// DEMO MODE
void do_global_demo()
{
    // Entry function
    if ( global_state_changed == true ) {
        global_state_changed = false;
        // More functions
    }

    // Do stuff until end condition is met
    doStuff();

    // State transition guard
    if ( switch2_pressed == true ) {
        switch2_pressed = false;
        global_curr_state = global_wait;
        global_state_changed = true;
    }
}

// WAIT MODE
void do_global_wait()
{
    // Entry function
    if ( global_state_changed == true ) {
        global_state_changed = false;
    }

    // Do nothing until end condition is met

    // State transition guard
    if ( switch2_pressed == true ) { // DEMO MODE
        switch2_pressed = false;
        global_curr_state = global_demo;
        global_state_changed = true;

    } else if ( button1_pressed == true ) { // EMG CALIBRATION
        button1_pressed = false;
        global_curr_state = global_cal_emg;
        global_state_changed = true;

    } else if ( button2_pressed == true ) { // MOTOR CALIBRATION
        button2_pressed = false;
        global_curr_state = global_cal_motor;
        global_state_changed = true;
    }
}

// EMG CALIBRATION MODE
void do_global_cal_emg()
{
    // Entry function
    if ( global_state_changed == true ) {
        global_state_changed = false;
    }

    // Do stuff until end condition is met
    doStuff();

    // State transition guard
    if ( cal_motor_done == true ) { // OPERATION MODE
        cal_emg_done = true;
        global_curr_state = global_operation;
        global_state_changed = true;
    } else if ( button1_pressed == true ) { // WAIT MODE
        button1_pressed = false;
        cal_emg_done = true;
        global_curr_state = global_wait;
        global_state_changed = true;
    }
}

// MOTOR CALIBRATION MODE
void do_global_cal_motor()
{
    // Entry function
    if ( global_state_changed == true ) {
        global_state_changed = false;
    }

    // Do stuff until end condition is met
    doStuff();

    // State transition guard
    if ( cal_emg_done == true ) { // OPERATION MODE
        cal_motor_done = true;
        global_curr_state = global_operation;
        global_state_changed = true;
    } else if ( button2_pressed == true ) { // WAIT MODE
        button2_pressed = false;
        cal_motor_done = true;
        global_curr_state = global_wait;
        global_state_changed = true;
    }
}

// OPERATION MODE
void do_global_operation()
{
    // Entry function
    if ( global_state_changed == true ) {
        global_state_changed = false;
    }

    // Do stuff until end condition is met
    doStuff();

    // State transition guard
    if ( false ) { // Always stay in operation mode (can be changed)
        global_curr_state = global_wait;
        global_state_changed = true;
    }
}
/*
------------------------------ GLOBAL STATE MACHINE ------------------------------
*/
void global_state_machine()
{
    switch(global_curr_state) {
        case global_failure:
            do_global_failure();
            break;
        case global_wait:
            do_global_wait();
            break;
        case global_cal_emg:
            do_global_cal_emg();
            break;
        case global_cal_motor:      
            do_global_cal_motor();
            break;
        case global_operation:
            do_global_operation();
            break;
        case global_demo:
            do_global_demo();
            break;
    }
}


/*
------------------------------ GLOBAL PROGRAM LOOP ------------------------------
*/
void tickGlobalFunc()
{
    // sampleSignalsAndInputs();
    global_state_machine();
    // controller();
    // outputToMotors();
}

/*
------------------------------ MAIN FUNCTION ------------------------------
*/
void main()
{
    pc.baud(115200); // MODSERIAL rate
    pc.printf("Starting\r\n");

    global_curr_state = global_wait; // Start off in EMG Wait state
    tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker

    button1.fall( &button1Press );
    button2.fall( &button2Press );
    switch2.fall( &switch2Press );
    switch3.fall( &switch3Press );

    while(true) {
        pc.printf("Global state: %i \r\n", global_curr_state);
        wait(0.5f);
    }
}