Markus Müller / Mbed 2 deprecated StateMachine_02

StateMachine

Dependencies:   mbed

main.cpp@0:965e1122fba3, 2014-10-28 (annotated)

Committer:
p0ckin3d
Date:
Tue Oct 28 17:52:40 2014 +0000
Revision:
0:965e1122fba3
StateMachine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p0ckin3d 0:965e1122fba3 1 #include "mbed.h"
p0ckin3d 0:965e1122fba3 2
p0ckin3d 0:965e1122fba3 3 /* Modulname: SM_FahrradLeuchte1.c Version:1.0 */
p0ckin3d 0:965e1122fba3 4 /* Funktion: State-Machine-Programm */
p0ckin3d 0:965e1122fba3 5 /* Erstellt von: p0ckin3d am: 2014-10-28 */
p0ckin3d 0:965e1122fba3 6 /* Beschreibung: */
p0ckin3d 0:965e1122fba3 7 // Fahrradrückleuchte mit 4 roten LEDs am PORTC
p0ckin3d 0:965e1122fba3 8 // -----------------------------------
p0ckin3d 0:965e1122fba3 9 // Zum Schalten: 1 Taster PINA PA0
p0ckin3d 0:965e1122fba3 10 // 1. Funktion
p0ckin3d 0:965e1122fba3 11 // Start-Taste 1x betätigen:
p0ckin3d 0:965e1122fba3 12 // Dauerlicht aller 4 LEDs
p0ckin3d 0:965e1122fba3 13 // 2. Funktion
p0ckin3d 0:965e1122fba3 14 // Start-Taste ein 2.mal betätigen:
p0ckin3d 0:965e1122fba3 15 // LEDs blinken im ca. 400 Millisekunden-Takt; 200 msec Ein, 200 msec Aus
p0ckin3d 0:965e1122fba3 16 // Ausschalten des Rücklichts
p0ckin3d 0:965e1122fba3 17 // Die Start-Taste ein 3.mal betätigen:
p0ckin3d 0:965e1122fba3 18 // Alle LEDs aus.
p0ckin3d 0:965e1122fba3 19
p0ckin3d 0:965e1122fba3 20
p0ckin3d 0:965e1122fba3 21 //volatile uint8_t count;
p0ckin3d 0:965e1122fba3 22 volatile unsigned int count;
p0ckin3d 0:965e1122fba3 23 volatile unsigned int newEvent =0;
p0ckin3d 0:965e1122fba3 24 volatile unsigned int event=0, state=0;
p0ckin3d 0:965e1122fba3 25
p0ckin3d 0:965e1122fba3 26 Ticker timer0;
p0ckin3d 0:965e1122fba3 27 BusOut myleds(LED1, LED2, LED3, LED4);
p0ckin3d 0:965e1122fba3 28 DigitalIn center(p14);
p0ckin3d 0:965e1122fba3 29
p0ckin3d 0:965e1122fba3 30 /* Prototypen der Funktionen */
p0ckin3d 0:965e1122fba3 31 int no_fu();
p0ckin3d 0:965e1122fba3 32 int ledsEin();
p0ckin3d 0:965e1122fba3 33 int msec300TimerOn();
p0ckin3d 0:965e1122fba3 34 int ledsAusTimerOff();
p0ckin3d 0:965e1122fba3 35 int ledsTogglen();
p0ckin3d 0:965e1122fba3 36 int nightRiderTest();
p0ckin3d 0:965e1122fba3 37 int nightRider();
p0ckin3d 0:965e1122fba3 38
p0ckin3d 0:965e1122fba3 39 bool doNightRider = false;
p0ckin3d 0:965e1122fba3 40 bool upwards = true;
p0ckin3d 0:965e1122fba3 41 int ledCounter = 1;
p0ckin3d 0:965e1122fba3 42
p0ckin3d 0:965e1122fba3 43 /****************************************************/
p0ckin3d 0:965e1122fba3 44 /* Tabelle fuer die naechsten Zustaende bei Eingabe */
p0ckin3d 0:965e1122fba3 45 /****************************************************/
p0ckin3d 0:965e1122fba3 46 unsigned char nextstate_tab[3][4]=
p0ckin3d 0:965e1122fba3 47 //present state 0 1 2 3
p0ckin3d 0:965e1122fba3 48 //------------------------
p0ckin3d 0:965e1122fba3 49 /* event 0 */{{ 1, 2, 3, 0 }, // next
p0ckin3d 0:965e1122fba3 50 /* event 1 */ { 0, 1, 2, 3 }, // state
p0ckin3d 0:965e1122fba3 51 /* event 2 */ { 0, 1, 2, 3 }}; // state
p0ckin3d 0:965e1122fba3 52 // state=nextstate_tab[event][state]; // gehe auf naechsten Zustand
p0ckin3d 0:965e1122fba3 53
p0ckin3d 0:965e1122fba3 54 /*************************************************************/
p0ckin3d 0:965e1122fba3 55 /* Tabelle fuer Aktionsroutinen fuer die Zustaende bei Input */
p0ckin3d 0:965e1122fba3 56 /*************************************************************/
p0ckin3d 0:965e1122fba3 57 // p r e s e n t s t a t e
p0ckin3d 0:965e1122fba3 58 int(*action[3][4])()= // 0 1 2 3
p0ckin3d 0:965e1122fba3 59 /* event 0 */ {{ ledsEin, msec300TimerOn, nightRiderTest, ledsAusTimerOff },
p0ckin3d 0:965e1122fba3 60 /* event 1 */ { no_fu, no_fu, ledsTogglen, no_fu },
p0ckin3d 0:965e1122fba3 61 /* event 2 */ { no_fu, no_fu, no_fu, nightRider }};
p0ckin3d 0:965e1122fba3 62 // (*action[event][state])(); // suche in Tabelle nach Funktion
p0ckin3d 0:965e1122fba3 63
p0ckin3d 0:965e1122fba3 64
p0ckin3d 0:965e1122fba3 65 /* Aktionsroutinen, functions */
p0ckin3d 0:965e1122fba3 66 int no_fu() // keine function - tue nichts
p0ckin3d 0:965e1122fba3 67 {
p0ckin3d 0:965e1122fba3 68 return(0);
p0ckin3d 0:965e1122fba3 69 }
p0ckin3d 0:965e1122fba3 70
p0ckin3d 0:965e1122fba3 71 int nightRiderTest()
p0ckin3d 0:965e1122fba3 72 {
p0ckin3d 0:965e1122fba3 73 doNightRider = true;
p0ckin3d 0:965e1122fba3 74 return(2);
p0ckin3d 0:965e1122fba3 75 }
p0ckin3d 0:965e1122fba3 76
p0ckin3d 0:965e1122fba3 77 int nightRider()
p0ckin3d 0:965e1122fba3 78 {
p0ckin3d 0:965e1122fba3 79 myleds = ledCounter;
p0ckin3d 0:965e1122fba3 80
p0ckin3d 0:965e1122fba3 81 if(ledCounter == 8)
p0ckin3d 0:965e1122fba3 82 upwards = false;
p0ckin3d 0:965e1122fba3 83 else if(ledCounter == 1)
p0ckin3d 0:965e1122fba3 84 upwards = true;
p0ckin3d 0:965e1122fba3 85
p0ckin3d 0:965e1122fba3 86 if(upwards)
p0ckin3d 0:965e1122fba3 87 ledCounter*=2;
p0ckin3d 0:965e1122fba3 88 else
p0ckin3d 0:965e1122fba3 89 ledCounter/=2;
p0ckin3d 0:965e1122fba3 90
p0ckin3d 0:965e1122fba3 91 return 4;
p0ckin3d 0:965e1122fba3 92 }
p0ckin3d 0:965e1122fba3 93
p0ckin3d 0:965e1122fba3 94 // interrupt SR
p0ckin3d 0:965e1122fba3 95 void timer0_int()
p0ckin3d 0:965e1122fba3 96 {
p0ckin3d 0:965e1122fba3 97 //Increment our variable
p0ckin3d 0:965e1122fba3 98 count++;
p0ckin3d 0:965e1122fba3 99 if(count==10)
p0ckin3d 0:965e1122fba3 100 {
p0ckin3d 0:965e1122fba3 101 count=0;
p0ckin3d 0:965e1122fba3 102
p0ckin3d 0:965e1122fba3 103 if(doNightRider)
p0ckin3d 0:965e1122fba3 104 event=2;
p0ckin3d 0:965e1122fba3 105 else
p0ckin3d 0:965e1122fba3 106 event=1;
p0ckin3d 0:965e1122fba3 107
p0ckin3d 0:965e1122fba3 108 newEvent = 1;
p0ckin3d 0:965e1122fba3 109 }
p0ckin3d 0:965e1122fba3 110 }
p0ckin3d 0:965e1122fba3 111
p0ckin3d 0:965e1122fba3 112 int msec300TimerOn()
p0ckin3d 0:965e1122fba3 113 {
p0ckin3d 0:965e1122fba3 114 timer0.attach(&timer0_int, 0.032);
p0ckin3d 0:965e1122fba3 115 doNightRider = false;
p0ckin3d 0:965e1122fba3 116 return(1);
p0ckin3d 0:965e1122fba3 117 }
p0ckin3d 0:965e1122fba3 118
p0ckin3d 0:965e1122fba3 119 int ledsAusTimerOff()
p0ckin3d 0:965e1122fba3 120 {
p0ckin3d 0:965e1122fba3 121 timer0.detach();
p0ckin3d 0:965e1122fba3 122 myleds = 0;
p0ckin3d 0:965e1122fba3 123 doNightRider = false;
p0ckin3d 0:965e1122fba3 124 return(3);
p0ckin3d 0:965e1122fba3 125 }
p0ckin3d 0:965e1122fba3 126
p0ckin3d 0:965e1122fba3 127 int ledsTogglen()
p0ckin3d 0:965e1122fba3 128 {
p0ckin3d 0:965e1122fba3 129 myleds = ~myleds;
p0ckin3d 0:965e1122fba3 130 return(3);
p0ckin3d 0:965e1122fba3 131 }
p0ckin3d 0:965e1122fba3 132
p0ckin3d 0:965e1122fba3 133 int ledsEin()
p0ckin3d 0:965e1122fba3 134 {
p0ckin3d 0:965e1122fba3 135 myleds = 0x0F;
p0ckin3d 0:965e1122fba3 136 return(4);
p0ckin3d 0:965e1122fba3 137 }
p0ckin3d 0:965e1122fba3 138
p0ckin3d 0:965e1122fba3 139 // functions
p0ckin3d 0:965e1122fba3 140 void initTimer0()
p0ckin3d 0:965e1122fba3 141 {
p0ckin3d 0:965e1122fba3 142 count=0;
p0ckin3d 0:965e1122fba3 143 }
p0ckin3d 0:965e1122fba3 144
p0ckin3d 0:965e1122fba3 145 // Diese Funktion ist zum Entprellen von Tastern geeignet:
p0ckin3d 0:965e1122fba3 146 // Durch den zusätzlichen Code kann eine Entprellzeit von durchschnittlich 1,5-4ms
p0ckin3d 0:965e1122fba3 147 // (mindestens 8*150us = 1,2ms) erreicht werden.
p0ckin3d 0:965e1122fba3 148 // Grundsätzlich prüft die Funktion den Pegel der Pins auf einem bestimmten Port.
p0ckin3d 0:965e1122fba3 149 // Wenn die/der Pegel 8 Mal konstant war, wird die Schleife verlassen.
p0ckin3d 0:965e1122fba3 150 // Diese Funktion kann sehr gut eingesetzt werden, um in einer Endlosschleife Taster anzufragen,
p0ckin3d 0:965e1122fba3 151 // da sie, wie erwähnt, eine kurze Wartezeit hat.
p0ckin3d 0:965e1122fba3 152 unsigned char debounce(PinName name, unsigned char samples)
p0ckin3d 0:965e1122fba3 153 {
p0ckin3d 0:965e1122fba3 154 DigitalIn joystick(name);
p0ckin3d 0:965e1122fba3 155
p0ckin3d 0:965e1122fba3 156 unsigned char i = 0;
p0ckin3d 0:965e1122fba3 157
p0ckin3d 0:965e1122fba3 158 for(unsigned char j=0; j < samples; j++)
p0ckin3d 0:965e1122fba3 159 {
p0ckin3d 0:965e1122fba3 160 if(joystick == 1)
p0ckin3d 0:965e1122fba3 161 j++;
p0ckin3d 0:965e1122fba3 162 else
p0ckin3d 0:965e1122fba3 163 {
p0ckin3d 0:965e1122fba3 164 j = 0;
p0ckin3d 0:965e1122fba3 165 i++;
p0ckin3d 0:965e1122fba3 166 }
p0ckin3d 0:965e1122fba3 167
p0ckin3d 0:965e1122fba3 168 if(j == samples)
p0ckin3d 0:965e1122fba3 169 break;
p0ckin3d 0:965e1122fba3 170
p0ckin3d 0:965e1122fba3 171 if(i == samples)
p0ckin3d 0:965e1122fba3 172 break;
p0ckin3d 0:965e1122fba3 173
p0ckin3d 0:965e1122fba3 174 wait(0.001);
p0ckin3d 0:965e1122fba3 175 }
p0ckin3d 0:965e1122fba3 176 return joystick;
p0ckin3d 0:965e1122fba3 177 }
p0ckin3d 0:965e1122fba3 178
p0ckin3d 0:965e1122fba3 179
p0ckin3d 0:965e1122fba3 180 int main()
p0ckin3d 0:965e1122fba3 181 {
p0ckin3d 0:965e1122fba3 182 unsigned char released = 0;
p0ckin3d 0:965e1122fba3 183
p0ckin3d 0:965e1122fba3 184 myleds = 0;
p0ckin3d 0:965e1122fba3 185 initTimer0();
p0ckin3d 0:965e1122fba3 186
p0ckin3d 0:965e1122fba3 187 newEvent = 0;
p0ckin3d 0:965e1122fba3 188 state=0;
p0ckin3d 0:965e1122fba3 189 event=0;
p0ckin3d 0:965e1122fba3 190
p0ckin3d 0:965e1122fba3 191 while(1)
p0ckin3d 0:965e1122fba3 192 {
p0ckin3d 0:965e1122fba3 193 //debounce(p14, 6);
p0ckin3d 0:965e1122fba3 194 if(debounce(P0_10, 6)) // jetzt stabilen Wert einlesen
p0ckin3d 0:965e1122fba3 195 {
p0ckin3d 0:965e1122fba3 196 if (released == 1)
p0ckin3d 0:965e1122fba3 197 {
p0ckin3d 0:965e1122fba3 198 event =0;
p0ckin3d 0:965e1122fba3 199 newEvent =1;
p0ckin3d 0:965e1122fba3 200 released =0;
p0ckin3d 0:965e1122fba3 201 }
p0ckin3d 0:965e1122fba3 202 }
p0ckin3d 0:965e1122fba3 203 else
p0ckin3d 0:965e1122fba3 204 {
p0ckin3d 0:965e1122fba3 205 released =1;
p0ckin3d 0:965e1122fba3 206 }
p0ckin3d 0:965e1122fba3 207
p0ckin3d 0:965e1122fba3 208 if (newEvent)
p0ckin3d 0:965e1122fba3 209 {
p0ckin3d 0:965e1122fba3 210 timer0.detach();
p0ckin3d 0:965e1122fba3 211 newEvent =0;
p0ckin3d 0:965e1122fba3 212 (*action[event][state])(); // suche in Tabelle nach Funktion
p0ckin3d 0:965e1122fba3 213 state=nextstate_tab[event][state]; // gehe auf naechsten Zustand
p0ckin3d 0:965e1122fba3 214 timer0.attach(&timer0_int, 0.032);
p0ckin3d 0:965e1122fba3 215 }
p0ckin3d 0:965e1122fba3 216 }
p0ckin3d 0:965e1122fba3 217 }
p0ckin3d 0:965e1122fba3 218