wanderer/mpc_response_sim
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mpc_response_sim/main.cpp

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// Ukazka odezvy programu
//
// Ocekavane chovani:
// Pri stisku tlacitka se spusti efekt, kdy blikaji postupne LED,
// Po uvolneni tlacitka LED zhasnou. Tedy blikani trva po dobu stisku tlacitka.
//
// Ukazano je postupne vylepsovani odezvy programu - aby program rychleji reagoval na
// uvolneni tlacitka. Verzi programu zvolte nize v #define VERSION
//
// Posledni zmena: 30.10.2020
///////////////////////////////////////////////
#include <iostream>
#include "simul_kl25z.h"
using namespace std;
//#include "MKL25Z4.h"
//#include "drv_gpio.h"
//#include "drv_systick.h"
#include <stdbool.h> // kvuli typu bool
#define SWITCH_PRESSED (1)
#define SWITCH_NOT_PRESSED (0)
#define KEY SW1
#define LED1 LD1
#define LED2 LD2
#define LED3 LD3
#define BLINK_DELAY 1000
// Prototypy funkci
void init(void);
int switch1_read(void);
void delay_debounce(void);
void LED_control(bool d1, bool d2, bool d3);
// Verze 4
// Program je vylepsen rozdelenim na jednotlive ulohy - tasky.
// Z pohledu odezvy je chovani stejne jako u verze 3, ale struktura programu je
// prehlednejsi a snadneji by se rozsiroval o dalsi cinnosti.
// Stavy programu
#define ST_LED1_ON 1
#define ST_LED2_ON 2
#define ST_LED3_ON 3
#define ST_OFF 4
#define ST_LED1_WAIT 5
#define ST_LED2_WAIT 6
#define ST_LED3_WAIT 7
// globalni promenna pro stav tlacitka SW1
bool SW1_pressed;
/* we'll do blinking, but not by default, values are -1/1 */
int blinkingpls = -1;
// Prototypy funkci
void TaskSwitches(void);
void TaskEffect(void);
void TaskL1(void);
void TaskL2(void);
void TaskL3(void);
int main(void) {
// inicializace ovladace pinu a delay
init();
while (1) {
TaskSwitches();
//TaskEffect();
TaskL1();
TaskL2();
TaskL3();
}
return 0;
}
// Uloha, ktera se stara o obsluhu tlacitek
void TaskSwitches(void)
{
if (switch1_read() == SWITCH_PRESSED) {
SW1_pressed = true;
/* ignoring the legacy option above, when pressing the button the value of either
* 1 or -1 is multiplied by -1 resulting in the value assigned back to the variable
* being - again - either 1 or -1 (meaning the opposite of the one before) creating
* an easily switchable thingy
*/
blinkingpls *= -1;
} else {
SW1_pressed = false;
}
}
// Uloha, ktera se stara o blikani LED
void TaskEffect(void) {
// Stav totoho tasku.
// Promenna je static, aby si uchovala hodnotu mezi volanimi teto funkce,
// tj. aby nezanikla na konci funkce
static int state = ST_LED1_ON;
static uint32_t waitStart; // cas, kdy se rozvitila LED, musi byt static!
uint32_t currentTime; // aktualni cas, pomocna promenna
// Uloha efekt LED se provadi jen pri stisknutem tlacitku
if (SW1_pressed) {
switch (state) {
case ST_LED1_ON:
// Rozsvitit LED, ulozit aktualni cas a prejit do stavu cekani na
// uplynuti casu svitu teto LED.
LED_control(true, false, false);
waitStart = SYSTICK_millis();
state = ST_LED1_WAIT;
break;
case ST_LED1_WAIT:
// Kontrola jestli uz ubehlo dost casu abychom rozsvitili dalsi LED
// a pokud ano, prechod na dalsi stav
currentTime = SYSTICK_millis();
if (currentTime - waitStart >= BLINK_DELAY)
state = ST_LED2_ON;
break;
case ST_LED2_ON:
LED_control(false, true, false);
waitStart = SYSTICK_millis();
state = ST_LED2_WAIT;
break;
case ST_LED2_WAIT:
currentTime = SYSTICK_millis();
if (currentTime - waitStart >= BLINK_DELAY)
state = ST_LED3_ON;
break;
case ST_LED3_ON:
LED_control(false, false, true);
waitStart = SYSTICK_millis();
state = ST_LED3_WAIT;
break;
case ST_LED3_WAIT:
currentTime = SYSTICK_millis();
if (currentTime - waitStart >= BLINK_DELAY)
state = ST_LED1_ON;
break;
} // switch
} else {
// zhasnout LED pokud neni stisknuto tlacitko
LED_control(false, false, false);
state = ST_LED1_ON; // reset stavu tasku
}
} // TaskEffect
/////////////////////////////////
// Doba svitu/zhasnuti zelene LED
#define GREEN_ON_DELAY 200
#define GREEN_OFF_DELAY 700
/* as per the requirements */
#define L1_ON_DELAY 500
#define L1_OFF_DELAY 500
#define L2_ON_DELAY 200
#define L2_OFF_DELAY 650
#define L3_ON_DELAY 800
#define L3_OFF_DELAY 300
void TaskL1() {
static enum {
ST_LED_ON,
ST_ON_WAIT,
ST_LED_OFF,
ST_OFF_WAIT
} state = ST_LED_ON;
static uint32_t start_time;
if (blinkingpls > 0) {
switch (state) {
case ST_LED_ON:
pinWrite(LED1, LOW);
start_time = SYSTICK_millis();
state = ST_ON_WAIT;
break;
case ST_ON_WAIT:
if (SYSTICK_millis() - start_time >= L1_ON_DELAY)
state = ST_LED_OFF;
break;
case ST_LED_OFF:
pinWrite(LED1, HIGH);
start_time = SYSTICK_millis();
state = ST_OFF_WAIT;
break;
case ST_OFF_WAIT:
if (SYSTICK_millis() - start_time >= L1_OFF_DELAY)
state = ST_LED_ON;
break;
} // switch
} else {
/* turn the LED off and reset its state */
pinWrite(LED1, HIGH);
state = ST_LED_ON;
}
}
void TaskL2() {
static enum {
ST_LED_ON,
ST_ON_WAIT,
ST_LED_OFF,
ST_OFF_WAIT
} state = ST_LED_ON;
static uint32_t start_time;
if (blinkingpls > 0) {
switch (state) {
case ST_LED_ON:
pinWrite(LED2, LOW);
start_time = SYSTICK_millis();
state = ST_ON_WAIT;
break;
case ST_ON_WAIT:
if (SYSTICK_millis() - start_time >= L2_ON_DELAY)
state = ST_LED_OFF;
break;
case ST_LED_OFF:
pinWrite(LED1, HIGH);
start_time = SYSTICK_millis();
state = ST_OFF_WAIT;
break;
case ST_OFF_WAIT:
if (SYSTICK_millis() - start_time >= L2_OFF_DELAY)
state = ST_LED_ON;
break;
} // switch
} else {
/* turn the LED off and reset its state */
pinWrite(LED2, HIGH);
state = ST_LED_ON;
}
}
void TaskL3() {
static enum {
ST_LED_ON,
ST_ON_WAIT,
ST_LED_OFF,
ST_OFF_WAIT
} state = ST_LED_ON;
static uint32_t start_time;
if (blinkingpls > 0) {
switch (state) {
case ST_LED_ON:
pinWrite(LED3, LOW);
start_time = SYSTICK_millis();
state = ST_ON_WAIT;
break;
case ST_ON_WAIT:
if (SYSTICK_millis() - start_time >= L3_ON_DELAY)
state = ST_LED_OFF;
break;
case ST_LED_OFF:
pinWrite(LED3, HIGH);
start_time = SYSTICK_millis();
state = ST_OFF_WAIT;
break;
case ST_OFF_WAIT:
if (SYSTICK_millis() - start_time >= L3_OFF_DELAY)
state = ST_LED_ON;
break;
} // switch
} else {
/* turn the LED off and reset its state */
pinWrite(LED3, HIGH);
state = ST_LED_ON;
}
}
// Pomocne funkce
// inicializace
void init()
{
SYSTICK_initialize();
GPIO_Initialize();
pinMode(SW1, INPUT_PULLUP);
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
pinMode(LED3, OUTPUT);
pinMode(LED_GREEN, OUTPUT);
pinWrite(LED1, HIGH);
pinWrite(LED2, HIGH);
pinWrite(LED3, HIGH);
pinWrite(LED_GREEN, HIGH);
}
// Ovladani LED - parametr true znamena rozsvitit prislusnou LED, false zhasnout.
void LED_control(bool d1, bool d2, bool d3)
{
pinWrite(LED1, !d1);
pinWrite(LED2, !d2);
pinWrite(LED3, !d3);
}
/*
switch1_read
Cte stav tlacitka SW1 s osetrenim zakmitu.
Vraci SWITCH_NOT_PRESSED pokud tlacitko neni stisknuto,
SWITCH_PRESSED pokud je stisknuto.
Reads and debounces switch SW1 as follows:
1. If switch is not pressed, return SWITCH_NOT_PRESSED.
2. If switch is pressed, wait for about 20 ms (debounce),
then:
if switch is no longer pressed, return SWITCH_NOT_PRESSED.
if switch is still pressed, return SWITCH_PRESSED.
*/
int switch1_read(void)
{
int switch_state = SWITCH_NOT_PRESSED;
if ( pinRead(SW1) == LOW )
{
// tlacitko je stisknuto
// debounce = wait
SYSTICK_delay_ms(50);
// znovu zkontrolovat stav tlacitka
if ( pinRead(SW1) == LOW )
{
switch_state = SWITCH_PRESSED;
}
}
// vratime stav tlacitka
return switch_state;
}
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