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154 lines
5.0 KiB
C
154 lines
5.0 KiB
C
/* TimeBomb/Button with uC/OS-II RTOS */
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#include "uc_ao.h" /* uC/AO API */
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#include "bsp.h"
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#include <stdbool.h>
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Q_DEFINE_THIS_MODULE("main") /* this module name for Q_ASSERT() */
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/* The TimeBomb AO =======================================================*/
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typedef struct {
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Active super; /* inherit Active base class */
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/* add private data for the AO... */
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enum {
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WAIT4BUTTON_STATE,
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BLINK_STATE,
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PAUSE_STATE,
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BOOM_STATE,
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/* ... */
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MAX_STATE
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} state; /* the "state variable" */
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TimeEvent te;
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uint32_t blink_ctr;
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} TimeBomb;
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typedef enum { TRAN_STATUS, HANDLED_STATUS, IGNORED_STATUS, INIT_STATUS } Status;
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static Status TimeBomb_init(TimeBomb * const me, Event const * const e) {
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me->state = WAIT4BUTTON_STATE;
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return INIT_STATUS;
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}
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static Status TimeBomb_wait4button_ENTRY(TimeBomb * const me, Event const * const e) {
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BSP_ledGreenOn();
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return HANDLED_STATUS;
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}
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static Status TimeBomb_wait4button_EXIT(TimeBomb * const me, Event const * const e) {
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BSP_ledGreenOff();
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return HANDLED_STATUS;
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}
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static Status TimeBomb_wait4button_PRESSED(TimeBomb * const me, Event const * const e) {
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me->blink_ctr = 5U;
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me->state = BLINK_STATE;
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return TRAN_STATUS;
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}
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static Status TimeBomb_blink_ENTRY(TimeBomb * const me, Event const * const e) {
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BSP_ledRedOn();
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TimeEvent_arm(&me->te, OS_TICKS_PER_SEC/2, 0U);
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return HANDLED_STATUS;
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}
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static Status TimeBomb_blink_EXIT(TimeBomb * const me, Event const * const e) {
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BSP_ledRedOff();
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return HANDLED_STATUS;
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}
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static Status TimeBomb_blink_TIMEOUT(TimeBomb * const me, Event const * const e) {
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me->state = PAUSE_STATE;
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return TRAN_STATUS;
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}
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static Status TimeBomb_pause_ENTRY(TimeBomb * const me, Event const * const e) {
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TimeEvent_arm(&me->te, OS_TICKS_PER_SEC/2, 0U);
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return HANDLED_STATUS;
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}
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static Status TimeBomb_pause_TIMEOUT(TimeBomb * const me, Event const * const e) {
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--me->blink_ctr;
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if (me->blink_ctr > 0U) {
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me->state = BLINK_STATE;
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return TRAN_STATUS;
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}
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else {
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me->state = BOOM_STATE;
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return TRAN_STATUS;
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}
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}
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static Status TimeBomb_boom_ENTRY(TimeBomb * const me, Event const * const e) {
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BSP_ledRedOn();
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BSP_ledGreenOn();
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BSP_ledBlueOn();
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return HANDLED_STATUS;
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}
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static Status TimeBomb_ignore(TimeBomb * const me, Event const * const e) {
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return IGNORED_STATUS;
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}
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typedef Status (*TimeBombAction)(TimeBomb * const me, Event const * const e);
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static TimeBombAction const TimeBomb_table[MAX_STATE][MAX_SIG] = {
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/* INIT | ENTRY | EXIT | PRESSED | RELEASED | TIMEOUT */
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/* wait4button */ { &TimeBomb_init, &TimeBomb_wait4button_ENTRY, &TimeBomb_wait4button_EXIT, &TimeBomb_wait4button_PRESSED, &TimeBomb_ignore, &TimeBomb_ignore },
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/* blink */ { &TimeBomb_ignore, &TimeBomb_blink_ENTRY, &TimeBomb_blink_EXIT, &TimeBomb_ignore, &TimeBomb_ignore, &TimeBomb_blink_TIMEOUT },
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/* pause */ { &TimeBomb_ignore, &TimeBomb_pause_ENTRY, &TimeBomb_ignore, &TimeBomb_ignore, &TimeBomb_ignore, &TimeBomb_pause_TIMEOUT },
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/* boom */ { &TimeBomb_ignore, &TimeBomb_boom_ENTRY, &TimeBomb_ignore, &TimeBomb_ignore, &TimeBomb_ignore, &TimeBomb_ignore }
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};
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static void TimeBomb_dispatch(TimeBomb * const me, Event const * const e) {
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Status stat;
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int prev_state = me->state; /* save for later */
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Q_ASSERT((me->state < MAX_STATE) && (e->sig < MAX_SIG));
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stat = (*TimeBomb_table[me->state][e->sig])(me, e);
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if (stat == TRAN_STATUS) { /* transition taken? */
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Q_ASSERT(me->state < MAX_STATE);
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(*TimeBomb_table[prev_state][EXIT_SIG])(me, (Event *)0);
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(*TimeBomb_table[me->state][ENTRY_SIG])(me, (Event *)0);
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}
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else if (stat == INIT_STATUS) { /* initial transition? */
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(*TimeBomb_table[me->state][ENTRY_SIG])(me, (Event *)0);
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}
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}
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void TimeBomb_ctor(TimeBomb * const me) {
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Active_ctor(&me->super, (DispatchHandler)&TimeBomb_dispatch);
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TimeEvent_ctor(&me->te, TIMEOUT_SIG, &me->super);
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me->state = WAIT4BUTTON_STATE;
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}
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OS_STK stack_timeBomb[100]; /* task stack */
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static Event *timeBomb_queue[10];
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static TimeBomb timeBomb;
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Active *AO_TimeBomb = &timeBomb.super;
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/* the main function =========================================================*/
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int main() {
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INT8U err;
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BSP_init(); /* initialize the BSP */
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OSInit(); /* initialize uC/OS-II */
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/* create AO and start it */
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TimeBomb_ctor(&timeBomb);
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Active_start(AO_TimeBomb,
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2U,
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timeBomb_queue,
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sizeof(timeBomb_queue)/sizeof(timeBomb_queue[0]),
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stack_timeBomb,
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sizeof(stack_timeBomb),
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0U);
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BSP_start(); /* configure and start the interrupts */
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OSStart(); /* start the uC/OS-II scheduler... */
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return 0; /* NOTE: the scheduler does NOT return */
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}
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