diff options
Diffstat (limited to '')
| -rw-r--r-- | spaghetti-monster/spaghetti-monster.h | 751 |
1 files changed, 17 insertions, 734 deletions
diff --git a/spaghetti-monster/spaghetti-monster.h b/spaghetti-monster/spaghetti-monster.h index fe5e939..4eeb7de 100644 --- a/spaghetti-monster/spaghetti-monster.h +++ b/spaghetti-monster/spaghetti-monster.h @@ -24,46 +24,16 @@ #include "tk-attiny.h" -#include <avr/pgmspace.h> -#include <avr/io.h> -#include <avr/interrupt.h> -#include <avr/wdt.h> #include <avr/eeprom.h> -#include <avr/sleep.h> -#include <util/delay_basic.h> -// typedefs -typedef PROGMEM const uint8_t Event; -typedef Event * EventPtr; -typedef uint8_t (*EventCallbackPtr)(EventPtr event, uint16_t arg); -typedef uint8_t EventCallback(EventPtr event, uint16_t arg); -typedef uint8_t State(EventPtr event, uint16_t arg); -typedef State * StatePtr; -typedef struct Emission { - EventPtr event; - uint16_t arg; -} Emission; - -volatile StatePtr current_state; -#define EV_MAX_LEN 16 -uint8_t current_event[EV_MAX_LEN]; -// at 0.016 ms per tick, 255 ticks = 4.08 s -// TODO: 16 bits? -static volatile uint16_t ticks_since_last_event = 0; - -#ifdef USE_LVP -// volts * 10 -#define VOLTAGE_LOW 30 -// MCU sees voltage 0.X volts lower than actual, add X to readings -#define VOLTAGE_FUDGE_FACTOR 2 -volatile uint8_t voltage; -void low_voltage(); -#endif -#ifdef USE_THERMAL_REGULATION -volatile int16_t temperature; -void low_temperature(); -void high_temperature(); -#endif +// include project definitions to help with recognizing symbols +#include "fsm-events.h" +#include "fsm-states.h" +#include "fsm-adc.h" +#include "fsm-wdt.h" +#include "fsm-pcint.h" +#include "fsm-standby.h" +#include "fsm-main.h" #ifdef USE_DEBUG_BLINK #define OWN_DELAY @@ -80,705 +50,18 @@ void debug_blink(uint8_t num) { } #endif -// timeout durations in ticks (each tick 1/60th s) -#define HOLD_TIMEOUT 24 -#define RELEASE_TIMEOUT 24 - -#define A_ENTER_STATE 1 -#define A_LEAVE_STATE 2 -#define A_TICK 3 -#define A_PRESS 4 -#define A_HOLD 5 -#define A_RELEASE 6 -#define A_RELEASE_TIMEOUT 7 -// TODO: add events for over/under-heat conditions (with parameter for severity) -#define A_OVERHEATING 8 -#define A_UNDERHEATING 9 -// TODO: add events for low voltage conditions -#define A_VOLTAGE_LOW 10 -//#define A_VOLTAGE_CRITICAL 11 -#define A_DEBUG 255 // test event for debugging - -// TODO: maybe compare events by number instead of pointer? -// (number = index in event types array) -// (comparison would use full event content, but send off index to callbacks) -// (saves space by using uint8_t instead of a pointer) -// (also eliminates the need to duplicate single-entry events like for voltage or timer tick) - -// Event types -Event EV_debug[] = { - A_DEBUG, - 0 } ; -Event EV_enter_state[] = { - A_ENTER_STATE, - 0 } ; -Event EV_leave_state[] = { - A_LEAVE_STATE, - 0 } ; -Event EV_tick[] = { - A_TICK, - 0 } ; -#ifdef USE_LVP -Event EV_voltage_low[] = { - A_VOLTAGE_LOW, - 0 } ; -#endif -#ifdef USE_THERMAL_REGULATION -Event EV_temperature_high[] = { - A_OVERHEATING, - 0 } ; -Event EV_temperature_low[] = { - A_UNDERHEATING, - 0 } ; -#endif -Event EV_click1_press[] = { - A_PRESS, - 0 }; -// shouldn't normally happen, but UI might reset event while button is down -// so a release with no recorded prior hold could be possible -Event EV_release[] = { - A_RELEASE, - 0 }; -Event EV_click1_release[] = { - A_PRESS, - A_RELEASE, - 0 }; -#define EV_1click EV_click1_complete -Event EV_click1_complete[] = { - A_PRESS, - A_RELEASE, - A_RELEASE_TIMEOUT, - 0 }; -#define EV_hold EV_click1_hold -// FIXME: Should holds use "start+tick" or just "tick" with a tick number? -// Or "start+tick" with a tick number? -Event EV_click1_hold[] = { - A_PRESS, - A_HOLD, - 0 }; -Event EV_click1_hold_release[] = { - A_PRESS, - A_HOLD, - A_RELEASE, - 0 }; -Event EV_click2_press[] = { - A_PRESS, - A_RELEASE, - A_PRESS, - 0 }; -Event EV_click2_release[] = { - A_PRESS, - A_RELEASE, - A_PRESS, - A_RELEASE, - 0 }; -#define EV_2clicks EV_click2_complete -Event EV_click2_complete[] = { - A_PRESS, - A_RELEASE, - A_PRESS, - A_RELEASE, - A_RELEASE_TIMEOUT, - 0 }; -Event EV_click3_press[] = { - A_PRESS, - A_RELEASE, - A_PRESS, - A_RELEASE, - A_PRESS, - 0 }; -Event EV_click3_release[] = { - A_PRESS, - A_RELEASE, - A_PRESS, - A_RELEASE, - A_PRESS, - A_RELEASE, - 0 }; -#define EV_3clicks EV_click3_complete -Event EV_click3_complete[] = { - A_PRESS, - A_RELEASE, - A_PRESS, - A_RELEASE, - A_PRESS, - A_RELEASE, - A_RELEASE_TIMEOUT, - 0 }; -// ... and so on - -// A list of event types for easy iteration -EventPtr event_sequences[] = { - EV_click1_press, - EV_release, - EV_click1_release, - EV_click1_complete, - EV_click1_hold, - EV_click1_hold_release, - EV_click2_press, - EV_click2_release, - EV_click2_complete, - EV_click3_press, - EV_click3_release, - EV_click3_complete, - // ... -}; - -#define events_match(a,b) compare_event_sequences(a,b) -// return 1 if (a == b), 0 otherwise -uint8_t compare_event_sequences(uint8_t *a, const uint8_t *b) { - for(uint8_t i=0; (i<EV_MAX_LEN) && (a[i] == pgm_read_byte(b+i)); i++) { - // end of zero-terminated sequence - if (a[i] == 0) return 1; - } - // if we ever fall out, that means something was different - // (or the sequence is too long) - return 0; -} - -void empty_event_sequence() { - for(uint8_t i=0; i<EV_MAX_LEN; i++) current_event[i] = 0; -} - -uint8_t push_event(uint8_t ev_type) { - ticks_since_last_event = 0; // something happened - uint8_t i; - uint8_t prev_event = 0; // never push the same event twice in a row - for(i=0; current_event[i] && (i<EV_MAX_LEN); i++) - prev_event = current_event[i]; - if ((i < EV_MAX_LEN) && (prev_event != ev_type)) { - current_event[i] = ev_type; - return 1; // event pushed - } else { - // TODO: ... something? - } - return 0; // no event pushed -} - -// find and return last action in the current event sequence -/* -uint8_t last_event(uint8_t offset) { - uint8_t i; - for(i=0; current_event[i] && (i<EV_MAX_LEN); i++); - if (i == EV_MAX_LEN) return current_event[EV_MAX_LEN-offset]; - else if (i >= offset) return current_event[i-offset]; - return 0; -} -*/ - -inline uint8_t last_event_num() { - uint8_t i; - for(i=0; current_event[i] && (i<EV_MAX_LEN); i++); - return i; -} - - -#define EMISSION_QUEUE_LEN 16 -// no comment about "volatile emissions" -volatile Emission emissions[EMISSION_QUEUE_LEN]; - -void append_emission(EventPtr event, uint16_t arg) { - uint8_t i; - // find last entry - for(i=0; - (i<EMISSION_QUEUE_LEN) && (emissions[i].event != NULL); - i++) { } - // add new entry - if (i < EMISSION_QUEUE_LEN) { - emissions[i].event = event; - emissions[i].arg = arg; - } else { - // TODO: if queue full, what should we do? - } -} - -void delete_first_emission() { - uint8_t i; - for(i=0; i<EMISSION_QUEUE_LEN-1; i++) { - emissions[i].event = emissions[i+1].event; - emissions[i].arg = emissions[i+1].arg; - } - emissions[i].event = NULL; - emissions[i].arg = 0; -} - -// TODO: stack for states, to allow shared utility states like "input a number" -// and such, which return to the previous state after finishing -#define STATE_STACK_SIZE 8 -StatePtr state_stack[STATE_STACK_SIZE]; -uint8_t state_stack_len = 0; -// TODO: if callback doesn't handle current event, -// pass event to next state on stack? -// Callback return values: -// 0: event handled normally -// 1: event not handled -// 255: error (not sure what this would even mean though, or what difference it would make) -// TODO: function to call stacked callbacks until one returns "handled" -// Call stacked callbacks for the given event until one handles it. -//#define emit_now emit -uint8_t emit_now(EventPtr event, uint16_t arg) { - for(int8_t i=state_stack_len-1; i>=0; i--) { - uint8_t err = state_stack[i](event, arg); - if (! err) return 0; - } - return 1; // event not handled -} - -void emit(EventPtr event, uint16_t arg) { - // add this event to the queue for later, - // so we won't use too much time during an interrupt - append_emission(event, arg); -} - -// Search the pre-defined event list for one matching what the user just did, -// and emit it if one was found. -void emit_current_event(uint16_t arg) { - //uint8_t err = 1; - for (uint8_t i=0; i<(sizeof(event_sequences)/sizeof(EventPtr)); i++) { - if (events_match(current_event, event_sequences[i])) { - //DEBUG_FLASH; - //err = emit(event_sequences[i], arg); - //return err; - emit(event_sequences[i], arg); - return; - } - } - //return err; -} - -void _set_state(StatePtr new_state, uint16_t arg) { - // call old state-exit hook (don't use stack) - if (current_state != NULL) current_state(EV_leave_state, arg); - // set new state - current_state = new_state; - // call new state-enter hook (don't use stack) - if (new_state != NULL) current_state(EV_enter_state, arg); -} - -int8_t push_state(StatePtr new_state, uint16_t arg) { - if (state_stack_len < STATE_STACK_SIZE) { - // TODO: call old state's exit hook? - // new hook for non-exit recursion into child? - state_stack[state_stack_len] = new_state; - state_stack_len ++; - _set_state(new_state, arg); - return state_stack_len; - } else { - // TODO: um... how is a flashlight supposed to handle a recursion depth error? - return -1; - } -} - -StatePtr pop_state() { - // TODO: how to handle pop from empty stack? - StatePtr old_state = NULL; - StatePtr new_state = NULL; - if (state_stack_len > 0) { - state_stack_len --; - old_state = state_stack[state_stack_len]; - } - if (state_stack_len > 0) { - new_state = state_stack[state_stack_len-1]; - } - // FIXME: what should 'arg' be? - // FIXME: do we need a EV_reenter_state? - _set_state(new_state, 0); - return old_state; -} - -uint8_t set_state(StatePtr new_state, uint16_t arg) { - // FIXME: this calls exit/enter hooks it shouldn't - pop_state(); - return push_state(new_state, arg); -} - -// TODO? add events to a queue when inside an interrupt -// instead of calling the event functions directly? -// (then empty the queue in main loop?) - // TODO? new delay() functions which handle queue consumption? // TODO? new interruptible delay() functions? - -//static volatile uint8_t button_was_pressed; -#define BP_SAMPLES 16 -uint8_t button_is_pressed() { - // debounce a little - uint8_t highcount = 0; - // measure for 16/64ths of a ms - for(uint8_t i=0; i<BP_SAMPLES; i++) { - // check current value - uint8_t bit = ((PINB & (1<<SWITCH_PIN)) == 0); - highcount += bit; - // wait a moment - _delay_loop_2(BOGOMIPS/64); - } - // use most common value - uint8_t result = (highcount > (BP_SAMPLES/2)); - //button_was_pressed = result; - return result; -} - -//void button_change_interrupt() { -ISR(PCINT0_vect) { - - //DEBUG_FLASH; - - uint8_t pushed; - - // add event to current sequence - if (button_is_pressed()) { - pushed = push_event(A_PRESS); - } else { - pushed = push_event(A_RELEASE); - } - - // check if sequence matches any defined sequences - // if so, send event to current state callback - if (pushed) emit_current_event(0); -} - -// clock tick -- this runs every 16ms (62.5 fps) -ISR(WDT_vect) { - //if (ticks_since_last_event < 0xff) ticks_since_last_event ++; - // increment, but loop from max back to half - ticks_since_last_event = (ticks_since_last_event + 1) \ - | (ticks_since_last_event & 0x8000); - - // callback on each timer tick - emit(EV_tick, ticks_since_last_event); - - // if time since last event exceeds timeout, - // append timeout to current event sequence, then - // send event to current state callback - - // preload recent events - uint8_t le_num = last_event_num(); - uint8_t last_event = 0; - uint8_t prev_event = 0; - if (le_num >= 1) last_event = current_event[le_num-1]; - if (le_num >= 2) prev_event = current_event[le_num-2]; - - // user held button long enough to count as a long click? - if (last_event == A_PRESS) { - if (ticks_since_last_event >= HOLD_TIMEOUT) { - push_event(A_HOLD); - emit_current_event(0); - } - } - - // user is still holding button, so tick - else if (last_event == A_HOLD) { - emit_current_event(ticks_since_last_event); - } - - // detect completed button presses with expired timeout - else if (last_event == A_RELEASE) { - // no timeout required when releasing a long-press - // TODO? move this logic to PCINT() and simplify things here? - if (prev_event == A_HOLD) { - //emit_current_event(0); // should have been emitted by PCINT - empty_event_sequence(); - } - // end and clear event after release timeout - else if (ticks_since_last_event >= RELEASE_TIMEOUT) { - push_event(A_RELEASE_TIMEOUT); - emit_current_event(0); - empty_event_sequence(); - } - } - - #if defined(USE_LVP) || defined(USE_THERMAL_REGULATION) - // start a new ADC measurement every 4 ticks - static uint8_t adc_trigger = 0; - adc_trigger ++; - if (adc_trigger > 3) { - adc_trigger = 0; - ADCSRA |= (1 << ADSC) | (1 << ADIE); - } - #endif -} - -// TODO: implement? (or is it better done in main()?) -ISR(ADC_vect) { - static uint8_t adc_step = 0; - #ifdef USE_LVP - #ifdef USE_LVP_AVG - #define NUM_VOLTAGE_VALUES 4 - static int16_t voltage_values[NUM_VOLTAGE_VALUES]; - #endif - static uint8_t lvp_timer = 0; - static uint8_t lvp_lowpass = 0; - #define LVP_TIMER_START 50 // ticks between LVP warnings - #define LVP_LOWPASS_STRENGTH 4 - #endif - - #ifdef USE_THERMAL_REGULATION - #define NUM_THERMAL_VALUES 4 - #define ADC_STEPS 4 - static int16_t temperature_values[NUM_THERMAL_VALUES]; - #else - #define ADC_STEPS 2 - #endif - - uint16_t measurement = ADC; // latest 10-bit ADC reading - - adc_step = (adc_step + 1) & (ADC_STEPS-1); - - #ifdef USE_LVP - // voltage - if (adc_step == 1) { - #ifdef USE_LVP_AVG - // prime on first execution - if (voltage == 0) { - for(uint8_t i=0; i<NUM_VOLTAGE_VALUES; i++) - voltage_values[i] = measurement; - voltage = 42; // Life, the Universe, and Everything (*) - } else { - uint16_t total = 0; - uint8_t i; - for(i=0; i<NUM_VOLTAGE_VALUES-1; i++) { - voltage_values[i] = voltage_values[i+1]; - total += voltage_values[i]; - } - voltage_values[i] = measurement; - total += measurement; - total = total >> 2; - - voltage = (uint16_t)(1.1*1024*10)/total + VOLTAGE_FUDGE_FACTOR; - } - #else // no USE_LVP_AVG - // calculate actual voltage: volts * 10 - // ADC = 1.1 * 1024 / volts - // volts = 1.1 * 1024 / ADC - voltage = (uint16_t)(1.1*1024*10)/measurement + VOLTAGE_FUDGE_FACTOR; - #endif - // if low, callback EV_voltage_low / EV_voltage_critical - // (but only if it has been more than N ticks since last call) - if (lvp_timer) { - lvp_timer --; - } else { // it has been long enough since the last warning - if (voltage < VOLTAGE_LOW) { - if (lvp_lowpass < LVP_LOWPASS_STRENGTH) { - lvp_lowpass ++; - } else { - // try to send out a warning - //uint8_t err = emit(EV_voltage_low, 0); - //uint8_t err = emit_now(EV_voltage_low, 0); - emit(EV_voltage_low, 0); - //if (!err) { - // on successful warning, reset counters - lvp_timer = LVP_TIMER_START; - lvp_lowpass = 0; - //} - } - } else { - // voltage not low? reset count - lvp_lowpass = 0; - } - } - } - #endif // ifdef USE_LVP - - // TODO: temperature - - // start another measurement for next time - #ifdef USE_THERMAL_REGULATION - #ifdef USE_LVP - if (adc_step < 2) ADMUX = ADMUX_VCC; - else ADMUX = ADMUX_THERM; - #else - ADMUX = ADMUX_THERM; - #endif - #else - #ifdef USE_LVP - ADMUX = ADMUX_VCC; - #endif - #endif -} - -inline void ADC_on() -{ - // read voltage on VCC by default - // disable digital input on VCC pin to reduce power consumption - //DIDR0 |= (1 << ADC_DIDR); // FIXME: unsure how to handle for VCC pin - // VCC / 1.1V reference - ADMUX = ADMUX_VCC; - // enable, start, prescale - ADCSRA = (1 << ADEN) | (1 << ADSC) | ADC_PRSCL; -} - -inline void ADC_off() { - ADCSRA &= ~(1<<ADEN); //ADC off -} - -inline void PCINT_on() { - // enable pin change interrupt for pin N - GIMSK |= (1 << PCIE); - // only pay attention to the e-switch pin - //PCMSK = (1 << SWITCH_PCINT); - // set bits 1:0 to 0b01 (interrupt on rising *and* falling edge) (default) - // MCUCR &= 0b11111101; MCUCR |= 0b00000001; -} - -inline void PCINT_off() { - // disable all pin-change interrupts - GIMSK &= ~(1 << PCIE); -} - -void WDT_on() -{ - // interrupt every 16ms - //cli(); // Disable interrupts - wdt_reset(); // Reset the WDT - WDTCR |= (1<<WDCE) | (1<<WDE); // Start timed sequence - WDTCR = (1<<WDIE); // Enable interrupt every 16ms - //sei(); // Enable interrupts -} - -inline void WDT_off() -{ - //cli(); // Disable interrupts - wdt_reset(); // Reset the WDT - MCUSR &= ~(1<<WDRF); // Clear Watchdog reset flag - WDTCR |= (1<<WDCE) | (1<<WDE); // Start timed sequence - WDTCR = 0x00; // Disable WDT - //sei(); // Enable interrupts -} - -// low-power standby mode used while off but power still connected -#define standby_mode sleep_until_eswitch_pressed -void sleep_until_eswitch_pressed() -{ - WDT_off(); - ADC_off(); - - // make sure switch isn't currently pressed - while (button_is_pressed()) {} - - PCINT_on(); // wake on e-switch event - - sleep_enable(); - sleep_bod_disable(); - sleep_cpu(); // wait here - - // something happened; wake up - sleep_disable(); - PCINT_on(); - ADC_on(); - WDT_on(); -} - -// last-called state on stack -// handles default actions for LVP, thermal regulation, etc -uint8_t default_state(EventPtr event, uint16_t arg) { - if (0) {} - - #ifdef USE_LVP - else if (event == EV_voltage_low) { - low_voltage(); - return 0; - } - #endif - - #ifdef USE_THERMAL_REGULATION - else if (event == EV_temperature_high) { - high_temperature(); - return 0; - } - - else if (event == EV_temperature_low) { - low_temperature(); - return 0; - } - #endif - - // event not handled - return 1; -} - // boot-time tasks -// Define this in your RoundTable recipe +// Define this in your SpaghettiMonster recipe void setup(); -int main() { - // Don't allow interrupts while booting - cli(); - //WDT_off(); - //PCINT_off(); - - // configure PWM channels - #if PWM_CHANNELS == 1 - DDRB |= (1 << PWM1_PIN); - TCCR0B = 0x01; // pre-scaler for timer (1 => 1, 2 => 8, 3 => 64...) - TCCR0A = PHASE; - #elif PWM_CHANNELS == 2 - DDRB |= (1 << PWM1_PIN); - DDRB |= (1 << PWM2_PIN); - TCCR0B = 0x01; // pre-scaler for timer (1 => 1, 2 => 8, 3 => 64...) - TCCR0A = PHASE; - #elif PWM_CHANNELS == 3 - DDRB |= (1 << PWM1_PIN); - DDRB |= (1 << PWM2_PIN); - TCCR0B = 0x01; // pre-scaler for timer (1 => 1, 2 => 8, 3 => 64...) - TCCR0A = PHASE; - // Second PWM counter is ... weird - DDRB |= (1 << PWM3_PIN); - TCCR1 = _BV (CS10); - GTCCR = _BV (COM1B1) | _BV (PWM1B); - OCR1C = 255; // Set ceiling value to maximum - #elif PWM_CHANNELS == 4 - DDRB |= (1 << PWM1_PIN); - DDRB |= (1 << PWM2_PIN); - TCCR0B = 0x01; // pre-scaler for timer (1 => 1, 2 => 8, 3 => 64...) - TCCR0A = PHASE; - // Second PWM counter is ... weird - DDRB |= (1 << PWM3_PIN); - // FIXME: How exactly do we do PWM on channel 4? - TCCR1 = _BV (CS10); - GTCCR = _BV (COM1B1) | _BV (PWM1B); - OCR1C = 255; // Set ceiling value to maximum - DDRB |= (1 << PWM4_PIN); - #endif - - // TODO: turn on ADC? - // configure e-switch - PORTB = (1 << SWITCH_PIN); // e-switch is the only input - PCMSK = (1 << SWITCH_PIN); // pin change interrupt uses this pin - - // TODO: configure sleep mode - set_sleep_mode(SLEEP_MODE_PWR_DOWN); - - // Read config values and saved state - // restore_state(); // TODO - - // TODO: handle long press vs short press (or even medium press)? - - #ifdef USE_DEBUG_BLINK - //debug_blink(1); - #endif - - // all booted -- turn interrupts back on - PCINT_on(); - WDT_on(); - ADC_on(); - sei(); - - // fallback for handling a few things - push_state(default_state, 0); - - // call recipe's setup - setup(); - - // main loop - while (1) { - // TODO: update e-switch press state? - // TODO: check voltage? - // TODO: check temperature? - // if event queue not empty, process and pop first item in queue? - if (emissions[0].event != NULL) { - emit_now(emissions[0].event, emissions[0].arg); - delete_first_emission(); - } - } -} +// include executable functions too, for easier compiling +#include "fsm-states.c" +#include "fsm-events.c" +#include "fsm-adc.c" +#include "fsm-wdt.c" +#include "fsm-pcint.c" +#include "fsm-standby.c" +#include "fsm-main.c" |