W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\MasterSM.

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/****************************************************************************
Module
MasterSM.c
Revision
1.0

Description
Author
Anne Alter, Derrick Contreras
Date
2/14/16

****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
//headers for framework
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TemplateService.h"
#include "termio.h"
//headers to access the pwm and nvic libraries
#include "inc/hw_timer.h"
#include "inc/hw_nvic.h"
#include "inc/hw_pwm.h"
//headers to access the GPIO subsystem
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_ssi.h"

//headers to access the TivaWare Library

#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"

//headers for other modules in the program

#include "MasterSM.h"
#include "PlayingGameSM.h"
#include "InitializeService.h"
#include "PWMService.h"
#include "PoundDefines.h"
#include "PACService.h"
#include "ADMulti.h"
#include "InterruptService.h"
#include "DriveService.h"
/*----------------------------- Module Defines ----------------------------*/
//#define TEST
/*---------------------------- Module Functions ---------------------------*/
static ES_Event DuringIdle(ES_Event Event);
static ES_Event DuringPlayingGame(ES_Event Event);
static ES_Event DuringSending(ES_Event Event);
/*---------------------------- Module Variables ---------------------------*/
static uint8_t MyPriority;
static CurrentMasterState_t CurrentMasterState;
static uint8_t FifthByte;
static uint8_t GameCounter = 0;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\MasterSM.c
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InitMasterSM

Parameters
uint8_t : the priorty of this service

Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, and does any
other required initialization for this service

Author
Anne Alter, Derrick Contreras
****************************************************************************/
bool InitMasterSM (uint8_t Priority)
{
//Initialize ThisEvent
ES_Event ThisEvent;
//Save priority
MyPriority = Priority;

//initialize digital i/o

InitAllDigital();
//initialize PWM
InitAllPWM();
//initialize ssi
InitSSI();

//initialize wire sensing interrupt

InitializeWireSensingInterrupt();
//initialize hall effect interrupt
InitializeHallEffectInterrupt();
//initialize beacon interrupt
InitializeBeaconInterrupt();

//initialize flywheel encoder interrupt

InitializeFlywheelInterrupt();

//set red/blue LED: RED = HI, BLUE = LOW

if((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) & (COLOR)) == COLOR)
{
//light red LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) |= (RED);
//turn off blue LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) &= ~(BLUE);
}
else
{
//light blue LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) |= (BLUE);
//turn off red LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) &= ~(RED);
}
//Set ThisEvent as ES_ENTRY event
ThisEvent.EventType = ES_ENTRY;
//Start the MasterSM
StartMasterSM(ThisEvent);
//Return True
return true;

}
/****************************************************************************
Function
PostMasterSM

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Parameters
EF_Event ThisEvent ,the event to post to the queue

Returns
bool false if the Enqueue operation failed, true otherwise
Description
Posts an event to this state machine's queue

Author
Anne Alter, Derrick Contreras
****************************************************************************/
bool PostMasterSM(ES_Event ThisEvent)
{
return ES_PostToService(MyPriority, ThisEvent);
}
/****************************************************************************
Function
RunMasterSM
Parameters
ES_Event : the event to process

Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
add your description here

Author
Anne Alter, Derrick Contreras
****************************************************************************/
ES_Event RunMasterSM(ES_Event CurrentEvent)
{
bool MakeTransition = false;
CurrentMasterState_t NextState = CurrentMasterState;
ES_Event EntryEventKind = {ES_ENTRY, 0};
ES_Event ReturnEvent = {ES_NO_EVENT, 0};
//Switch CurrentMasterState
switch(CurrentMasterState)
{
//Case Idle:
case Idle:
printf("IDLE STATE \r\n");
//Set CurrentEvent to DuringIdle
CurrentEvent = DuringIdle(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
case ES_TIMEOUT:
if (CurrentEvent.EventParam == QUERY_TIMER)
{
printf("writing to PAC\n\r");
//Query the Pac if game is ready?

HWREG(SSI0_BASE + SSI_O_DR) = STATUS_BYTE;

HWREG(SSI0_BASE + SSI_O_DR) = 0x00;
HWREG(SSI0_BASE + SSI_O_DR) = 0x00;
HWREG(SSI0_BASE + SSI_O_DR) = 0x00;
HWREG(SSI0_BASE + SSI_O_DR) = 0x00;
HWREG(SSI0_BASE+SSI_O_IM) |= SSI_IM_TXIM;
//Make transition true
printf("done writing\n\r");
//CurrentState is sending
NextState = Sending;
MakeTransition = true;

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\MasterSM.c
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}
}
break;

EntryEventKind.EventType = ES_ENTRY;
}
break;

case Sending:
printf("SENDING STATE \n\r");
//Set CurrentEvent to DuringSending
CurrentEvent = DuringSending(CurrentEvent);
if (CurrentEvent.EventType != ES_NO_EVENT)
{
switch (CurrentEvent.EventType) {
case GAME_START:
NextState = PlayingGame;
//Event Type needs to be GAME_START
MakeTransition = true;
EntryEventKind.EventType = ES_ENTRY;
break;

}
}
break;

case WAITING:
// move back to Idle
NextState = Idle;
//Make Transition True
MakeTransition = true;
//Entry Event is ES_Entry
EntryEventKind.EventType = ES_ENTRY ;
break;

//Case PlayingGame:
case PlayingGame:
//Set CurrentEvent to DuringPlayingGame
CurrentEvent = DuringPlayingGame(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
case ES_TIMEOUT:
if(CurrentEvent.EventParam == GAME_TIMER)
{
if(GameCounter == 0)
{
printf("Game Counter: %d \r\n", GameCounter);
GameCounter++;
ES_Timer_InitTimer(GAME_TIMER, GAME_TIME);
}
else if (GameCounter == 1)
{
printf("Game Counter: %d \r\n", GameCounter);
GameCounter++;
ES_Timer_InitTimer(GAME_TIMER, GAME_TIME);
}
else if (GameCounter == 2)
{
printf("Game Counter: %d \r\n", GameCounter);
printf("GAME OVER \r\n");
//NextState is Idle
NextState = GameOver;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
GameCounter = 0;
}
}
break;

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\MasterSM.c
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}
}
break;

case GameOver:
printf("Game is Finished \n\r");
//Stop everything
Stop();
//disable wire sensing interrupt
HWREG(WTIMER1_BASE+TIMER_O_IMR) &= ~TIMER_IMR_TATOIM;
break;

//If MakeTransition is true

if(MakeTransition == true)
{
printf("Next State is %d\n\r", NextState);
//Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
//Call RunMasterSM function
RunMasterSM(CurrentEvent);
//CurrentMasterState equals NextState
CurrentMasterState = NextState;
//Execute entry function for current state
RunMasterSM(EntryEventKind);
}
//return ReturnEvent
return(ReturnEvent);

}
/****************************************************************************
Function
StartMasterSM
Parameters
None
Returns
None

Description
Does any required initialization for SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void StartMasterSM(ES_Event CurrentEvent)
{
#ifndef TEST
//Initialize state variable
CurrentMasterState = Idle;
#endif

#ifdef TEST
CurrentMasterState = PlayingGame;
#endif

//Call RunMasterSM
RunMasterSM(CurrentEvent);
//Call return
return;

/*------------------------------ Private Functions ------------------------------*/

/****************************************************************************
Function
DuringIdle
Parameters

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\MasterSM.c
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ES_Event

Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringIdle(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
ES_Timer_InitTimer(QUERY_TIMER, GAME_STATUS);
//stop motors
Stop();
//disable wire sensing interrupt
HWREG(WTIMER1_BASE+TIMER_O_IMR) &= ~TIMER_IMR_TATOIM;
}
else if(Event.EventType == ES_EXIT)
{
}
else
{
}
//Return ReturnEvent
return ReturnEvent;

}
/****************************************************************************
Function
DuringSending
Parameters
ES_Event
Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringSending(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;

//If ES_ENTRY event

if(Event.EventType == ES_ENTRY)
{
FifthByte = GetFifthByte();
//printf("Return Bytes %x, %x, %x, %x, %x\n\r", GetFirstByte(), GetSecondByte(), GetThirdByte(),
GetFourthByte(), GetFifthByte());
// printf("Status of Game is %d\n\r", (FifthByte & BIT0HI));
if (FifthByte & BIT0HI) {
ReturnEvent.EventType = GAME_START;
} else {
ReturnEvent.EventType = WAITING;
}
} else if(Event.EventType == ES_EXIT)
{
}
else

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{
}

//Return ReturnEvent
return ReturnEvent;

/****************************************************************************
Function
DuringPlayingGame
Parameters
ES_Event
Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringPlayingGame(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//Light game indicator LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) |= (GAME_ON);
//Start PlayingGame state machine
StartPlayingGameSM(Event);
//set red/blue LED: RED = HI, BLUE = LOW
if((HWREG(GPIO_PORTE_BASE+(GPIO_O_DATA+ALL_BITS)) & (COLOR)) == COLOR)
{
//light red LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) |= (RED);
//turn off blue LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) &= ~(BLUE);
}
else
{
//light blue LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) |= (BLUE);
//turn off red LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) &= ~(RED);
}
//initialize game timer
printf("init game timer \r\n");
ES_Timer_InitTimer(GAME_TIMER, GAME_TIME);

}
else if(Event.EventType == ES_EXIT)
{
//Run PlayingGame state machine
RunPlayingGameSM(Event);
//Extinguish game indicator LED
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) &= ~(GAME_ON);
//turn off affiliation LEDs
HWREG(GPIO_PORTF_BASE+(GPIO_O_DATA+ALL_BITS)) &= ~(RED | BLUE);
}
else
{
//ReturnEvent equals RunPlayingGameSM
ReturnEvent = RunPlayingGameSM(Event);
}
return ReturnEvent;

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