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schmelczerandras 2020-04-19 12:48:06 +02:00
commit 26a0fd884f
173 changed files with 157458 additions and 1 deletions
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146
space_game/SpaceGame/src/driver/infra/infra.c Normal file
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#include "infra.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include "bitwise.h"
#include "../../hardware_access/hardware_access.h"
#include "../uart/receive.h"
// (0.5625 + (0.5625 + 1.6875) / 2) / 1000 / timer interval
#define MEAN_OF_0_1_BIT_TIMES 53
// 9 / 2 / 1000 / timer interval
#define MAYBE_ONE_CHECK_TIME 141
// some large value
#define TIMEOUT 254
typedef enum {
idle, maybeLeadingOne, leadingOneConfirmed, activeFirstBit, active, timingOut
} ProtocolState;
typedef enum {
noMatch, foundStartingByte, significantByte, waitingForEndOfCommand, waitingForRepeat
} CommandState;
static struct {
uint8_t current;
uint8_t bitPosition;
ProtocolState protocolState;
CommandState commandState;
OnCommandReceived onCommandReceived;
} infra;
static void saveCurrentByte() {
uint8_t byte = infra.current;
infra.current = 0;
infra.bitPosition = 0;
if (byte == INFRA_ADDRESS) {
infra.commandState = foundStartingByte;
return;
}
switch (infra.commandState) {
case foundStartingByte:
infra.commandState = significantByte;
break;
case significantByte:
infra.onCommandReceived(byte);
infra.commandState = waitingForEndOfCommand;
break;
case waitingForEndOfCommand:
if (byte == 0) {
infra.commandState = waitingForRepeat;
}
break;
case waitingForRepeat:
if (byte == 0) {
infra.onCommandReceived(REPEAT_CODE);
}
break;
default:
break;
}
}
static void saveBit(uint8_t bit) {
infra.current <<= 1;
infra.current |= bit;
if (++infra.bitPosition == 8) {
saveCurrentByte();
}
}
static inline uint8_t isIrOff() {
return getBit(PINB, IR_PIN);
}
static inline uint8_t isIrOn() {
return !isIrOff();
}
ISR(PCINT0_vect) {
handlePinChangeForUartReceive();
switch (infra.protocolState) {
case idle:
if (isIrOn()) {
enableTimerB(MAYBE_ONE_CHECK_TIME);
infra.protocolState = maybeLeadingOne;
}
break;
case maybeLeadingOne:
infra.protocolState = idle;
break;
case leadingOneConfirmed:
if (isIrOff()) {
infra.protocolState = activeFirstBit;
}
break;
case activeFirstBit:
case timingOut:
if (isIrOn()) {
infra.protocolState = active;
enableTimerB(MEAN_OF_0_1_BIT_TIMES);
}
break;
case active:
if (isIrOn()) {
saveBit(1);
enableTimerB(MEAN_OF_0_1_BIT_TIMES);
}
break;
}
}
ISR(TIM0_COMPB_vect) {
switch (infra.protocolState) {
case maybeLeadingOne:
if (isIrOn()) {
infra.protocolState = leadingOneConfirmed;
}
disableTimerB();
break;
case active:
saveBit(0);
infra.protocolState = timingOut;
enableTimerB(TIMEOUT);
break;
case timingOut:
infra.protocolState = idle;
saveCurrentByte();
disableTimerB();
break;
default:
disableTimerB();
break;
}
}
void initializeInfra(OnCommandReceived onCommandReceived) {
setBit(PORTB, IR_PIN); // enable pull-up
setBit(PCMSK, IR_PIN); // specific pin change interrupt enable
setBit(GIMSK, PCIE); // global on pin change interrupt enable;
infra.onCommandReceived = onCommandReceived;
}