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oncilla-sbcp-master-fw/src/led.c
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led.c
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#include "led.h"
#include "timer.h"
#include <p33Fxxxx.h>
#define NB_LEDS 4
//we set a frequency of blinking of 3 Hz
#define DEFAULT_HALF_PERIOD 50/8
enum led_state {
LED_OFF = 0x00,
LED_ON = 0x01,
LED_BLINKING = 0x02,
LED_BLINK_ONCE = 0x03
};
typedef void(*led_write_fptr)(char);
struct led_def{
enum led_state state;
unsigned int ticks_per_half_period;
unsigned int nb_ticks;
unsigned int nb_blink;
unsigned int current_nb_blinks;
led_write_fptr write_fptr;
};
// WARNING xc16 if using ternary operator for manipulating LAT
// registers will not use semi-atomic BSET and BCLR, leading to race
// conditions !!! For safety of any race condition, I even disable all
// interrupt for these instructions
void led_green1_write(char on){
//prevent race condition with all interrupt !!!
if(on) {
SRbits.IPL = 7;
LATBbits.LATB15 = 1;
SRbits.IPL = 0;
} else {
SRbits.IPL = 7;
LATBbits.LATB15 = 0;
SRbits.IPL = 0;
}
}
void led_yellow_write(char on){
if(on) {
SRbits.IPL = 7;
LATBbits.LATB14 = 1;
SRbits.IPL = 0;
} else {
SRbits.IPL = 7;
LATBbits.LATB14 = 0;
SRbits.IPL = 0;
}
}
void led_green2_write(char on){
if(on){
SRbits.IPL = 7;
LATAbits.LATA0 = 1;
SRbits.IPL = 0;
} else {
SRbits.IPL = 7;
LATAbits.LATA0 = 0;
SRbits.IPL = 0;
}
}
void led_red_write(char on){
if(on) {
SRbits.IPL = 7;
LATAbits.LATA1 = 1;
SRbits.IPL = 0;
} else {
SRbits.IPL = 7;
LATAbits.LATA1 = 0;
SRbits.IPL = 0;
}
}
struct led_def leds[NB_LEDS] = {
{LED_ON,DEFAULT_HALF_PERIOD,0,1,0,&led_green1_write},
{LED_OFF,DEFAULT_HALF_PERIOD,0,2,0,&led_yellow_write},
{LED_OFF,DEFAULT_HALF_PERIOD,0,4,0,&led_green2_write},
{LED_OFF,DEFAULT_HALF_PERIOD,0,1,0,&led_red_write},
};
void led_compute_and_apply_state(led_id l_id,
unsigned int nb_ticks) {
struct led_def * l = &(leds[l_id]);
unsigned char led_should_be_on = 0;
switch (l->state) {
case LED_OFF :
led_should_be_on = 0;
break;
case LED_ON:
led_should_be_on = 1;
break;
case LED_BLINKING : {
l->nb_ticks += nb_ticks;
if(l->nb_ticks >= 2 * l->ticks_per_half_period ) {
l->nb_ticks -= 2 * l->ticks_per_half_period;
++l->current_nb_blinks;
}
if(l->current_nb_blinks >= 2 * l->nb_blink - 1 ) {
l->current_nb_blinks = 0;
}
if(l->nb_ticks < l->ticks_per_half_period) {
led_should_be_on = 1;
}
if (l->current_nb_blinks >= l->nb_blink) {
led_should_be_on = 0;
}
break;
}
case LED_BLINK_ONCE : {
led_should_be_on = 1;
l->state = LED_OFF;
}
default:
break;
}
(*(l->write_fptr))(led_should_be_on);
}
void led_init(){
// GREEN_1
TRISBbits.TRISB14 = 0;
// YELLOW
TRISBbits.TRISB15 = 0;
// GREEN_2
TRISAbits.TRISA0 = 0;
// RED
TRISAbits.TRISA1 = 0;
}
void led_main(){
static ticks last_frame = 0;
//we increment the frame every 50ms
if( ticks_since(last_frame) >= LED_FRAME_TIME ) {
last_frame = current_time();
} else {
//we only process each frame
return;
}
unsigned int i = 0;
for(; i < NB_LEDS ; ++ i){
led_compute_and_apply_state(i,1);
}
}
void led_on(led_id l_id) {
leds[l_id].state = LED_ON;
}
void led_off(led_id l_id) {
leds[l_id].state = LED_OFF;
}
void led_toggle(led_id l_id) {
leds[l_id].state = leds[l_id].state == LED_OFF ? LED_ON : LED_OFF;
}
void led_blink_once(led_id l_id) {
leds[l_id].state = LED_BLINK_ONCE;
}
void led_blink(led_id l_id) {
if(leds[l_id].state == LED_BLINKING) {
return;
}
leds[l_id].current_nb_blinks = 0;
leds[l_id].nb_ticks = 0;
leds[l_id].state = LED_BLINKING;
}
void led_blink_with_params(led_id l_id,
unsigned int nb_blink) {
leds[l_id].nb_blink = nb_blink;
led_blink(l_id);
}
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