commit 28485fcdcd7691e42fb87ea19d02342d55486eff
parent a3b912969fd5a851a31fcd9d8936d9ea40b01764
Author: Martin Kloeckner <mjkloeckner@gmail.com>
Date: Tue, 14 Oct 2025 18:15:36 -0300
Implement part of menu statechart
Diffstat:
5 files changed, 501 insertions(+), 418 deletions(-)
diff --git a/app/inc/logger.h b/app/inc/logger.h
@@ -51,7 +51,7 @@ extern "C" {
/********************** macros ***********************************************/
-#define LOGGER_CONFIG_ENABLE (1)
+#define LOGGER_CONFIG_ENABLE (0)
#define LOGGER_CONFIG_MAXLEN (64)
#define LOGGER_CONFIG_USE_SEMIHOSTING (1)
diff --git a/app/inc/task_menu_attribute.h b/app/inc/task_menu_attribute.h
@@ -1,100 +1,127 @@
-/*
- * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * @file : task_menu_attribute.h
- * @date : Set 26, 2023
- * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
- * @version v1.0.0
- */
-
-#ifndef TASK_INC_TASK_MENU_ATTRIBUTE_H_
-#define TASK_INC_TASK_MENU_ATTRIBUTE_H_
-
-/********************** CPP guard ********************************************/
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/********************** inclusions *******************************************/
-
-/********************** macros ***********************************************/
-
-/********************** typedef **********************************************/
-/* Menu Statechart - State Transition Table */
-/* ------------------------+-----------------------+-----------------------+-----------------------+------------------------
- * | Current | Event | | Next | |
- * | State | (Parameters) | [Guard] | State | Actions |
- * |=======================+=======================+=======================+=======================+=======================|
- * | INICIAL | | | ST_MEN_XX_IDLE | |
- * |-----------------------+-----------------------+-----------------------+-----------------------+-----------------------|
- * | ST_MEN_XX_IDLE | EV_MEN_MEN_ACTIVE | | ST_MEN_XX_ACTIVE | |
- * | | | | | |
- * |-----------------------+-----------------------+-----------------------+-----------------------+-----------------------|
- * | ST_MEN_XX_ACTIVE | EV_MEN_MEN_IDLE | | ST_MEN_XX_IDLE | |
- * | | | | | |
- * ------------------------+-----------------------+-----------------------+-----------------------+------------------------
- */
-
-/* Events to excite Task Menu */
-typedef enum task_menu_ev {EV_MEN_ENT_IDLE,
- EV_MEN_ENT_ACTIVE,
- EV_MEN_NEX_IDLE,
- EV_MEN_NEX_ACTIVE,
- EV_MEN_ESC_IDLE,
- EV_MEN_ESC_ACTIVE} task_menu_ev_t;
-
-/* State of Task Menu */
-typedef enum {
- ST_MEN_XX_IDLE,
- ST_MEN_XX_ACTIVE
-} task_menu_st_t;
-
-typedef struct
-{
- uint32_t tick;
- task_menu_st_t state;
- task_menu_ev_t event;
- bool flag;
-} task_menu_dta_t;
-
-/********************** external data declaration ****************************/
-extern task_menu_dta_t task_menu_dta;
-
-/********************** external functions declaration ***********************/
-
-/********************** End of CPP guard *************************************/
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* TASK_INC_TASK_MENU_ATTRIBUTE_H_ */
-
-/********************** end of file ******************************************/
+/*
+ * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @file : task_menu_attribute.h
+ * @date : Set 26, 2023
+ * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
+ * @version v1.0.0
+ */
+
+#ifndef TASK_INC_TASK_MENU_ATTRIBUTE_H_
+#define TASK_INC_TASK_MENU_ATTRIBUTE_H_
+
+/********************** CPP guard ********************************************/
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/********************** inclusions *******************************************/
+
+/********************** macros ***********************************************/
+
+/********************** typedef **********************************************/
+/*
+* Menu Statechart - State Transition Table
+* Every state is also a state machine (nested state machines)
+* +---------------------+--------------------+---------+---------------------+---------+
+* | Current State | Event (Parameters) | [Guard] | Next State | Actions |
+* +=====================+====================+=========+=====================+=========+
+* | INICIAL | | | ST_MEN_MOTOR_SELECT | |
+* +---------------------+--------------------+---------+---------------------+---------+
+* | ST_MEN_MOTOR_SELECT | EV_MEN_ENTER_BTN | | ST_MEN_MOTOR_POWER | |
+* +---------------------+--------------------+---------+---------------------+---------+
+* | ST_MEN_MOTOR_POWER | EV_MEN_NEXT_BTN | | ST_MEN_MOTOR_SPEED | |
+* | | EV_MEN_BACK_BTN | | ST_MEN_MOTOR_SELECT | |
+* +---------------------+--------------------+---------+---------------------+---------+
+* | ST_MEN_MOTOR_SPEED | EV_MEN_NEXT_BTN | | ST_MEN_MOTOR_SPIN | |
+* | | EV_MEN_BACK_BTN | | ST_MEN_MOTOR_SELECT | |
+* +---------------------+--------------------+---------+---------------------+---------+
+* | ST_MEN_MOTOR_SPIN | EV_MEN_NEXT_BTN | | ST_MEN_MOTOR_POWER | |
+* | | EV_MEN_BACK_BTN | | ST_MEN_MOTOR_SELECT | |
+* +---------------------+--------------------+---------+---------------------+---------+
+*
+* Menu Statechart - ST_MEN_MOTOR_SELECT - State Transition Table
+
+* +-----------------------------+--------------+---------+---------------------------------+--------------------+
+* | Current State | Event | [Guard] | Next State | Actions |
+* +=============================+==============+=========+=================================+====================+
+* | | EV_NEXT_BTN | | ST_MEN_MOTOR_SELECT_MOTOR_2 | |
+* | ST_MEN_MOTOR_SELECT_MOTOR_1 |--------------+---------+---------------------------------+--------------------+
+* | | EV_ENTER_BTN | | ST_MOTOR_POWER | selected_motor = 1 |
+* +-----------------------------+--------------+---------+---------------------------------+--------------------+
+* | | EV_NEXT_BTN | | ST_MEN_MOTOR_SELECT_MOTOR_1 | |
+* | ST_MEN_MOTOR_SELECT_MOTOR_2 |--------------+---------+---------------------------------+--------------------+
+* | | EV_ENTER_BTN | | ST_MOTOR_POWER | selected_motor = 2 |
+* +-----------------------------+--------------+---------+---------------------------------+--------------------+
+*/
+
+/* Events to excite Task Menu */
+typedef enum {
+ EV_MEN_ENT_IDLE,
+ EV_MEN_ENT_ACTIVE,
+
+ EV_MEN_NEX_IDLE,
+ EV_MEN_NEX_ACTIVE,
+
+ EV_MEN_ESC_IDLE,
+ EV_MEN_ESC_ACTIVE
+} task_menu_ev_t;
+
+/* State of Task Menu */
+typedef enum {
+ ST_MEN_MOTOR_SELECT,
+ ST_MEN_MOTOR_SELECT_MOTOR_1,
+ ST_MEN_MOTOR_SELECT_MOTOR_2,
+ ST_MEN_MOTOR_POWER,
+ ST_MEN_MOTOR_SPEED,
+ ST_MEN_MOTOR_SPIN,
+} task_menu_st_t;
+
+typedef struct {
+ uint32_t tick;
+ task_menu_st_t state;
+ task_menu_ev_t event;
+ bool flag;
+} task_menu_dta_t;
+
+/********************** external data declaration ****************************/
+extern task_menu_dta_t task_menu_dta;
+
+/********************** external functions declaration ***********************/
+
+/********************** End of CPP guard *************************************/
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* TASK_INC_TASK_MENU_ATTRIBUTE_H_ */
+
+/********************** end of file ******************************************/
diff --git a/app/src/task_menu.c b/app/src/task_menu.c
@@ -1,225 +1,281 @@
-/*
- * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * @file : task_menu.c
- * @date : Set 26, 2023
- * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
- * @version v1.0.0
- */
-
-/********************** inclusions *******************************************/
-/* Project includes */
-#include "main.h"
-
-/* Demo includes */
-#include "logger.h"
-#include "dwt.h"
-
-/* Application & Tasks includes */
-#include "board.h"
-#include "app.h"
-#include "task_menu_attribute.h"
-#include "task_menu_interface.h"
-#include "display.h"
-
-/********************** macros and definitions *******************************/
-#define G_TASK_MEN_CNT_INI 0ul
-#define G_TASK_MEN_TICK_CNT_INI 0ul
-
-#define DEL_MEN_XX_MIN 0ul
-#define DEL_MEN_XX_MED 50ul
-#define DEL_MEN_XX_MAX 200ul
-
-/********************** internal data declaration ****************************/
-task_menu_dta_t task_menu_dta =
- {DEL_MEN_XX_MIN, ST_MEN_XX_IDLE, EV_MEN_ENT_IDLE, false};
-
-#define MENU_DTA_QTY (sizeof(task_menu_dta)/sizeof(task_menu_dta_t))
-
-/********************** internal functions declaration ***********************/
-void task_menu_statechart(void);
-
-/********************** internal data definition *****************************/
-const char *p_task_menu = "Task Menu (Interactive Menu)";
-const char *p_task_menu_ = "Non-Blocking & Update By Time Code";
-
-/********************** external data declaration ****************************/
-uint32_t g_task_menu_cnt;
-volatile uint32_t g_task_menu_tick_cnt;
-
-/********************** external functions definition ************************/
-void task_menu_init(void *parameters)
-{
- task_menu_dta_t *p_task_menu_dta;
- task_menu_st_t state;
- task_menu_ev_t event;
- bool b_event;
-
- /* Print out: Task Initialized */
- LOGGER_INFO(" ");
- LOGGER_INFO(" %s is running - %s", GET_NAME(task_menu_init), p_task_menu);
- LOGGER_INFO(" %s is a %s", GET_NAME(task_menu), p_task_menu_);
-
- /* Init & Print out: Task execution counter */
- g_task_menu_cnt = G_TASK_MEN_CNT_INI;
- LOGGER_INFO(" %s = %lu", GET_NAME(g_task_menu_cnt), g_task_menu_cnt);
-
- init_queue_event_task_menu();
-
- /* Update Task Actuator Configuration & Data Pointer */
- p_task_menu_dta = &task_menu_dta;
-
- /* Init & Print out: Task execution FSM */
- state = ST_MEN_XX_IDLE;
- p_task_menu_dta->state = state;
-
- event = EV_MEN_ENT_IDLE;
- p_task_menu_dta->event = event;
-
- b_event = false;
- p_task_menu_dta->flag = b_event;
-
- LOGGER_INFO(" ");
- LOGGER_INFO(" %s = %lu %s = %lu %s = %s",
- GET_NAME(state), (uint32_t)state,
- GET_NAME(event), (uint32_t)event,
- GET_NAME(b_event), (b_event ? "true" : "false"));
-
- /* Init & Print out: LCD Display */
- displayInit( DISPLAY_CONNECTION_GPIO_4BITS );
-
- displayCharPositionWrite(0, 0);
- displayStringWrite("TdSE Bienvenidos");
-
- displayCharPositionWrite(0, 1);
- displayStringWrite("Test Nro: ");
-}
-
-void task_menu_update(void *parameters)
-{
- bool b_time_update_required = false;
-
- /* Protect shared resource */
- __asm("CPSID i"); /* disable interrupts */
- if (G_TASK_MEN_TICK_CNT_INI < g_task_menu_tick_cnt)
- {
- /* Update Tick Counter */
- g_task_menu_tick_cnt--;
- b_time_update_required = true;
- }
- __asm("CPSIE i"); /* enable interrupts */
-
- while (b_time_update_required)
- {
- /* Update Task Counter */
- g_task_menu_cnt++;
-
- /* Run Task Menu Statechart */
- task_menu_statechart();
-
- /* Protect shared resource */
- __asm("CPSID i"); /* disable interrupts */
- if (G_TASK_MEN_TICK_CNT_INI < g_task_menu_tick_cnt)
- {
- /* Update Tick Counter */
- g_task_menu_tick_cnt--;
- b_time_update_required = true;
- }
- else
- {
- b_time_update_required = false;
- }
- __asm("CPSIE i"); /* enable interrupts */
- }
-}
-
-void task_menu_statechart(void)
-{
- task_menu_dta_t *p_task_menu_dta;
- char menu_str[8];
-
- /* Update Task Menu Data Pointer */
- p_task_menu_dta = &task_menu_dta;
-
- if (true == any_event_task_menu())
- {
- p_task_menu_dta->flag = true;
- p_task_menu_dta->event = get_event_task_menu();
- }
-
- switch (p_task_menu_dta->state)
- {
- case ST_MEN_XX_IDLE:
-
- if ((true == p_task_menu_dta->flag) && (EV_MEN_ENT_ACTIVE == p_task_menu_dta->event))
- {
- p_task_menu_dta->tick = DEL_MEN_XX_MAX;
- p_task_menu_dta->flag = false;
- p_task_menu_dta->state = ST_MEN_XX_ACTIVE;
- }
-
- break;
-
- case ST_MEN_XX_ACTIVE:
-
- if ((true == p_task_menu_dta->flag) && (EV_MEN_ENT_IDLE == p_task_menu_dta->event))
- {
- p_task_menu_dta->flag = false;
- p_task_menu_dta->state = ST_MEN_XX_IDLE;
- }
- else
- {
- p_task_menu_dta->tick--;
- if (DEL_MEN_XX_MIN == p_task_menu_dta->tick)
- {
- p_task_menu_dta->tick = DEL_MEN_XX_MAX;
-
- /* Print out: LCD Display */
- snprintf(menu_str, sizeof(menu_str), "%lu", (g_task_menu_cnt/1000ul));
- displayCharPositionWrite(10, 1);
- displayStringWrite(menu_str);
- }
- }
-
- break;
-
- default:
-
- p_task_menu_dta->tick = DEL_MEN_XX_MIN;
- p_task_menu_dta->state = ST_MEN_XX_IDLE;
- p_task_menu_dta->event = EV_MEN_ENT_IDLE;
- p_task_menu_dta->flag = false;
-
- break;
- }
-}
-
-/********************** end of file ******************************************/
+/*
+ * Copyright (c) 2023 Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * @file : task_menu.c
+ * @date : Set 26, 2023
+ * @author : Juan Manuel Cruz <jcruz@fi.uba.ar> <jcruz@frba.utn.edu.ar>
+ * @version v1.0.0
+ */
+
+/********************** inclusions *******************************************/
+/* Project includes */
+#include "main.h"
+
+/* Demo includes */
+#include "logger.h"
+#include "dwt.h"
+
+/* Application & Tasks includes */
+#include "board.h"
+#include "app.h"
+#include "task_menu_attribute.h"
+#include "task_menu_interface.h"
+#include "display.h"
+
+/********************** macros and definitions *******************************/
+#define G_TASK_MEN_CNT_INI 0ul
+#define G_TASK_MEN_TICK_CNT_INI 0ul
+
+#define DEL_MEN_XX_MIN 0ul
+#define DEL_MEN_XX_MED 50ul
+#define DEL_MEN_XX_MAX 200ul
+
+/********************** internal data declaration ****************************/
+task_menu_dta_t task_menu_dta =
+ {DEL_MEN_XX_MIN, ST_MEN_MOTOR_SELECT, EV_MEN_ENT_IDLE, false};
+
+#define MENU_DTA_QTY (sizeof(task_menu_dta)/sizeof(task_menu_dta_t))
+
+/********************** internal functions declaration ***********************/
+void task_menu_statechart(void);
+
+/********************** internal data definition *****************************/
+const char *p_task_menu = "Task Menu (Interactive Menu)";
+const char *p_task_menu_ = "Non-Blocking & Update By Time Code";
+
+/********************** external data declaration ****************************/
+uint32_t g_task_menu_cnt;
+volatile uint32_t g_task_menu_tick_cnt;
+
+/********************** external functions definition ************************/
+void task_menu_init(void *parameters)
+{
+ task_menu_dta_t *p_task_menu_dta;
+ task_menu_st_t state;
+ task_menu_ev_t event;
+ bool b_event;
+
+ /* Print out: Task Initialized */
+ LOGGER_INFO(" ");
+ LOGGER_INFO(" %s is running - %s", GET_NAME(task_menu_init), p_task_menu);
+ LOGGER_INFO(" %s is a %s", GET_NAME(task_menu), p_task_menu_);
+
+ /* Init & Print out: Task execution counter */
+ g_task_menu_cnt = G_TASK_MEN_CNT_INI;
+ LOGGER_INFO(" %s = %lu", GET_NAME(g_task_menu_cnt), g_task_menu_cnt);
+
+ init_queue_event_task_menu();
+
+ /* Update Task Actuator Configuration & Data Pointer */
+ p_task_menu_dta = &task_menu_dta;
+
+ /* Init & Print out: Task execution FSM */
+ state = ST_MEN_MOTOR_SELECT;
+ p_task_menu_dta->state = state;
+
+ event = EV_MEN_ENT_IDLE;
+ p_task_menu_dta->event = event;
+
+ b_event = false;
+ p_task_menu_dta->flag = b_event;
+
+ LOGGER_INFO(" ");
+ LOGGER_INFO(" %s = %lu %s = %lu %s = %s",
+ GET_NAME(state), (uint32_t)state,
+ GET_NAME(event), (uint32_t)event,
+ GET_NAME(b_event), (b_event ? "true" : "false"));
+
+ /* Init & Print out: LCD Display */
+ displayInit(DISPLAY_CONNECTION_GPIO_4BITS);
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Motor ");
+}
+
+void task_menu_update(void *parameters)
+{
+ bool b_time_update_required = false;
+
+ /* Protect shared resource */
+ __asm("CPSID i"); /* disable interrupts */
+ if (G_TASK_MEN_TICK_CNT_INI < g_task_menu_tick_cnt)
+ {
+ /* Update Tick Counter */
+ g_task_menu_tick_cnt--;
+ b_time_update_required = true;
+ }
+ __asm("CPSIE i"); /* enable interrupts */
+
+ while (b_time_update_required)
+ {
+ /* Update Task Counter */
+ g_task_menu_cnt++;
+
+ /* Run Task Menu Statechart */
+ task_menu_statechart();
+
+ /* Protect shared resource */
+ __asm("CPSID i"); /* disable interrupts */
+ if (G_TASK_MEN_TICK_CNT_INI < g_task_menu_tick_cnt)
+ {
+ /* Update Tick Counter */
+ g_task_menu_tick_cnt--;
+ b_time_update_required = true;
+ }
+ else
+ {
+ b_time_update_required = false;
+ }
+ __asm("CPSIE i"); /* enable interrupts */
+ }
+}
+
+void task_menu_statechart(void)
+{
+ task_menu_dta_t *p_task_menu_dta;
+ // char menu_str[8];
+
+ /* Update Task Menu Data Pointer */
+ p_task_menu_dta = &task_menu_dta;
+
+ if (true == any_event_task_menu())
+ {
+ p_task_menu_dta->flag = true;
+ p_task_menu_dta->event = get_event_task_menu();
+ }
+
+ switch (p_task_menu_dta->state)
+ {
+ case ST_MEN_MOTOR_SELECT:
+
+ if (true == p_task_menu_dta->flag)
+ {
+ p_task_menu_dta->flag = false;
+ switch (p_task_menu_dta->event)
+ {
+ case EV_MEN_ENT_ACTIVE:
+ p_task_menu_dta->state = ST_MEN_MOTOR_POWER;
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Power ");
+ break;
+ case EV_MEN_ESC_ACTIVE:
+ break;
+ default:
+ break;
+ }
+ }
+
+ break;
+
+ case ST_MEN_MOTOR_POWER:
+
+ if (true == p_task_menu_dta->flag)
+ {
+ p_task_menu_dta->flag = false;
+ switch (p_task_menu_dta->event)
+ {
+ case EV_MEN_NEX_ACTIVE:
+ p_task_menu_dta->state = ST_MEN_MOTOR_SPEED;
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Speed ");
+ break;
+ case EV_MEN_ESC_ACTIVE:
+ p_task_menu_dta->state = ST_MEN_MOTOR_SELECT;
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Motor ");
+ break;
+ default:
+ break;
+ }
+ }
+
+ break;
+
+ case ST_MEN_MOTOR_SPEED:
+
+ if (true == p_task_menu_dta->flag)
+ {
+ p_task_menu_dta->flag = false;
+ switch (p_task_menu_dta->event)
+ {
+ case EV_MEN_NEX_ACTIVE:
+ p_task_menu_dta->state = ST_MEN_MOTOR_SPIN;
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Spin ");
+ break;
+ case EV_MEN_ESC_ACTIVE:
+ p_task_menu_dta->state = ST_MEN_MOTOR_SELECT;
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Motor ");
+ break;
+ default:
+ break;
+ }
+ }
+
+ break;
+
+ case ST_MEN_MOTOR_SPIN:
+
+ if (true == p_task_menu_dta->flag)
+ {
+ p_task_menu_dta->flag = false;
+ switch (p_task_menu_dta->event)
+ {
+ case EV_MEN_NEX_ACTIVE:
+ p_task_menu_dta->state = ST_MEN_MOTOR_POWER;
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Power ");
+ break;
+
+ case EV_MEN_ESC_ACTIVE:
+ p_task_menu_dta->state = ST_MEN_MOTOR_SELECT;
+ displayCharPositionWrite(0, 0);
+ displayStringWrite("> Motor ");
+ break;
+ default:
+ break;
+ }
+ }
+
+ break;
+
+ default:
+
+ p_task_menu_dta->tick = DEL_MEN_XX_MIN;
+ p_task_menu_dta->state = ST_MEN_MOTOR_SELECT;
+ p_task_menu_dta->event = EV_MEN_ENT_IDLE;
+ p_task_menu_dta->flag = false;
+
+ break;
+ }
+}
+
+/********************** end of file ******************************************/
diff --git a/app/src/task_sensor.c b/app/src/task_sensor.c
@@ -60,12 +60,12 @@
/********************** internal data declaration ****************************/
const task_sensor_cfg_t task_sensor_cfg_list[] = {
- {ID_BTN_ENT, BTN_ENT_PORT, BTN_ENT_PIN, BTN_ENT_PRESSED, DEL_BTN_XX_MAX,
- EV_MEN_ENT_IDLE, EV_MEN_ENT_ACTIVE},
- {ID_BTN_NEX, BTN_NEX_PORT, BTN_NEX_PIN, BTN_NEX_PRESSED, DEL_BTN_XX_MAX,
- EV_MEN_NEX_IDLE, EV_MEN_NEX_ACTIVE},
- {ID_BTN_ESC, BTN_ESC_PORT, BTN_ESC_PIN, BTN_ESC_PRESSED, DEL_BTN_XX_MAX,
- EV_MEN_ESC_IDLE, EV_MEN_ESC_ACTIVE}
+ {ID_BTN_ENT, BTN_ENT_PORT, BTN_ENT_PIN, BTN_ENT_PRESSED, DEL_BTN_XX_MAX,
+ EV_MEN_ENT_IDLE, EV_MEN_ENT_ACTIVE},
+ {ID_BTN_NEX, BTN_NEX_PORT, BTN_NEX_PIN, BTN_NEX_PRESSED, DEL_BTN_XX_MAX,
+ EV_MEN_NEX_IDLE, EV_MEN_NEX_ACTIVE},
+ {ID_BTN_ESC, BTN_ESC_PORT, BTN_ESC_PIN, BTN_ESC_PRESSED, DEL_BTN_XX_MAX,
+ EV_MEN_ESC_IDLE, EV_MEN_ESC_ACTIVE}
};
#define SENSOR_CFG_QTY (sizeof(task_sensor_cfg_list)/sizeof(task_sensor_cfg_t))
@@ -166,91 +166,91 @@ void task_sensor_update(void *parameters)
void task_sensor_statechart(void)
{
- uint32_t index;
- const task_sensor_cfg_t *p_task_sensor_cfg;
- task_sensor_dta_t *p_task_sensor_dta;
+ uint32_t index;
+ const task_sensor_cfg_t *p_task_sensor_cfg;
+ task_sensor_dta_t *p_task_sensor_dta;
- for (index = 0; SENSOR_DTA_QTY > index; index++)
- {
- /* Update Task Sensor Configuration & Data Pointer */
- p_task_sensor_cfg = &task_sensor_cfg_list[index];
- p_task_sensor_dta = &task_sensor_dta_list[index];
-
- if (p_task_sensor_cfg->pressed == HAL_GPIO_ReadPin(p_task_sensor_cfg->gpio_port, p_task_sensor_cfg->pin))
- {
- p_task_sensor_dta->event = EV_BTN_XX_DOWN;
- }
- else
- {
- p_task_sensor_dta->event = EV_BTN_XX_UP;
- }
-
- switch (p_task_sensor_dta->state)
- {
- case ST_BTN_XX_UP:
-
- if (EV_BTN_XX_DOWN == p_task_sensor_dta->event)
- {
- p_task_sensor_dta->tick = p_task_sensor_cfg->tick_max;
- p_task_sensor_dta->state = ST_BTN_XX_FALLING;
- }
-
- break;
-
- case ST_BTN_XX_FALLING:
-
- p_task_sensor_dta->tick--;
- if (DEL_BTN_XX_MIN == p_task_sensor_dta->tick)
- {
- if (EV_BTN_XX_DOWN == p_task_sensor_dta->event)
- {
- put_event_task_menu(p_task_sensor_cfg->signal_down);
- p_task_sensor_dta->state = ST_BTN_XX_DOWN;
- }
- else
- {
- p_task_sensor_dta->state = ST_BTN_XX_UP;
- }
- }
-
- break;
-
- case ST_BTN_XX_DOWN:
-
- if (EV_BTN_XX_UP == p_task_sensor_dta->event)
- {
- p_task_sensor_dta->state = ST_BTN_XX_RISING;
- p_task_sensor_dta->tick = p_task_sensor_cfg->tick_max;
- }
-
- break;
-
- case ST_BTN_XX_RISING:
-
- p_task_sensor_dta->tick--;
- if (DEL_BTN_XX_MIN == p_task_sensor_dta->tick)
- {
- if (EV_BTN_XX_UP == p_task_sensor_dta->event)
- {
- put_event_task_menu(p_task_sensor_cfg->signal_up);
- p_task_sensor_dta->state = ST_BTN_XX_UP;
- }
- else
- {
- p_task_sensor_dta->state = ST_BTN_XX_DOWN;
- }
- }
-
- break;
-
- default:
-
- p_task_sensor_dta->tick = DEL_BTN_XX_MIN;
- p_task_sensor_dta->state = ST_BTN_XX_UP;
- p_task_sensor_dta->event = EV_BTN_XX_UP;
-
- break;
- }
- }
+ for (index = 0; SENSOR_DTA_QTY > index; index++)
+ {
+ /* Update Task Sensor Configuration & Data Pointer */
+ p_task_sensor_cfg = &task_sensor_cfg_list[index];
+ p_task_sensor_dta = &task_sensor_dta_list[index];
+
+ if (p_task_sensor_cfg->pressed == HAL_GPIO_ReadPin(p_task_sensor_cfg->gpio_port, p_task_sensor_cfg->pin))
+ {
+ p_task_sensor_dta->event = EV_BTN_XX_DOWN;
+ }
+ else
+ {
+ p_task_sensor_dta->event = EV_BTN_XX_UP;
+ }
+
+ switch (p_task_sensor_dta->state)
+ {
+ case ST_BTN_XX_UP:
+
+ if (EV_BTN_XX_DOWN == p_task_sensor_dta->event)
+ {
+ p_task_sensor_dta->tick = p_task_sensor_cfg->tick_max;
+ p_task_sensor_dta->state = ST_BTN_XX_FALLING;
+ }
+
+ break;
+
+ case ST_BTN_XX_FALLING:
+
+ p_task_sensor_dta->tick--;
+ if (DEL_BTN_XX_MIN == p_task_sensor_dta->tick)
+ {
+ if (EV_BTN_XX_DOWN == p_task_sensor_dta->event)
+ {
+ put_event_task_menu(p_task_sensor_cfg->signal_down);
+ p_task_sensor_dta->state = ST_BTN_XX_DOWN;
+ }
+ else
+ {
+ p_task_sensor_dta->state = ST_BTN_XX_UP;
+ }
+ }
+
+ break;
+
+ case ST_BTN_XX_DOWN:
+
+ if (EV_BTN_XX_UP == p_task_sensor_dta->event)
+ {
+ p_task_sensor_dta->state = ST_BTN_XX_RISING;
+ p_task_sensor_dta->tick = p_task_sensor_cfg->tick_max;
+ }
+
+ break;
+
+ case ST_BTN_XX_RISING:
+
+ p_task_sensor_dta->tick--;
+ if (DEL_BTN_XX_MIN == p_task_sensor_dta->tick)
+ {
+ if (EV_BTN_XX_UP == p_task_sensor_dta->event)
+ {
+ put_event_task_menu(p_task_sensor_cfg->signal_up);
+ p_task_sensor_dta->state = ST_BTN_XX_UP;
+ }
+ else
+ {
+ p_task_sensor_dta->state = ST_BTN_XX_DOWN;
+ }
+ }
+
+ break;
+
+ default:
+
+ p_task_sensor_dta->tick = DEL_BTN_XX_MIN;
+ p_task_sensor_dta->state = ST_BTN_XX_UP;
+ p_task_sensor_dta->event = EV_BTN_XX_UP;
+
+ break;
+ }
+ }
}
/********************** end of file ******************************************/
diff --git a/tdse-tp3_04-interactive_menu.cfg b/tdse-tp3_04-interactive_menu.cfg
@@ -20,7 +20,7 @@ set ENABLE_LOW_POWER 1
set STOP_WATCHDOG 1
# STlink Debug clock frequency
-set CLOCK_FREQ 8000
+set CLOCK_FREQ 24000
# Reset configuration
# use software system reset if reset done
