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

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/****************************************************************************
Module
BumperService.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 "BumperService.h"
#include "PoundDefines.h"
#include "MasterSM.h"
#include "PWMService.h"
#include "InitializeService.h"

/*----------------------------- Module Defines ----------------------------*/

/*---------------------------- Module Functions ---------------------------*/
/*---------------------------- Module Variables ---------------------------*/
static uint8_t MyPriority;
static CurrentBumperState_t CurrentBumperState;
static uint8_t LastBumperState;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
InitBumperService
Parameters
uint8_t : the priorty of this service

Returns
bool, false if error in initialization, true otherwise
Description

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\BumperService.c
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Saves away the priority, and does any

other required initialization for this service

Author
Anne Alter, Derrick Contreras
****************************************************************************/
bool InitBumperService (uint8_t Priority)
{
//Set priority
MyPriority = Priority;
//initialize this event
ES_Event ThisEvent;
//initialize LastButtonState variable by reading buttons 1, 2, and 3
LastBumperState = (HWREG(GPIO_PORTC_BASE+(GPIO_O_DATA+ALL_BITS)) &
(LEFT_BUMPER|FRONT_BUMPER|RIGHT_BUMPER));
//Set CurrentState to Debouncing
CurrentBumperState = Debouncing;
//Start debounce timer (timer posts to ButtonDebounceSM)
ES_Timer_InitTimer(DEBOUNCE_TIMER, DEBOUNCE_TIME);
// post the initial transition event
ThisEvent.EventType = ES_INIT;

if (ES_PostToService( MyPriority, ThisEvent) == true)

{
return true;
}else
{
return false;
}

/****************************************************************************
Function
PostBumperService
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, 2/14/16
****************************************************************************/
bool PostBumperService(ES_Event ThisEvent)
{
return ES_PostToService(MyPriority, ThisEvent);
}
/****************************************************************************
Function
CheckBumperEvents
Parameters
None

Returns
bool, false if queue operation failed, true otherwise
Description

Author
Anne Alter, Derrick Contreras
****************************************************************************/
bool CheckBumperEvents(void)
{
//Initialize ReturnVal
bool ReturnVal = false;

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\BumperService.c
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//initialize ThisEvent
ES_Event ThisEvent;
//Set CurrentButtonState to read from 3 bumper button ports
uint8_t CurrentBumperState = (HWREG(GPIO_PORTC_BASE+(GPIO_O_DATA+ALL_BITS)) &
(LEFT_BUMPER|FRONT_BUMPER|RIGHT_BUMPER));
//If CurrentButtonState does not equal LastButtonState
if (CurrentBumperState != LastBumperState) {
//ReturnVal equals true
ReturnVal = true;
//If CurrentButtonState equals front bumper (does not acct for left or right bumpers)
if (((CurrentBumperState & FRONT_BUMPER) != FRONT_BUMPER) || ((CurrentBumperState & LEFT_BUMPER) !=
LEFT_BUMPER) || ((CurrentBumperState & RIGHT_BUMPER) != RIGHT_BUMPER))
{
//Post BUMPER_DOWN event to ButtonService queue
ThisEvent.EventType = BUMPER_DOWN;
PostBumperService(ThisEvent);
printf("BUMPER_DOWN EVENT \r\n");
//Else
}
else
{
//Post BUMPER_UP event to ButtonService queue
ThisEvent.EventType = BUMPER_UP;
PostBumperService(ThisEvent);
}
}
//Set LastBumperState equal to CurrentBumperState
LastBumperState = CurrentBumperState;
//Return ReturnVal
return ReturnVal;
}
/****************************************************************************
Function
RunBumperService
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 RunBumperService(ES_Event CurrentEvent)
{
//Initialize ReturnEvent
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors

//Switch CurrentState
switch (CurrentBumperState) {
//Case Debouncing
case Debouncing:
//If debounce timer timeout
if ((CurrentEvent.EventType == ES_TIMEOUT) && (CurrentEvent.EventParam == DEBOUNCE_TIMER)) {
//CurrentState is Ready2Sample
CurrentBumperState = Ready2Sample;
}
break;
//Case Ready2Sample
case Ready2Sample:
//If BUTTON_UP event
if (CurrentEvent.EventType == BUMPER_UP) {
//Start button debounce timer
ES_Timer_InitTimer(DEBOUNCE_TIMER, DEBOUNCE_TIME);
//CurrentState is Debouncing

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\BumperService.c
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CurrentBumperState = Debouncing;
}
//ElseIf BUMPER_DOWN event
else if (CurrentEvent.EventType == BUMPER_DOWN) {
//Start debounce timer
ES_Timer_InitTimer(DEBOUNCE_TIMER, DEBOUNCE_TIME);
//CurrentState is Debouncing
CurrentBumperState = Debouncing;
//Post ButtonUp event
ES_Event ThisEvent;
ThisEvent.EventType = BUMP;
//Param might be which bumper was detected
//ThisEvent.EventParam
PostMasterSM(ThisEvent);
printf("BUMP event from bumper service \r\n");
}
break;

}
//Return ReturnEvent
return ReturnEvent;
}