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

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/****************************************************************************
Module
DriveAlongTrailSM.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 "DriveAlongTrailSM.h"
#include "DriveService.h"
#include "PoundDefines.h"
#include "PWMService.h"
#include "ADMulti.h"
#include "PACService.h"

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

#define ENTRY_STATE Driving
/*---------------------------- Module Functions ---------------------------*/
static ES_Event DuringDriving(ES_Event Event);
//static ES_Event DuringTurning(ES_Event Event);
static ES_Event DuringDriveTurnAround(ES_Event Event);
/*---------------------------- Module Variables ---------------------------*/
static CurrentDriveAlongTrailState_t CurrentDriveAlongTrailState;
static uint32_t HallEffectSubtract;
//static uint8_t FifthByte;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
RunDriveAlongTrailSM
Parameters

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\DriveAlongTrailSM.c
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ES_Event : the event to process

Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description

Author
Anne Alter, Derrick Contreras
****************************************************************************/
ES_Event RunDriveAlongTrailSM(ES_Event CurrentEvent)
{
//Local Variables: MakeTransition, NextState, EntryEventKind, ReturnEvent
bool MakeTransition = false;
CurrentDriveAlongTrailState_t NextState = CurrentDriveAlongTrailState;
ES_Event EntryEventKind = {ES_ENTRY, 0};
ES_Event ReturnEvent = CurrentEvent; //not consuming the event
//Switch CurrentDriveAlongTrailState
switch(CurrentDriveAlongTrailState)
{
//Case Driving:
case Driving:
//Set CurrentEvent to DuringDriving
CurrentEvent = DuringDriving(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
//Case: BUMP Event
case BUMP:
printf("BUMP from DriveAlongTrail \r\n");
//NextState is BumperTurnAround
NextState = DriveTurnAround;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;
}
}
break;

//Case DriveTurnAround:
case DriveTurnAround:
//Set CurrentEvent to DuringDriveTurnAround
CurrentEvent = DuringDriveTurnAround(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 == REVERSE_TIMER)
{
Turn180();
printf("TURN 180 FROM DRIVE ALONG TRAIL \r\n");

//NextState is BumperTurnAround
NextState = DriveTurnAround;
//MakeTransition is True
MakeTransition = false;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;

}
else if (CurrentEvent.EventParam == ROTATION_TIMER)
{

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\DriveAlongTrailSM.c
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//stop
Stop();
printf("STOP FROM DRIVE ALONG TRAIL \r\n");

//NextState is Driving
NextState = Driving;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;

}
break;

}
}
break;
}
//If MakeTransition is true
if(MakeTransition == true)
{
//Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
//Call RunDriveAlongTrailSM function
RunDriveAlongTrailSM(CurrentEvent);
//CurrentDriveAlongTrailState equals NextState
CurrentDriveAlongTrailState = NextState;
//Execute entry function for current state
RunDriveAlongTrailSM(EntryEventKind);
}
}

//return ReturnEvent
return(ReturnEvent);

/****************************************************************************
Function
StartDriveAlongTrailSM
Parameters
None
Returns
None

Description
Does any required initialization for SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void StartDriveAlongTrailSM(ES_Event CurrentEvent)
{
//If ES_ENTRY_HISTORY does not equal CurrentEvent.EventType
if(CurrentEvent.EventType != ES_ENTRY_HISTORY)
{
//call the entry state for the state machine
CurrentDriveAlongTrailState = ENTRY_STATE;
}
//call the entry function for the entry state
RunDriveAlongTrailSM(CurrentEvent);

}
/****************************************************************************
Function
QueryDriveAlongTrailSM
Parameters
None

Returns
The current state of the state machine
Description

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\DriveAlongTrailSM.c
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Returns the current state of the state machine

Author

****************************************************************************/
CurrentDriveAlongTrailState_t QueryDrivingAlongTrail(void)
{
return(CurrentDriveAlongTrailState);
}
/****************************************************************************
Function
QueryHallEffectSubtract
Parameters
None

Returns
The current state of the state machine

Description
Returns the current state of the state machine

Author
Anne Alter, Derrick Contreras
****************************************************************************/
uint32_t QueryHallEffectSubtract(void)
{
return(HallEffectSubtract);
}
/*------------------------------ Private Functions ------------------------------*/
/****************************************************************************
Function
DuringDriving
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 DuringDriving(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//enable wire sensing interrupt
HWREG(WTIMER1_BASE+TIMER_O_IMR) |= TIMER_IMR_TATOIM;
HWREG(NVIC_EN3) |= BIT0HI;
}
else if(Event.EventType == ES_EXIT)
{
printf("WIRE SENSE DISABLED \r\n");
//disable wire sensing interrupt
HWREG(WTIMER1_BASE+TIMER_O_IMR) &= ~TIMER_IMR_TATOIM;
}
else
{
}
//Return ReturnEvent
return ReturnEvent;

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\DriveAlongTrailSM.c
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/****************************************************************************
Function
DuringDriveTurnAround
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 DuringDriveTurnAround(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
printf("REVERSE CALLED IN DRIVE ALONG TRAIL \r\n");
//drive in reverse
Reverse();
}
else if(Event.EventType == ES_EXIT)
{
}
else
{
}

//Return ReturnEvent
return ReturnEvent;