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Initial public release.

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This commit is contained in:
Joe Kearney 2025-02-01 19:22:12 -06:00
parent 7b169e8116
commit dac4af8d25
255 changed files with 68595 additions and 2 deletions
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223
2020TPCApp1.cydsn/Fire_Control.c Normal file
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/* Include Files */
#include "KTag.h"
#define FIRE_CONTROL_REGISTER__IR_OFF 0b00000
#define FIRE_CONTROL_REGISTER__IR_ON_MODULATED_LOW_POWER 0b00011
#define FIRE_CONTROL_REGISTER__IR_ON_MODULATED_HIGH_POWER 0b00101
#define FIRE_CONTROL_REGISTER__IR_ON_MODULATED_MAX_POWER 0b11111
#define FIRE_CONTROL_REGISTER__IR_ON_UNMODULATED_LOW_POWER 0b00010
#define FIRE_CONTROL_REGISTER__IR_ON_UNMODULATED_HIGH_POWER 0b00100
#define FIRE_CONTROL_REGISTER__IR_ON_UNMODULATED_MAX_POWER 0b00110
#define TRIGGER_STATUS_REGISTER__NO_ACTION 0x00
#define TRIGGER_STATUS_REGISTER__TRIGGER_PULLED 0x01
#define TRIGGER_STATUS_REGISTER__TRIGGER_RELEASED 0x02
void Trigger_Interrupt_ISR();
void Bit_Stream_Timer_ISR();
TimedPulseTrain_T * Shot_Buffer;
TagPacket_T Shot_Packet;
TaskHandle_t Fire_Control_Task_Handle;
static TimedPulseTrain_T * Active_Pulse_Train = NULL;
static uint8_t Active_Bitstream_Index = 0;
static TickType_t TicksAtTriggerPress;
static inline void Initiate_Pulse_Train(TimedPulseTrain_T * pulsetrain)
{
Bit_Stream_Timer_Disable();
Active_Pulse_Train = pulsetrain;
Active_Bitstream_Index = 0;
if (Active_Pulse_Train->bitstream[Active_Bitstream_Index].symbol == MARK)
{
Fire_Control_Register_Write(FIRE_CONTROL_REGISTER__IR_ON_MODULATED_MAX_POWER);
}
else
{
Fire_Control_Register_Write(FIRE_CONTROL_REGISTER__IR_OFF);
}
Bit_Stream_Timer_SetPeriod(Active_Pulse_Train->bitstream[0].duration);
Bit_Stream_Timer_SetCounter(0);
Active_Bitstream_Index++;
Bit_Stream_Timer_Enable();
Bit_Stream_Timer_TriggerStart();
}
static inline void Next_Bit(void)
{
static BaseType_t xHigherPriorityTaskWoken = pdFALSE;
Bit_Stream_Timer_Disable();
if (Active_Pulse_Train->bitstream[Active_Bitstream_Index].duration != LAST_PULSE)
{
if (Active_Pulse_Train->bitstream[Active_Bitstream_Index].symbol == MARK)
{
Fire_Control_Register_Write(FIRE_CONTROL_REGISTER__IR_ON_MODULATED_MAX_POWER);
}
else
{
Fire_Control_Register_Write(FIRE_CONTROL_REGISTER__IR_OFF);
}
if (Active_Bitstream_Index < ((2*MAX_PULSES) - 2))
{
Bit_Stream_Timer_SetPeriod(Active_Pulse_Train->bitstream[Active_Bitstream_Index].duration);
Bit_Stream_Timer_SetCounter(0);
Active_Bitstream_Index++;
Bit_Stream_Timer_Enable();
Bit_Stream_Timer_TriggerStart();
}
else
{
// The bitstream is too long!
// Turn the IR Emitter off, and wait a long time.
Fire_Control_Register_Write(FIRE_CONTROL_REGISTER__IR_OFF);
xSemaphoreGiveFromISR(NeoPixels_Semaphore, &xHigherPriorityTaskWoken);
Bit_Stream_Timer_SetPeriod(UINT16_MAX);
Bit_Stream_Timer_SetCounter(0);
Active_Pulse_Train = NULL;
Bit_Stream_Timer_Enable();
Bit_Stream_Timer_TriggerStart();
}
}
else
{
// Turn the IR Emitter off, and wait a long time.
Fire_Control_Register_Write(FIRE_CONTROL_REGISTER__IR_OFF);
xSemaphoreGiveFromISR(NeoPixels_Semaphore, &xHigherPriorityTaskWoken);
Bit_Stream_Timer_SetPeriod(UINT16_MAX);
Bit_Stream_Timer_SetCounter(0);
Active_Pulse_Train = NULL;
Bit_Stream_Timer_Enable();
Bit_Stream_Timer_TriggerStart();
}
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
void Init_Fire_Control(void)
{
// Register and enable the ISRs.
Cy_SysInt_Init(&Trigger_Interrupt_cfg, Trigger_Interrupt_ISR);
Cy_SysInt_Init(&Bit_Stream_Timer_Interrupt_cfg, Bit_Stream_Timer_ISR);
NVIC_EnableIRQ(Trigger_Interrupt_cfg.intrSrc);
NVIC_EnableIRQ(Bit_Stream_Timer_Interrupt_cfg.intrSrc);
// Initialize the hardware.
Bit_Stream_Timer_Clock_Enable();
Bit_Stream_Timer_Init(&Bit_Stream_Timer_config);
Bit_Stream_Timer_SetPeriod(2);
Bit_Stream_Timer_Start();
SW_CLK_Enable();
PWM_IR_Modulation_Start();
Fire_Control_Register_Write(FIRE_CONTROL_REGISTER__IR_OFF);
}
void Fire_Control_Task(void * pvParameters)
{
while (true)
{
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
SystemKResult_T Prepare_Tag()
{
Shot_Packet.player_ID = NVM_PLAYER_ID;
Shot_Packet.team_ID = NVM_TEAM_ID;
Weapon_t weapon = GetWeaponFromID(NVM_WEAPON_ID);
Shot_Packet.color = (uint32_t)PROTOCOLS_GetColor(weapon.Protocol, Shot_Packet.team_ID, Shot_Packet.player_ID);
Shot_Packet.protocol = weapon.Protocol;
Shot_Packet.damage = weapon.Damage_Per_Shot;
Shot_Buffer = PROTOCOLS_EncodePacket(&Shot_Packet);
Fire_Control_Set_Modulation_Frequency(PROTOCOLS_GetModulationFrequency(weapon.Protocol));
return SYSTEMK_RESULT_SUCCESS;
}
SystemKResult_T Send_Tag()
{
xSemaphoreTake(NeoPixels_Semaphore, portMAX_DELAY);
Initiate_Pulse_Train(Shot_Buffer);
KEvent_T tag_sent_event = { .ID = KEVENT_TAG_SENT, .Data = (void *)0x00 };
Post_KEvent(&tag_sent_event);
return SYSTEMK_RESULT_SUCCESS;
}
void Fire_Control_Set_Modulation_Frequency(ModulationFrequency_T freq)
{
PWM_IR_Modulation_TriggerKill();
if (freq == FREQUENCY_38kHz)
{
PWM_IR_Modulation_SetPeriod0(314);
//PWM_IR_Modulation_SetCompare0(314/2); // 50% Duty Cycle
PWM_IR_Modulation_SetCompare0((314 * 3)/10); // 30% Duty Cycle
}
else // (freq == FREQUENCY_56kHz)
{
PWM_IR_Modulation_SetPeriod0(213);
//PWM_IR_Modulation_SetCompare0(213/2); // 50% Duty Cycle
PWM_IR_Modulation_SetCompare0((213 * 3)/10); // 30% Duty Cycle
}
PWM_IR_Modulation_TriggerStart();
}
//! ISR for the trigger input.
void Trigger_Interrupt_ISR()
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
// Clear the interrupt.
NVIC_ClearPendingIRQ(Trigger_Interrupt_cfg.intrSrc);
// Read the trigger register to know if this was a pull or a release.
uint8_t trigger_status = Trigger_Status_Reg_Read();
if ((trigger_status & TRIGGER_STATUS_REGISTER__TRIGGER_PULLED) == TRIGGER_STATUS_REGISTER__TRIGGER_PULLED)
{
TicksAtTriggerPress = xTaskGetTickCountFromISR();
KEvent_T switch_event = {.ID = KEVENT_CENTER_SWITCH_PRESSED, .Data = NULL};
Post_KEvent_From_ISR(&switch_event, &xHigherPriorityTaskWoken);
}
else if ((trigger_status & TRIGGER_STATUS_REGISTER__TRIGGER_RELEASED) == TRIGGER_STATUS_REGISTER__TRIGGER_RELEASED)
{
uint32_t triggerPressDurationInms = pdTICKS_TO_MS(xTaskGetTickCountFromISR() - TicksAtTriggerPress);
KEvent_T switch_event = {.ID = KEVENT_CENTER_SWITCH_RELEASED, .Data = (void *) triggerPressDurationInms};
Post_KEvent_From_ISR(&switch_event, &xHigherPriorityTaskWoken);
}
else
{
// What happened!!?
}
// If an event was enqueued above, a context switch might be required.
// xHigherPriorityTaskWoken was initialized to pdFALSE on interrupt entry. If calling
// xSemaphoreGiveFromISR() caused a task to unblock, and the unblocked task has a
// priority equal to or higher than the currently running task (the task that was
// interrupted by this ISR), then xHigherPriorityTaskWoken will have been set to pdTRUE
// and portEND_SWITCHING_ISR() will request a context switch to the newly unblocked task.
portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}
void Bit_Stream_Timer_ISR()
{
// Get all the enabled pending interrupts...
uint32_t source = Bit_Stream_Timer_GetInterruptStatusMasked();
// ...and clear them.
Bit_Stream_Timer_ClearInterrupt(source);
if (Active_Pulse_Train != NULL)
{
Next_Bit();
}
}