LED-Cube/CubeFirmware/main.c

/*
 * main.c
 *
 * Copyright 2011 Thomas Buck <xythobuz@me.com>
 * Copyright 2011 Max Nuding <max.nuding@gmail.com>
 * Copyright 2011 Felix Bäder <baeder.felix@gmail.com>
 *
 * This file is part of LED-Cube.
 *
 * LED-Cube is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * LED-Cube is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with LED-Cube.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef F_CPU
#define F_CPU 16000000L
#endif
 
#define OK 0x42
#define ERROR 0x23

#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <stdint.h>
#include <stdlib.h>
#include <avr/wdt.h>

#include "serial.h"
#include "cube.h"
#include "time.h"
#include "audio.h"
#include "mem.h"
#include "memLayer.h"
#include "twi.h"
#include "strings.h"
#include "visualizer.h"

#define NOERROR 0
// Audio does not answer
#define AUDIOERROR 1
// Memory does not answer
#define MEMORYERROR 2
// Memory not writeable
#define MEMORYWRITEERROR 4
// x = errorcode, e = error definition, not NOERROR
#define ISERROR(x, e) ((x) & (e))

// Length of an idle animation frame, 24 -> 1 second
#define IDLELENGTH 48

void serialHandler(char c);
void sendAudioData(void);
void recieveAnimations(void);
void transmitAnimations(void);
uint8_t audioModeSelected(void);
#ifdef DEBUG
void printErrors(uint8_t e);
uint8_t selfTest(void);
void printTime(void);

#include "snake.c"
#endif

uint8_t shouldRestart = 0;
uint8_t refreshAnimationCount = 1;
uint8_t lastButtonState = 0;
uint8_t mcusr_mirror;
char buffer[11];

uint8_t defaultImageA[64] = {	0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff,
								0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff,
								0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff,
								0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff,
								0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff,
								0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff,
								0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff,
								0xff, 0x01, 0x01, 0x01, 0xff, 0x80, 0x80, 0xff };

uint8_t defaultImageB[64] = {	0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81,
								0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81,
								0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81,
								0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81,
								0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81,
								0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81,
								0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81,
								0x7e, 0x81, 0x81, 0x81, 0xff, 0x81, 0x81, 0x81 };

uint8_t defaultImageC[64] = {	0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02,
								0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02,
								0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02,
								0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02,
								0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02,
								0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02,
								0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02,
								0x1e, 0x22, 0x22, 0x22, 0x1e, 0x02, 0x02, 0x02 };

uint8_t defaultImageCube[64] = {	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
									0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xFF,
									0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xFF,
									0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xFF,
									0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xFF,
									0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xFF,
									0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xFF,
									0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF };

#define IDLEANIMATIONCOUNT 3
uint8_t *idleAnimation[IDLEANIMATIONCOUNT] = { defaultImageA, defaultImageB, defaultImageC };

uint8_t DebugDone = 0; // Bit 0: 10s int. count, Bit 1: unused
					   // Bit 2: state changed, disable idle

int main(void) {
	uint8_t *audioData = NULL;
	uint8_t *imageData = NULL;
	uint8_t i, length = 0, lastMode;
	uint16_t count;
	uint64_t lastChecked;
	uint8_t idleCounter = 0;
#ifdef DEBUG
	uint32_t temp;
#endif

	mcusr_mirror = MCUCSR;
	MCUCSR = 0;
	wdt_disable();

	DDRA = 0xFF; // Latch Data Bus as Output
	DDRD = 0xFC; DDRB = 24; // Mosfets as Output
	DDRC = 0xFC; DDRB |= 6; // Latch Enable as Output
	DDRB &= ~(1 << PB0); // Pushbutton as Input

	initCube();
	serialInit(25, 8, NONE, 1);
	i2c_init();
	initSystemTimer();
	sei(); // Enable Interrupts

#ifndef DEBUG
	// wdt_enable(WDTO_500MS); // Enable watchdog reset after 500ms
	wdt_enable(WDTO_1S); // Watchdog reset after 1 second
#endif

	setImage(defaultImageCube); // Display something

#ifdef DEBUG
	// Kill animation counter in debug mode
	// => Don't preserve animations while power down
	setAnimationCount(0);

	i = selfTest();
	if (i) {
		serialWriteString(getString(1));
		serialWriteString(itoa(i, buffer, 2));
		serialWrite('\n');
		printErrors(i);
	}

	serialWriteString(getString(2));
	serialWriteString(getString(0));
	serialWriteString("Took ");
	serialWriteString(itoa(getSystemTime(), buffer, 10));
	serialWriteString(" ms!\n");

	if (mcusr_mirror & WDRF) {
		serialWriteString(getString(31));
	} else if (mcusr_mirror & BORF) {
		serialWriteString(getString(32));
	} else if (mcusr_mirror & EXTRF) {
		serialWriteString(getString(34));
	} else if (mcusr_mirror & JTRF) {
		serialWriteString(getString(35));
	} else if (mcusr_mirror & PORF) {
		serialWriteString(getString(36));
	} else {
		serialWriteString(getString(33));
	}
#endif

	lastMode = audioModeSelected();
	lastChecked = getSystemTime();

	i = 0;
	count = getAnimationCount();
	while (1) {
		// Reset if requested
		if (!shouldRestart) {
			wdt_reset();
		}

		if(lastMode) {
			// Get Audio Data and visualize it
			if (isFinished()) {
				audioData = getAudioData(); // Not malloc'ed => Don't free
				if (audioData != NULL) {
					simpleVisualization(audioData);
				}
			}
		} else {
			if (refreshAnimationCount) {
				// Get animation count stored in FRAM via TWI, if needed
				count = getAnimationCount();
				refreshAnimationCount = 0;
				i = 0;
			}

			if (count > 0) {
				if (isFinished() > length) {
					// Load next image
					if (i < (count - 1)) {
						i++;
					} else {
						i = 0;
					}

					imageData = getFrame(i);
					length = imageData[64];
					setImage(imageData);
					free(imageData);
				}
			} else {
				if (!(DebugDone & 4)) { // Idle animation allowed
					if (isFinished() >= IDLELENGTH) {
						// Should happen every half second
						setImage(idleAnimation[idleCounter]);
						if (idleCounter < (IDLEANIMATIONCOUNT - 1)) {
							idleCounter++;
						} else {
							idleCounter = 0;
						}
					}
				}
			}
		}

		if (serialHasChar()) {
			serialHandler((char)(serialGet()));
		}

#ifdef DEBUG
		// Print frames per second
		if ((getSystemTime() >= 1000) && ((DebugDone & 1) == 0)) {
			temp = getTriggerCount();
			serialWriteString(ltoa(temp, buffer, 10));
			serialWriteString(getString(27));
			serialWriteString(ltoa((temp / 8), buffer, 10));
			serialWriteString(getString(28));
			DebugDone |= 1;
		}

		// Show how stable we are running :)
		if (((getSystemTime() % 60000) == 0) && (getSystemTime() > 0)) {
			serialWriteString(getString(37));
			printTime();
		}
#endif

		if ((getSystemTime() - lastChecked) > 150) {
			lastMode = audioModeSelected();
			lastChecked = getSystemTime();
		} 
	}

	close();
	return 0;
}

#ifdef DEBUG
uint8_t selfTest(void) {
	uint8_t result = NOERROR;
	
	uint8_t *data = getAudioData();
	if (data == NULL) {
		result |= AUDIOERROR;
	} else {
		free(data);
	}

	data = memGetBytes(0, 1);
	if (data == NULL) {
		result |= MEMORYERROR;
	} else {
		free(data);
	}

	setGeneralPurposeByte(0, 0x23);
	if (getGeneralPurposeByte(0) != 0x23) {
		result |= MEMORYWRITEERROR;
	}

	return result;
}

void printErrors(uint8_t e) {
	if (ISERROR(e, AUDIOERROR)) {
		serialWriteString(getString(3));
	}
	if (ISERROR(e, MEMORYERROR)) {
		serialWriteString(getString(4));
	}
	if (ISERROR(e, MEMORYWRITEERROR)) {
		serialWriteString(getString(5));
	}
}

void randomAnimation(void) {
	uint8_t *b = (uint8_t *)malloc(64);
	uint8_t x, y, z;
	if (b == NULL) {
		serialWriteString(getString(24));
		return;
	}
	for (x = 0; x < 64; x++) {
		b[x] = 0;
	}
	while(1) {
		setImage(b);
		while(isFinished() == 0);
		x = rand() / 4096;
		y = rand() / 4096;
		z = rand() / 4096;
		b[x + (8 * y)] ^= (1 << z);

		if (serialHasChar()) {
			serialWriteString(getString(25));
			free(b);
			serialHandler(serialGet());
			return;
		}
	}
	free(b);
}
#endif

void serialHandler(char c) {
	// Used letters:
	// a, c, d, e, g, i, n, q, r, s, t, v, x, y, 0, 1, 2, 3
#ifdef DEBUG
	uint8_t i, y, z;
	serialWrite(c);
	serialWriteString(": ");
#endif

	switch(c) {
	case OK:
		serialWrite(OK);
		break;

	case 'h': case 'H': case '?':
		serialWriteString(getString(6));
#ifdef DEBUG
		serialWriteString(getString(7));
		serialWriteString(getString(8));
		serialWriteString(getString(9));
		serialWriteString(getString(10));
		serialWriteString(getString(11));
		serialWriteString(getString(12));
		serialWriteString(getString(13));
		serialWriteString(getString(26));
#endif
		break;

	case 'd': case 'D':
		clearMem();
#ifndef DEBUG
		serialWrite(OK);
#endif
#ifdef DEBUG
		serialWriteString(getString(29));
#endif
		break;

#ifndef DEBUG
	case 'g': case 'G':
		transmitAnimations();
		break;

	case 's': case 'S':
		recieveAnimations();
		break;
#endif

	case 'v': case 'V':
		serialWriteString(getString(0));
		break;

#ifdef DEBUG
	case 'm': case 'M':
		lastButtonState = !lastButtonState;
		serialWriteString(getString(40));
		break;

	case 'q': case 'Q':
		shouldRestart = 1;
		serialWriteString(getString(30));
		break;

	case 'r': case 'R':
		randomAnimation();
		break;

	case 't': case 'T':
		printTime();
		break;

	case 'a': case 'A':
		sendAudioData();
		break;

	case 'c': case 'C':
		serialWriteString(itoa(getAnimationCount(), buffer, 10));
		serialWriteString(getString(15));
		break;

	case 'x': case 'X':
		// Get byte, store as animation count
		serialWriteString(getString(16));
		while (!serialHasChar());
		c = serialGet();
		setAnimationCount(c);
		serialWriteString(itoa(c, buffer, 10));
		serialWriteString(getString(17));
		break;

	case 'y': case 'Y':
		setAnimationCount(0x2201);
		serialWriteString(getString(18));
		break;

	case 'e': case 'E':
		c = selfTest();
		serialWriteString(getString(19));
		serialWriteString(itoa(c, buffer, 2));
		serialWrite('\n');
		printErrors(c);
		break;

	case 'n': case 'N':
		snake();
		break;

	case '0':
		fillBuffer(0);
		DebugDone |= 4;
		break;

	case '1':
		fillBuffer(0xFF);
		DebugDone |= 4;
		break;

	case '3':
		setImage(defaultImageCube);
		DebugDone |= 4;
		break;

	case '2':
		DebugDone |= 4;
		fillBuffer(0);
		for (i = 0; i < 64; i++) {
			defaultImageA[i] = 0;
		}
		while(1) {
			for (i = 0; i < 8; i++) {
				for (y = 0; y < 8; y++) {
					defaultImageA[y + (i * 8)] = 0;
					for (z = 0; z < 8; z++) {
						defaultImageA[y + (i * 8)] |= (1 << z);
						setImage(defaultImageA);
						while (isFinished() == 0) {
							if (serialHasChar()) {
								goto killMeForIt; // Yes I know...
								// But I need to break out of 2 while Loops...
							}
						}
					}
					defaultImageA[y + (i * 8)] = 0;
				}
			}
		}
		break;
killMeForIt:
		serialGet();
		serialWriteString(getString(25));
		break;

	case 'I': case 'i':
		serialWriteString(ltoa(getTriggerCount(), buffer, 10));
		serialWrite('\n');
		break;
#endif

	default:
		serialWrite(ERROR);
		break;
	}
	// c was used as temp var and does not contain the char anymore...!
}

#ifdef DEBUG
void printTime(void) {
	serialWriteString(getString(14));
	serialWriteString(ltoa(getSystemTime(), buffer, 10));
	serialWriteString("ms");
	if (getSystemTime() > 60000) {
		serialWriteString(" (");
		serialWriteString(itoa(getSystemTime() / 60000, buffer, 10));
		serialWriteString(" min)");
	}
	if (getSystemTime() > 1000) {
		serialWriteString(" (");
		serialWriteString(itoa(getSystemTime() / 1000, buffer, 10));
		itoa(getSystemTime() % 1000, buffer, 10);
		if (buffer[0] != '\0')
			serialWrite('.');
		if (buffer[2] == '\0') 
			serialWrite('0');
		if (buffer[1] == '\0')
			serialWrite('0');
		if (buffer[0] != '\0')
			serialWriteString(buffer);
		serialWriteString("s)\n");
	} else {
		serialWrite('\n');
	}
}

void sendAudioData(void) {
	uint8_t i;
	uint8_t *audioData = getAudioData();
	if (audioData == NULL) {
		serialWriteString(getString(21));
	} else {
		serialWriteString(getString(22));
		for (i = 0; i < 7; i++) {
			serialWrite(i + '0');
			serialWriteString(": ");
			itoa(audioData[i], buffer, 10);
			serialWriteString(buffer);
			serialWrite('\n');
		}
	}
}
#endif

void recieveAnimations() {
	uint8_t animCount, a, frameCount, f, i;
	uint16_t completeCount = 0, character;
	uint8_t frame[65];

	serialWrite(OK); // We are ready...

	character = serialGet();
	while (character & 0xFF00) { // Wait for answer
		character = serialGet();
	}

	animCount = (uint8_t)(character & 0x00FF); // Got animation count
	serialWrite(OK);

	for (a = 0; a < animCount; a++) {
		character = serialGet();
		while (character & 0xFF00) { // Wait for answer
			character = serialGet();
		}

		frameCount = (uint8_t)(character & 0x00FF); // Got frame count
		serialWrite(OK);

		for (f = 0; f < frameCount; f++) {
			character = serialGet();
			while (character & 0xFF00) { // Wait for answer
				character = serialGet();
			}

			frame[64] = (uint8_t)(character & 0x00FF); // Got duration
			serialWrite(OK);

			for (i = 0; i < 64; i++) {
				character = serialGet();
				while (character & 0xFF00) { // Wait for answer
					character = serialGet();
				}

				frame[i] = (uint8_t)(character & 0x00FF); // Got data byte
			}
			serialWrite(OK);

			setFrame(completeCount++, frame);
		}
	}

	character = serialGet();
	while (character & 0xFF00) { // Wait for answer
		character = serialGet();
	}
	character = serialGet();
	while (character & 0xFF00) { // Wait for answer
		character = serialGet();
	}
	character = serialGet();
	while (character & 0xFF00) { // Wait for answer
		character = serialGet();
	}
	character = serialGet();
	while (character & 0xFF00) { // Wait for answer
		character = serialGet();
	}
	serialWrite(OK);
	setAnimationCount(completeCount);
	refreshAnimationCount = 1;
}

void transmitAnimations() {
	// We store no animation information in here
	// So we have to place all frames in one or more
	// animations... We need 8 animations max...
	uint8_t animationsToGo;
	uint16_t framesToGo = getAnimationCount();
	uint16_t character;
	uint8_t a;
	uint8_t f, fMax, i;
	uint8_t *frame;

	if ((framesToGo % 255) == 0) {
		animationsToGo = framesToGo / 255;
	} else {
		animationsToGo = (framesToGo / 255) + 1;
	}

	serialWrite(OK);
	serialWrite(animationsToGo);
	while ((character = serialGet()) & 0xFF00); // Wait for answer
	if ((character & 0x00FF) != OK) { // Error code recieved
		return;
	}

	for (a = 0; a < animationsToGo; a++) {
		if (framesToGo > 255) {
			fMax = 255;
		} else {
			fMax = framesToGo;
		}

		serialWrite(fMax); // Number of Frames in current animation
		while ((character = serialGet()) & 0xFF00); // Wait for answer
		if ((character & 0x00FF) != OK) { // Error code recieved
			return;
		}

		for (f = 0; f < fMax; f++) {
			frame = getFrame(f + (255 * a));

			serialWrite(frame[64]); // frame duration
			while ((character = serialGet()) & 0xFF00); // Wait for answer
			if ((character & 0x00FF) != OK) { // Error code recieved
				free(frame);
				return;
			}

			for (i = 0; i < 64; i++) {
				serialWrite(frame[i]);
			}
			while ((character = serialGet()) & 0xFF00); // Wait for answer
			if ((character & 0x00FF) != OK) { // Error code recieved
				free(frame);
				return;
			}

			free(frame);
		}
		framesToGo -= fMax;
	}

	serialWrite(OK);
	serialWrite(OK);
	serialWrite(OK);
	serialWrite(OK);

	while ((character = serialGet()) & 0xFF00); // Wait for answer
	// Error code ignored...
}

uint8_t audioModeSelected(void) {
	// Pushbutton: PB0, Low active

	if (!(PINB & (1 << PB0))) {
		// Button pushed
		if (lastButtonState == 0) {
			lastButtonState = 1;
		} else {
			lastButtonState = 0;
		}

#ifdef DEBUG
		if (lastButtonState) {
			serialWriteString(getString(38));
		} else {
			serialWriteString(getString(39));
		}
#endif

	}
	return lastButtonState;
}