generic.c

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/*
 * Copyright (c) 2012, Leonardo Guardati <leonardo@guardati.it>
 *
 * Permission  to  use,  copy,  modify,  and/or distribute this
 * software  for  any  purpose  with  or  without fee is hereby
 * granted,  provided  that the above copyright notice and this
 * permission notice appear in all copies.
 *
 * THE  SOFTWARE  IS  PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS
 * ALL  WARRANTIES  WITH  REGARD TO THIS SOFTWARE INCLUDING ALL
 * IMPLIED  WARRANTIES  OF  MERCHANTABILITY  AND FITNESS. IN NO
 * EVENT  SHALL  THE  AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
 * INDIRECT,   OR   CONSEQUENTIAL   DAMAGES   OR   ANY  DAMAGES
 * WHATSOEVER  RESULTING  FROM  LOSS  OF  USE, DATA OR PROFITS,
 * WHETHER  IN  AN  ACTION  OF  CONTRACT,  NEGLIGENCE  OR OTHER
 * TORTIOUS  ACTION,  ARISING  OUT OF OR IN CONNECTION WITH THE
 * USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 */
/*
 * The following 4 preprocessor directives, are useless; they
 * do nothing. They are here to let doxygen generate documentation
 * about HL_DEBUG symbol behavior.
 * When implementing a new pattern from this file, it is recommended
 * to remove :
 *      - the doxygen comment above
 *      - this comment
 *      - the following 4 directives.
 *
 */
#ifndef HL_DEBUG
#define HL_DEBUG
#undef  HL_DEBUG
#endif

#include "hapticLib.h"

uint8_t genericContinuator(pattern_desc *pattern)
{
        haptor_desc* tmp = NULL;
        /*
         * Create a handy reference for userParameters and statusParameters
         * Note:
         *              - userParams data reside on the user program module. (main.c)
         *              - statusParams data reside on SystemDesc variable.
         */
        genericUserParameters     *userParams = &pattern->userParams->generic;
        genericStatusParameters *statusParams = &pattern->statusParams.generic;

        uint16_t increment = 0;

        if( userParams->increment == smallIncrement )
                increment =  650;
        else if ( userParams->increment == bigIncrement )
                increment = 1300;
        else
                increment = 1000;

        if( statusParams->flag == 0 )
        {
                statusParams->duty += increment;

                if( statusParams->duty > 63000 )
                        statusParams->flag = 1;
        }
        else
        {
                statusParams->duty -= increment;

                if( statusParams->duty < 2000 )
                {
                        // Ensure finish without vibrations (multi-haptor)
                        tmp = pattern->activeHaptorList;
                        while( tmp )
                        {
                                TIM_Channel_DutyChanger( 0, tmp->id );
                                tmp = tmp->nextHaptor;
                        }

                        // Removing pattern from scheduling
                        // and freeing all the haptors

                        cleanList(pattern->activeHaptorList);
                        pattern->name             = Null;
                        pattern->userParams       = NULL;
                        pattern->continuator      = NULL;
                        pattern->activeHaptorList = NULL;

                        return 0;
                }
        }

        // multi-haptor
        tmp = pattern->activeHaptorList;
        while( tmp )
        {
                TIM_Channel_DutyChanger( statusParams->duty, tmp->id );
                tmp = tmp->nextHaptor;
        }

        return 0;
}

uint8_t genericPatternGenerator(pattern_desc *pattern)
{
        /*
         * Create a handy reference for userParameters
         *                        and statusParameters
         * Note:
         *              - userParams data reside on the user
         *                                      program module. (main.c)
         *              - statusParams data reside on SystemDesc
         *                                      variable.
         */
        genericUserParameters     *userParams = &pattern->userParams->generic;
        genericStatusParameters *statusParams = &pattern->statusParams.generic;


        // User Parameters Validation:
        // Input validation must be made before attempting
        // to use the provided parameters.
        if( userParams == NULL )
        {
#ifdef HL_DEBUG
                send_string("genericPatternGenerator(): expecting optional Parameters, NULL found.\r\n\0");
#endif
                return 1;
        }
        if( userParams->checkParam != rightValue )
        {
#ifdef HL_DEBUG
                send_string("Wrong parameter value: checkParam must be \0");
                send_int( rightValue );
                send_string("\r\n\0");
#endif
                        return 1;
        }


        // Status initialization based on user provided parameters...
        if( userParams->increment != bigIncrement )
        {
                statusParams->duty = 555;
        }


        // ...or static status initialization
        statusParams->flag = 0;
        statusParams->duty = 0;


        // Set up for scheduling.
        pattern->continuator = &genericContinuator;

        return 0;
}