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LEDControl.h
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#include "RTE_Components.h"
#include CMSIS_device_header
#include "cmsis_os2.h"
#include "MKL25Z4.h" // Device header
#define PTD4_Pin 5 //IR Sensor
#define RED_LED1 5 //PTE5_Pin Pin
#define RED_LED2 4 //PTE4_Pin Pin
#define RED_LED3 3 //PTE3_Pin Pin
#define RED_LED4 2 //PTE2_Pin
#define RED_LED5 11 //PTB11_Pin
#define RED_LED6 10 //PTB10_Pin
#define RED_LED7 9 //PTB9_Pin
#define RED_LED8 8 //PTB8_Pin
#define RED_LED9 1 //PTB1_Pin
#define RED_LED10 0 //PTB0_Pin
#define GREEN_1 7// port C pin 7
#define GREEN_2 0// port C pin 0
#define GREEN_3 3// port C pin 3
#define GREEN_4 4// port C pin 4
#define GREEN_5 5// port C pin 5
#define GREEN_6 6// port C pin 6
#define GREEN_7 10// port C pin 10
#define GREEN_8 11// port C pin 11
#define GREEN_9 12// port C pin 12
#define GREEN_10 13// port C pin 13
#define delayGreen 0x50 // for green strip how fast u wan
#define MASK(x) (1 << (x))
//1 for true, 0 for false
int isMoving = 0;
void initGreenStrip(void ) {
//SIM->SCGC5 |= (SIM_SCGC5_PORTC_MASK);
PORTC->PCR[GREEN_1] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_2] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_3] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_4] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_5] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_6] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_7] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_8] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_9] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_10] &= ~PORT_PCR_MUX_MASK;
PORTC->PCR[GREEN_1] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_2] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_3] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_4] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_5] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_6] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_7] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_8] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_9] |= PORT_PCR_MUX(1);
PORTC->PCR[GREEN_10] |= PORT_PCR_MUX(1);
// set as output
PTC->PDDR |= MASK(GREEN_1) | MASK(GREEN_2) | MASK(GREEN_3) | MASK(GREEN_4)
| MASK(GREEN_5) | MASK(GREEN_6) | MASK(GREEN_7) | MASK(GREEN_8)
| MASK(GREEN_9) | MASK(GREEN_10) ;
}
void runMode(){
// on 1
if (isMoving == 0){
return;
}
PTC ->PSOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
// on 2
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PSOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PSOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PSOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PSOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PSOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PSOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PSOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PSOR = (MASK(GREEN_9));
PTC ->PCOR = (MASK(GREEN_10));
osDelay(delayGreen);
if (isMoving == 0){
return;
}
PTC ->PCOR = (MASK(GREEN_1));
PTC ->PCOR = (MASK(GREEN_2));
PTC ->PCOR = (MASK(GREEN_3));
PTC ->PCOR = (MASK(GREEN_4));
PTC ->PCOR = (MASK(GREEN_5));
PTC ->PCOR = (MASK(GREEN_6));
PTC ->PCOR = (MASK(GREEN_7));
PTC ->PCOR = (MASK(GREEN_8));
PTC ->PCOR = (MASK(GREEN_9));
PTC ->PSOR = (MASK(GREEN_10));
osDelay(delayGreen);
}
void stationaryMode() {
PTC ->PSOR = (MASK(GREEN_1));
PTC ->PSOR = (MASK(GREEN_2));
PTC ->PSOR = (MASK(GREEN_3));
PTC ->PSOR = (MASK(GREEN_4));
PTC ->PSOR = (MASK(GREEN_5));
PTC ->PSOR = (MASK(GREEN_6));
PTC ->PSOR = (MASK(GREEN_7));
PTC ->PSOR = (MASK(GREEN_8));
PTC ->PSOR = (MASK(GREEN_9));
PTC ->PSOR = (MASK(GREEN_10));
osDelay(delayGreen);
}
void initRedLED(){
PORTE->PCR[RED_LED1] &= ~PORT_PCR_MUX(1);
PORTE->PCR[RED_LED1] |= PORT_PCR_MUX(1);
PORTE->PCR[RED_LED2] &= ~PORT_PCR_MUX(1);
PORTE->PCR[RED_LED2] |= PORT_PCR_MUX(1);
PORTE->PCR[RED_LED3] &= ~PORT_PCR_MUX(1);
PORTE->PCR[RED_LED3] |= PORT_PCR_MUX(1);
PORTE->PCR[RED_LED4] &= ~PORT_PCR_MUX(1);
PORTE->PCR[RED_LED4] |= PORT_PCR_MUX(1);
PORTB->PCR[RED_LED5] &= ~PORT_PCR_MUX(1);
PORTB->PCR[RED_LED5] |= PORT_PCR_MUX(1);
PORTB->PCR[RED_LED6] &= ~PORT_PCR_MUX(1);
PORTB->PCR[RED_LED6] |= PORT_PCR_MUX(1);
PORTB->PCR[RED_LED7] &= ~PORT_PCR_MUX(1);
PORTB->PCR[RED_LED7] |= PORT_PCR_MUX(1);
PORTB->PCR[RED_LED8] &= ~PORT_PCR_MUX(1);
PORTB->PCR[RED_LED8] |= PORT_PCR_MUX(1);
PORTB->PCR[RED_LED9] &= ~PORT_PCR_MUX(1);
PORTB->PCR[RED_LED9] |= PORT_PCR_MUX(1);
PORTB->PCR[RED_LED10] &= ~PORT_PCR_MUX(1);
PORTB->PCR[RED_LED10] |= PORT_PCR_MUX(1);
//Set the Direction of the Pins
PTB->PDDR |= (MASK(RED_LED5) | MASK(RED_LED6) | MASK(RED_LED7) | MASK(RED_LED8)| MASK(RED_LED9)| MASK(RED_LED10)) ;
//PTB->PDDR |= MASK(RED_LED8);
PTE->PDDR |= (MASK(RED_LED1) | MASK(RED_LED2) | MASK(RED_LED3) | MASK(RED_LED4));
}
void blinkGreenLED(void *argument){
while(1){
if (isMoving == 1){
runMode();
} else {
stationaryMode();
}
}
}
//Thread for Red LED
void blinkRedLED(void *argument){
while(1){
//Turn on the RED LEDs
PTB->PSOR = (MASK(RED_LED5) | MASK(RED_LED6) | MASK(RED_LED7) | MASK(RED_LED8)| MASK(RED_LED9)| MASK(RED_LED10));
PTE->PSOR = (MASK(RED_LED1) | MASK(RED_LED2) | MASK(RED_LED3) | MASK(RED_LED4));
if(isMoving == 1){
osDelay(500);
}else{
osDelay(250);
}
//Turn off the RED LEDs
PTB->PCOR = (MASK(RED_LED5) | MASK(RED_LED6) | MASK(RED_LED7) | MASK(RED_LED8)| MASK(RED_LED9)| MASK(RED_LED10));
PTE->PCOR = (MASK(RED_LED1) | MASK(RED_LED2) | MASK(RED_LED3) | MASK(RED_LED4));
if(isMoving == 1){
osDelay(500);
}else{
osDelay(250);
}
}
}