// ***** 0. Documentation Section *****
// TableTrafficLight.c for Lab 10
// Runs on LM4F120/TM4C123
// Index implementation of a Moore finite state machine to operate a traffic light.  
// Daniel Valvano, Jonathan Valvano
// November 7, 2013

// east/west red light connected to PB5
// east/west yellow light connected to PB4
// east/west green light connected to PB3
// north/south facing red light connected to PB2
// north/south facing yellow light connected to PB1
// north/south facing green light connected to PB0
// pedestrian detector connected to PE2 (1=pedestrian present)
// north/south car detector connected to PE1 (1=car present)
// east/west car detector connected to PE0 (1=car present)
// "walk" light connected to PF3 (built-in green LED)
// "don't walk" light connected to PF1 (built-in red LED)

// ***** 1. Pre-processor Directives Section *****
#include "TExaS.h"
#include "tm4c123gh6pm.h"



// ***** 2. Global Declarations Section *****

// FUNCTION PROTOTYPES: Each subroutine defined
void DisableInterrupts(void); // Disable interrupts
void EnableInterrupts(void);  // Enable interrupts

// ***** 3. Subroutines Section *****

#define NVIC_ST_CTRL_R      (*((volatile unsigned long *)0xE000E010))
#define NVIC_ST_RELOAD_R    (*((volatile unsigned long *)0xE000E014))
#define NVIC_ST_CURRENT_R   (*((volatile unsigned long *)0xE000E018))
#define PF31                (*((volatile unsigned long *)0x40025028))
#define WalkLights           (*((volatile unsigned long *)0x40025028))
#define PB543210						(*((volatile unsigned long *)0x400050FC))
#define CarLights						(*((volatile unsigned long *)0x400050FC))
#define PE210               (*((volatile unsigned long *)0x4002401C))
#define Sensors             (*((volatile unsigned long *)0x4002401C))


struct State {
	unsigned long TrafficOut;
	unsigned long WalkOut;
	unsigned long Time;
	unsigned long Next[8];
};
typedef const struct State STyp;
#define GoN 0
#define WaitN 1
#define GoE 2
#define WaitE 3
#define Walk 4
#define DontWalk 5
#define	WaitWalkOn1 6
#define	WaitWalkOff1 7
#define WaitWalkOn2 8
#define WaitWalkOff2 9
#define WaitWalkOn3 10
#define WaitWalkOff3 11

STyp FSM[12]={
{0x21,0x02, 10, {  GoN,   WaitN,	WaitN,	WaitN,	GoN,		WaitN,	WaitN,	WaitN}},
{0x22,0x02, 10, {  GoN,	Walk,	GoE,		Walk,	GoN,		Walk,	GoE,		Walk}},
{0x0C,0x02, 10, {  GoE,	WaitE,	GoE,		WaitE,	WaitE,	WaitE,	WaitE,	WaitE}},
{0x14,0x02, 10, {  GoE,	Walk,	GoE,	Walk,	GoN,	Walk,	GoN,		Walk}},
{0x24,0x08, 10, {  Walk,	Walk,	WaitWalkOn1,	WaitWalkOn1,	WaitWalkOn1,	WaitWalkOn1,	WaitWalkOn1,	WaitWalkOn1}},
{0x24,0x02, 10, {  Walk,	Walk,	GoE,		GoE,		GoN,		GoN,		GoN,		GoE}},
{0x24,0x02, 5, {WaitWalkOff1,	Walk,	WaitWalkOff1,	WaitWalkOff1,	WaitWalkOff1,	WaitWalkOff1,	WaitWalkOff1,	WaitWalkOff1}},
{0x24,0x00, 5, {WaitWalkOn2,	Walk,	WaitWalkOn2,	WaitWalkOn2,	WaitWalkOn2,	WaitWalkOn2,	WaitWalkOn2,	WaitWalkOn2}},
{0x24,0x02, 5, {WaitWalkOff2,	Walk,	WaitWalkOff2,	WaitWalkOff2,	WaitWalkOff2,	WaitWalkOff2,	WaitWalkOff2,	WaitWalkOff2}},
{0x24,0x00, 5, {WaitWalkOn3,	Walk,	WaitWalkOn3,	WaitWalkOn3,	WaitWalkOn3,WaitWalkOn3,WaitWalkOn3,	WaitWalkOn3}},
{0x24,0x02, 5, {WaitWalkOff3,	Walk,	WaitWalkOff3,	WaitWalkOff3,	WaitWalkOff3,	WaitWalkOff3,	WaitWalkOff3,	WaitWalkOff3}},
{0x24,0x00, 5, {Walk,	Walk,	DontWalk,DontWalk,DontWalk,DontWalk,DontWalk,DontWalk}}
	
};

void SysTick_Init(void){
  NVIC_ST_CTRL_R = 0;               // disable SysTick during setup
  NVIC_ST_CTRL_R = 0x00000005;      // enable SysTick with core clock
}
// The delay parameter is in units of the 80 MHz core clock. (12.5 ns)
void SysTick_Wait(unsigned long delay){
  NVIC_ST_RELOAD_R = delay-1;  // number of counts to wait
  NVIC_ST_CURRENT_R = 0;       // any value written to CURRENT clears
  while((NVIC_ST_CTRL_R&0x00010000)==0){ // wait for count flag
  }
}
// 800000*12.5ns equals 10ms
void SysTick_Wait10ms(unsigned long delay){
  unsigned long i;
  for(i=0; i<delay; i++){
    SysTick_Wait(800000);  // wait 10ms
  }
}

// Subroutine to initialize port F pins for input and output
// PF4 is input SW1 and PF2 is output Blue LED
// Inputs: None
// Outputs: None
// Notes: ...
void PortE_Init(void){ volatile unsigned long delay;
	SYSCTL_RCGC2_R |= 0x00000012;     // 1) activate clock for Port E
  delay = SYSCTL_RCGC2_R;           // allow time for clock to start
	GPIO_PORTE_AMSEL_R = 0x00;        // 3) disable analog on PF
  GPIO_PORTE_PCTL_R = 0x00000000;   // 4) PCTL GPIO on PF4-0
  GPIO_PORTE_DIR_R = 0x00;          // 5) ALl input
  GPIO_PORTE_AFSEL_R = 0x00;        // 6) disable alt funct on PF7-0
  GPIO_PORTE_PUR_R = 0x11;          // enable pull-up on PF0 and PF4
  GPIO_PORTE_DEN_R = 0x1F;          // 7) enable digital I/O on PF4-0
}
void PortB_Init(void){ volatile unsigned long delay;
	SYSCTL_RCGC2_R |= 0x00000002;     // 1) activate clock for Port B
  delay = SYSCTL_RCGC2_R;           // allow time for clock to start
	GPIO_PORTB_AMSEL_R = 0x00;        // 3) disable analog on PF
  GPIO_PORTB_PCTL_R = 0x00000000;   // 4) PCTL GPIO on PF4-0
  GPIO_PORTB_DIR_R = 0xFF;          // 5) All output
  GPIO_PORTB_AFSEL_R = 0x00;        // 6) disable alt funct on PF7-0
  GPIO_PORTB_PUR_R = 0x11;          // enable pull-up on PF0 and PF4
  GPIO_PORTB_DEN_R = 0x3F;          // 7) enable digital I/O on PF4-0
}
void PortF_Init(void){ volatile unsigned long delay;
  SYSCTL_RCGC2_R |= 0x00000022;     // 1) activate clock for Port F
  delay = SYSCTL_RCGC2_R;           // allow time for clock to start
  GPIO_PORTF_LOCK_R = 0x4C4F434B;   // 2) unlock GPIO Port F
  GPIO_PORTF_CR_R = 0x1F;           // allow changes to PF4-0
  // only PF0 needs to be unlocked, other bits can't be locked
  GPIO_PORTF_AMSEL_R = 0x00;        // 3) disable analog on PF
  GPIO_PORTF_PCTL_R = 0x00000000;   // 4) PCTL GPIO on PF4-0
  GPIO_PORTF_DIR_R = 0x0E;          // 5) PF4,PF0 in, PF3-1 out
  GPIO_PORTF_AFSEL_R = 0x00;        // 6) disable alt funct on PF7-0
  GPIO_PORTF_PUR_R = 0x11;          // enable pull-up on PF0 and PF4
  GPIO_PORTF_DEN_R = 0x1F;          // 7) enable digital I/O on PF4-0
	
}
unsigned char input;
unsigned char cState;
int main(void){ 
	
  TExaS_Init(SW_PIN_PE210, LED_PIN_PB543210); // activate grader and set system clock to 80 MHz
  SysTick_Init();
	PortF_Init();
	PortE_Init();
	PortB_Init();
	cState = GoN;
	while(1){
	CarLights = FSM[cState].TrafficOut;
	WalkLights = FSM[cState].WalkOut;
	SysTick_Wait10ms(FSM[cState].Time);
	
	input = Sensors;
	cState = FSM[cState].Next[input];
		
	}
  
  EnableInterrupts();
  while(1){
     
  }
}