Sat, 03 Dec 2011 09:26:20 +0100
added exception, started SlotCli class
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
1 | #include <avr/interrupt.h> |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
2 | #include <avr/io.h> |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
3 | #include <avr/wdt.h> |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
4 | #include <avr/eeprom.h> |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
5 | #include <stdlib.h> |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
6 | #include <stdint.h> |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
7 | #include <avr/pgmspace.h> |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
8 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
9 | #include "main.h" |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
10 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
11 | #include "driver/rs232.h" |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
12 | #include "util/delay.h" |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
13 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
14 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
15 | ISR ( USART_RXC_vect ) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
16 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
17 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
18 | #define PULSE_PORT PORTD |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
19 | #define PULSE_BIT PD2 |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
20 | #define SOLENOID_A_PORT PORTB |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
21 | #define SOLENOID_B_PORT PORTB |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
22 | |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
23 | #define TRACKSWITCH_TYPE 2 // 1=double, 2=single |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
24 | |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
25 | #define SOLENOID_A_PIN PB1 |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
26 | #define SOLENOID_B_PIN PB2 |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
27 | |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
28 | // internal analog comparator doesnt work well |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
29 | //#define ANALOG_COMPARATOR 1 |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
30 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
31 | volatile uint16_t data = 0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
32 | volatile uint8_t data_len = 0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
33 | volatile uint8_t bitbuf_len = 0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
34 | volatile uint16_t bitbuf = 0; |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
35 | volatile uint8_t car_speed[8]; |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
36 | volatile uint8_t car_switch[8]; |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
37 | volatile uint16_t car0, car1; |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
38 | volatile uint16_t car0_new, car0_old; |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
39 | volatile uint16_t car1_new, car1_old; |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
40 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
41 | ISR ( INT0_vect ) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
42 | GICR &= ~_BV(INT0) ; // Disable INT0 |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
43 | // Startsignal erkannt, ab hier den Timer2 starten, |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
44 | // der liest dann alle 50µs den Zustand ein und schreibt das |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
45 | // empfangene Bit in den Puffer |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
46 | bitbuf = 0; // init |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
47 | bitbuf_len = 0b10000000; // init 1 pulse received |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
48 | TCNT2 = 0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
49 | TIMSK |= _BV(OCIE2); //enable timer2 interrupt |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
50 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
51 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
52 | ISR ( TIMER2_COMP_vect ) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
53 | uint8_t clock; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
54 | uint8_t state; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
55 | uint8_t state2; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
56 | if ((bitbuf_len & 0b10000000) == 0) clock = 0; else clock = 0xff; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
57 | if ((bitbuf_len & 0b01000000) == 0) state = 0; else state = 0xff; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
58 | if ((PIN(PULSE_PORT) & _BV(PULSE_BIT)) == 0) state2 = 0xff; else state2 = 0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
59 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
60 | if (clock) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
61 | bitbuf_len &= ~_BV(7); // switch clock to low |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
62 | // second pulse of bit |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
63 | if ((state==state2) & state2) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
64 | // two cycles high: packet end received |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
65 | data_len = (bitbuf_len & 0b00111111); |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
66 | TIMSK &= ~_BV(OCIE2); //disable timer2 interrupt |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
67 | GICR |= _BV(INT0) ; // Enable INT0 |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
68 | |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
69 | //data = bitbuf; // output data |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
70 | // write data of controllers to array |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
71 | if (data_len == 10) { // controller data packet |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
72 | clock = (bitbuf >> 6) & 0b00000111; |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
73 | car_speed[clock] = (bitbuf >> 1) & 0x0F; |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
74 | car_switch[clock] = (bitbuf >> 5) & 1; |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
75 | } |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
76 | |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
77 | |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
78 | } else { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
79 | bitbuf_len++; // increment bit counter |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
80 | bitbuf = bitbuf << 1; // shift bits |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
81 | if (state2 == 0) bitbuf |= 1; // receive logic one |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
82 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
83 | } else { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
84 | bitbuf_len |= _BV(7); // switch clock to high |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
85 | // first pulse of bit |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
86 | if (state2) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
87 | bitbuf_len |= _BV(6); // store new state |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
88 | } else { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
89 | bitbuf_len &= ~_BV(6); // store new state |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
90 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
91 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
92 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
93 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
94 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
95 | ISR (TIMER1_OVF_vect) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
96 | // reset both car counters to overflow |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
97 | car0_old = 0xffff; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
98 | car1_old = 0xffff; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
99 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
100 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
101 | ISR (INT1_vect) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
102 | // car0 detector |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
103 | uint16_t tmp = 0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
104 | car0_new = TCNT1; // get current counter |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
105 | if (car0_old < car0_new) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
106 | // calculate difference |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
107 | if (car0 == 0) tmp = car0_new-car0_old; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
108 | if ( (tmp > 54) && (tmp < 74) ) car0 = 1; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
109 | if ( (tmp > 118) && (tmp < 138) ) car0 = 2; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
110 | if ( (tmp > 186) && (tmp < 206) ) car0 = 3; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
111 | if ( (tmp > 246) && (tmp < 266) ) car0 = 4; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
112 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
113 | car0_old = car0_new; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
114 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
115 | |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
116 | // ISR (TIMER1_CAPT_vect) { |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
117 | #ifdef ANALOG_COMPARATOR |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
118 | ISR (ANA_COMP_vect) { |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
119 | // car1 detector |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
120 | uint16_t tmp = 0; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
121 | car1_new = TCNT1; // get current counter |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
122 | if (car1_old < car1_new) { |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
123 | // calculate difference |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
124 | if (car1 == 0) tmp = car1_new-car1_old; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
125 | if ( (tmp > 50) && (tmp < 78) ) car1 = 1; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
126 | if ( (tmp > 114) && (tmp < 146) ) car1 = 2; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
127 | if ( (tmp > 183) && (tmp < 210) ) car1 = 3; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
128 | if ( (tmp > 242) && (tmp < 270) ) car1 = 4; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
129 | } |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
130 | car1_old = car1_new; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
131 | } |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
132 | #else |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
133 | // ALTERNATIV: |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
134 | ISR (TIMER1_CAPT_vect) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
135 | // car1 detector |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
136 | uint16_t tmp = 0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
137 | car1_new = TCNT1; // get current counter |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
138 | if (car1_old < car1_new) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
139 | // calculate difference |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
140 | if (car1 == 0) tmp = car1_new-car1_old; |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
141 | if ( (tmp > 50) && (tmp < 78) ) car1 = 1; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
142 | if ( (tmp > 114) && (tmp < 146) ) car1 = 2; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
143 | if ( (tmp > 183) && (tmp < 210) ) car1 = 3; |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
144 | if ( (tmp > 242) && (tmp < 270) ) car1 = 4; |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
145 | } |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
146 | car1_old = car1_new; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
147 | } |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
148 | #endif |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
149 | |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
150 | void solenoid_delay(void) { |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
151 | _delay_ms(10); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
152 | } |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
153 | |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
154 | |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
155 | |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
156 | int main(void) |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
157 | { |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
158 | uint8_t car0_state, car1_state; |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
159 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
160 | // setup data bit timer2 |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
161 | TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
162 | OCR2 = TIMER2_50US; |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
163 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
164 | // initialize timer1 for IR signal detection |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
165 | #ifdef ANALOG_COMPARATOR |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
166 | TCCR1B = _BV(CS01) ; // 1mhz clock |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
167 | TIMSK = _BV(OCIE2) | _BV(TOIE1) ; //enable timer1+2 |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
168 | #else |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
169 | TCCR1B = _BV(CS01) | _BV(ICNC1) | _BV(ICES1); // 1mhz clock, enable ICP on rising edge |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
170 | TIMSK = _BV(OCIE2) | _BV(TOIE1) | _BV(TICIE1); //enable timer1+2 / ICP1 |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
171 | #endif |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
172 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
173 | // enable both external interrupts |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
174 | // int 0 = data RX |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
175 | // int 1 = car0 input |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
176 | MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
177 | GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1 |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
178 | |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
179 | #ifdef ANALOG_COMPARATOR |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
180 | ACSR = _BV(ACIE) | _BV(ACIS1) | _BV(ACIS0); // setup analog comparator |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
181 | #endif |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
182 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
183 | // oscillator calibration |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
184 | // atmega8@1mhz = 0xac |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
185 | // @4mhz = ca 0xa0 |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
186 | //OSCCAL = 0xa0; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
187 | //OSCCAL = 0x9A; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
188 | //OSCCAL = 0xa0; // internal oscillator @ 4 mhz.... doesnt work accurate! |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
189 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
190 | RS232_init(); // initialize RS232 interface |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
191 | RS232_puts_p(PSTR("Freeslot TrackSwitch v1.1\n")); |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
192 | sei(); |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
193 | |
21
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
194 | |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
195 | DDR(SOLENOID_A_PORT) |= _BV(SOLENOID_A_PIN); |
8b7cdb655e7b
finished track switch to support single lane
Malte Bayer <mbayer@neo-soft.org>
parents:
20
diff
changeset
|
196 | DDR(SOLENOID_B_PORT) |= _BV(SOLENOID_B_PIN); |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
197 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
198 | while (1) { |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
199 | // main loop |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
200 | |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
201 | if (car0 != car0_state) { |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
202 | car0_state = car0; |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
203 | if ( (car0_state != 0) && (car_switch[car0_state-1] == 0) && (car_speed[car0_state-1]>0) ) { |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
204 | // trigger solenoid A |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
205 | RS232_putc('A'); |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
206 | RS232_putc('B'); |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
207 | RS232_putc('0'+car0_state); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
208 | RS232_putc('\n'); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
209 | |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
210 | SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
211 | solenoid_delay(); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
212 | SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
213 | solenoid_delay(); |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
214 | } |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
215 | if (car0_state != 0) { |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
216 | RS232_putc('A'); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
217 | RS232_putc('A'); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
218 | RS232_putc('0'+car0_state); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
219 | RS232_putc('\n'); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
220 | } |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
221 | } car0 = 0; |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
222 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
223 | |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
224 | if (car1 != car1_state) { |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
225 | car1_state = car1; |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
226 | if ( (car1_state != 0) && (car_switch[car1_state-1] == 0) && (car_speed[car1_state-1]>0) ) { |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
227 | // trigger solenoid A |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
228 | RS232_putc('B'); |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
229 | RS232_putc('A'); |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
230 | RS232_putc('0'+car1_state); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
231 | RS232_putc('\n'); |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
232 | |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
233 | SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
234 | solenoid_delay(); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
235 | SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
236 | solenoid_delay(); |
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
237 | } |
22
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
238 | if (car1_state != 0) { |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
239 | RS232_putc('B'); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
240 | RS232_putc('B'); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
241 | RS232_putc('0'+car1_state); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
242 | RS232_putc('\n'); |
9af54a45ae42
track switch now only triggers when car speed >0
Malte Bayer <mbayer@neo-soft.org>
parents:
21
diff
changeset
|
243 | } |
20
e333cf0e4d84
finished trackswitch v1.0 - works as original firmware now
Malte Bayer <mbayer@neo-soft.org>
parents:
19
diff
changeset
|
244 | } car1 = 0; |
19
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
245 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
246 | |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
247 | } // main loop end |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
248 | }; |
40a309c9c135
added initial trackswitch code, data rx and car id detect working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff
changeset
|
249 |