blackbox/main.c

Fri, 02 Dec 2011 23:08:34 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Fri, 02 Dec 2011 23:08:34 +0100
changeset 25
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parent 11
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child 33
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permissions
-rw-r--r--

started communication class and CLI

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1 #include <avr/interrupt.h>
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2 #include <avr/io.h>
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3 #include <avr/wdt.h>
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4 #include <avr/eeprom.h>
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5 #include <stdlib.h>
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6 #include <stdint.h>
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7 #include <avr/pgmspace.h>
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8 #include <util/delay.h>
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9
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10 #include "driver/rs232.h"
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11 #include "driver/adc.h"
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12
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13 #include "main.h"
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14 #include "lowlevel.h"
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15
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16 volatile uint8_t program_count = 0;
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17 volatile uint8_t program_id;
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18 volatile uint8_t program_command;
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19 volatile uint8_t program_parameter;
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20
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21 volatile uint8_t datalen = 0;
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22 char data[10]; // 8 bytes data buffer + string termination
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23
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24 static char buffer[RS232_BUFSIZE+1];
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25 static uint8_t buffer_len;
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26
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28 volatile uint16_t transmit_buffer;
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29 volatile uint16_t transmit_buffer_queue;
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30 volatile uint8_t transmit_len;
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31 volatile uint8_t transmit_len_next;
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32 volatile uint8_t transmit_len_queue;
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33
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34 volatile uint16_t response;
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35 volatile uint8_t timer0_delay;
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36
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37
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38 ISR ( USART_RXC_vect ) {
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39 char c = UDR;
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40
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41 // check for buffer overflow
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42 if (buffer_len==sizeof(buffer)) {
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43 buffer_len=0;
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44 } else {
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45 // collect characters until end of line
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46 if ( (c==0x0A) ) {
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47 buffer[buffer_len]=0;
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48
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49 // packet end received, parse the received packet
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50 switch (buffer[0]) {
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51 case 'P': // inject a program data word to the rails
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52 // TODO: at the moment only parameters 0..9 supported
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53 // needs to build a "human" parser
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54 if (program_count == 0) {
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55 program_id = buffer[3]-'0';
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56 program_command = buffer[1]-'0';
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57 if (program_command > 9)
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58 program_command = buffer[1]-'A'+10;
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59 program_parameter = buffer[2]-'0';
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60 if (program_parameter > 9)
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61 program_parameter = buffer[2]-'A'+10;
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62 if (program_command < 4)
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63 program_count = 0x02; // send commands twice (fuel, speed, brake)
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64 else
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65 program_count = 0x01;
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66 RS232_puts_p(PSTR("OK\n"));
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67 } else RS232_puts_p(PSTR("BUSY\n"));
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68 break;
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70 }
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72 // wait for the next packet
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73 buffer_len=0;
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74 } else {
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75 buffer[buffer_len++]=c;
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76 }
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77 }
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78 }
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81
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82 int insert_queue(uint16_t tmp, uint8_t len) {
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83 if (transmit_buffer_queue == 0) {
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84 transmit_buffer_queue = tmp;
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85 transmit_len_queue = len;
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86 return 1;
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87 }
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88 return 0;
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89 }
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91
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92 int do_controller(uint8_t controller) {
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93 // read controller X speed & encode controller data packet
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94 uint16_t tmp;
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95 switch (controller) {
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96 case 0:
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97 tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
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98 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) {
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99 tmp |= (1<<5);
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100 LED(1,0);
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101 } else LED(1,1);
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102 break;
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103 case 1:
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104 tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
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105 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) {
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106 tmp |= (1<<5);
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107 LED(2,0);
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108 } else LED(2,1);
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109 break;
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110 case 2:
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111 tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
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112 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) {
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113 tmp |= (1<<5);
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114 LED(3,0);
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115 } else LED(3,1);
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116 break;
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117 case 3:
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118 tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
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119 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) {
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120 tmp |= (1<<5);
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121 LED(4,0);
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122 } else LED(4,1);
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123 break;
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124 case 4: tmp = (1<<5); break; // todo regler 5
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125 case 5: tmp = (1<<5); break; // todo regler 6
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126 }
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127 tmp |= 0b1000000000 | (controller << 6);
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128 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter
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129
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130 return insert_queue(tmp, 9);
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131 }
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132
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133 uint8_t mirror( uint8_t n ) {
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134 n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa);
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135 n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc);
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136 n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0);
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137 return n;
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138 }
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139
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140 int do_program(uint8_t controller, uint8_t command, uint8_t parameter) {
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141 // send program data packet
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142 uint16_t tmp;
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143 parameter = mirror(parameter);
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144 controller = mirror(controller);
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145 command = mirror(command);
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146 tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5);
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147 return insert_queue(tmp, 12);
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148 }
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149
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150 int do_active(void) {
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151 // send controller active data packet
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152 uint16_t tmp = 0b10000000;
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153 if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001;
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154 if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001;
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155 if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001;
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156 if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001;
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157 // todo: regler 5 und 6
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158 // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word
0
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159
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160 return insert_queue(tmp, 7);
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161 }
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162
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163 int do_pace_ghost(void) {
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164 // send ghost and pacecar data packet
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165 // todo: at the moment, both disabled!
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166 uint16_t tmp = 0b1111100000;
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167 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter
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168 // todo: PC, NH, TK, (KFR, FR)
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169
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170 return insert_queue(tmp, 9);
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171 }
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172
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173 ISR ( TIMER1_COMPA_vect ) {
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174 // trigger packet transfer:
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175 transmit_len = transmit_len_next;
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176 //LED(2,2);
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177
0
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178 // here is some more time to do something else...
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179 }
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180
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181 ISR ( TIMER2_COMP_vect ) {
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182 //OCR2 = TIMER2_50US; // make sure that timer2 is 50µs !!!
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183 // data packet timer 100µs pro bit...
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184 if (transmit_len >= 0xFE) {
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185 if (transmit_len != 0xFF) {
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186 RAIL_POWER_PORT |= _BV(RAIL_POWER); // end of transmission
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187 transmit_len = 0xFF;
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188 transmit_buffer = transmit_buffer_queue;
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189 transmit_buffer_queue = 0;
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190 transmit_len_next = transmit_len_queue;
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191
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192 // start the response receiver timer
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193 // TODO: only on 8 timeslots, not on every transmission
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194 // TODO: give slot number to timer - then store the transmission to 8 slots array
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195 TCNT0 = TIMER0_250US;
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196 timer0_delay = TIMER0_2300NS;
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197 response = 0;
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198 TIMSK |= _BV(TOIE0);
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199
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200 }
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201 } else {
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202 uint16_t bit = (1<<(transmit_len & 0b01111111));
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203 uint16_t clock;
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204 if ((transmit_len & 0b10000000) == 0) clock = 0; else clock = 0xffff;
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205 if ( ((transmit_buffer ^ clock) & bit) != 0 )
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206 RAIL_POWER_PORT |= _BV(RAIL_POWER); else
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207 RAIL_POWER_PORT &= ~_BV(RAIL_POWER);
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208 if ( (transmit_len & 0b10000000) == 0 ) {
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209 // block 0
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210 //if (transmit_len == 0) transmit_len = 0xFF; else transmit_len |= 0b10000000; // set clock
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211 transmit_len |= 0b10000000; // set clock
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212 } else {
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213 // block 1, output the current bit
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214 transmit_len &= 0b01111111; // reset clock
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215 //if (transmit_len != 0) transmit_len--; // next bit
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216 if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit
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217 }
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218 }
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219
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220 //LED(3,2);
6
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221 }
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222
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223
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224 ISR ( TIMER0_OVF_vect ) {
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225 // TODO: last bit should be set by the sender, not from us!
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226 TCNT0 = TIMER0_250US;
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227 //LED(1,2);
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228 if (timer0_delay == 0) {
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229 RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low
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230 _delay_us(28); // wait some cycles
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231 if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) != 0) { // check for logic zero
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232 if (response == 0) {
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233 // there is no start bit, so stop the timer and cancel response receiving
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234 TIMSK &= ~_BV(TOIE0);
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235 } else {
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236 // we received a bit (logic low)
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237 response = response << 1;
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238 }
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239 } else {
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240 // okay, we have logic high
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241 response = response << 1;
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242 response |= 1;
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243 //debug:
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244 RS232_puts("ANSWER RX\n");
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245 }
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246 _delay_us(20); // wait some cycles
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247 RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power
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248 } else timer0_delay--; // 2.3 ms delay not reached yet
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249 }
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250
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251 ISR (INT2_vect) {
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252 // Lap counter Interrupt
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253 LED(5,2);
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254 }
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255
0
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256
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257 int main(void)
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258 {
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259
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260 unsigned char s[30];
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261 uint16_t tmp;
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262 uint8_t packet_index = 1;
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263
8
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264 uint8_t btn_start = _BV(SW_START);
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265 uint8_t old_start = btn_start;
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266 uint8_t mode = 0;
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267 // valid race modes:
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268 // 0: free drive
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269 // 1: race countdown initiated
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270 // 2: countdown 5
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271 // 3: countdown 4
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272 // 4: countdown 3
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273 // 5: countdown 2
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274 // 6: countdown 1
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275 // 7: race start initiated (next mode will be zero = free drive)
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276
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277
0
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278
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279 init_hardware();
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280
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281 // switch on rails power
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282 RAIL_POWER_PORT |= _BV(RAIL_POWER);
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283
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284 while (1) {
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285 // check for short circuit on the rails
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286 check_rails_shortcut();
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287
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288 // read in button presses
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289 btn_start = (PIN(SW_START_PORT) & _BV(SW_START));
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290 if (old_start != btn_start) {
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291 // start button changed
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292 if (btn_start == 0) {
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293 // start button press active
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294 if (mode == 0) {
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295 // Initiate race countdown
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296 mode = 0; // todo: set to 1
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297 // issue reset command to lap counter
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298 program_command = 6;
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299 program_parameter = 9;
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300 program_id = 0;
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301 program_count = 1;
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302 LAP_COUNTER_PORT |= _BV(LAP_COUNTER);
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303 } else {
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304 // do a reset, switch back to free drive mode 0
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305 mode = 0;
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306 // issue reset command
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307 program_command = 19;
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308 program_parameter = 0;
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309 program_id = 7;
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310 program_count = 1;
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311 LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
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312 }
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313 }
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314 //LAP_COUNTER_PORT |= _BV(LAP_COUNTER);
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315 } else old_start = btn_start;
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316 // LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
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317
2
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318 switch (packet_index) {
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319 case 1:
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320 if (program_count > 0) {
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321 // command in queue
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322 if (do_program(program_id, program_command, program_parameter)) {
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323 packet_index++;
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324 program_count--;
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325 }
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326 } else {
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327 // output idle command
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328 if (do_program(7, 19, 0)) packet_index++; // reset
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329 //if (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect
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330 //if (insert_queue(0, 0)) packet_index++; // null command
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331 }
2
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332 break;
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333 case 2:
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334 if (do_pace_ghost()) packet_index++;
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335 break;
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336 case 3:
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337 if (do_active()) packet_index++;
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338 break;
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339 case 4:
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340 if (do_controller(0)) packet_index++;
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341 break;
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342 case 5:
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343 if (do_controller(4)) packet_index++;
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344 break;
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345 case 6:
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346 if (do_controller(1)) packet_index++;
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347 break;
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348 case 7:
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349 if (do_controller(5)) packet_index++;
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350 break;
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351 case 8:
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352 if (do_controller(2)) packet_index++;
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353 break;
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354 case 9:
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355 if (do_active()) packet_index++;
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356 break;
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357 case 10:
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358 if (do_controller(3)) packet_index = 1;
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359 // last packet, so reset packet index
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360 break;
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361 }
0
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362
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363
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364 } // main loop end
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365 };
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366

mercurial