blackbox/main.c

Thu, 08 Dec 2011 17:22:14 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Thu, 08 Dec 2011 17:22:14 +0100
changeset 50
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parent 49
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child 51
ec9e8cc27012
permissions
-rw-r--r--

implemented new --drive command to 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 char ok[] PROGMEM="OK\n";
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17 char busy[] PROGMEM="BUSY\n";
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18 char prepare[] PROGMEM="!RACE PREPARE\n";
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19 char countdownstart[] PROGMEM="!COUNTDOWN\n";
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20 char racestart[] PROGMEM="!RACE START\n";
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21
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22 typedef union {
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23 uint32_t value;
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24 uint16_t word[2]; // high, low word
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25 uint8_t byte[4]; // all four bytes
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26 } u32;
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27
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28 #define MAX_SLOTS 6
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29 typedef struct {
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30 unsigned speedlimit:4; // 4bits speedlimit
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31 unsigned speedminimum:4; // 4bits speedminimum
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32 unsigned trackswitch:1; // 1bit bool
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33 uint8_t fuel;
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34 uint16_t jumpstart_time, laps;
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35 u32 lap_time_start, lap_time;
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36 } cardata;
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38 static unsigned char s[8];
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39 static uint8_t countdown, countdown_loops;
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40 uint8_t mode = 0;
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41 // valid race modes:
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42 // 0: free drive / idle
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43 // 1: waiting for countdown start
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44 // 2: race countdown initiated
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45 // 3: Race start condition
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46
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47 volatile u32 sysclk;
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48 volatile uint8_t sysclk_packettimer = 0;
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49 volatile cardata slot[MAX_SLOTS];
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50
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51 volatile uint8_t car0, car1;
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52 volatile uint16_t car0_new, car0_old;
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53 volatile uint16_t car1_new, car1_old;
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54 uint8_t car0_state, car1_state;
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55
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56 volatile uint8_t program_count = 0;
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57 volatile uint8_t program_id;
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58 volatile uint8_t program_command;
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59 volatile uint8_t program_parameter;
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60
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61 volatile uint8_t datalen = 0;
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62 char data[10]; // 8 bytes data buffer + string termination
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63
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64 static char buffer[RS232_BUFSIZE+1];
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65 static uint8_t buffer_len;
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66
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67 volatile uint16_t transmit_buffer;
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68 volatile uint16_t transmit_buffer_queue;
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69 volatile uint8_t transmit_len;
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70 volatile uint8_t transmit_len_next;
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71 volatile uint8_t transmit_len_queue;
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72
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73 volatile uint16_t response;
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74 volatile uint8_t response_len;
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75 volatile uint8_t timer0_delay;
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77
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78 int insert_queue(uint16_t tmp, uint8_t len) {
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79 if (transmit_buffer_queue == 0) {
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80 transmit_buffer_queue = tmp;
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81 transmit_len_queue = len;
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82 return 1;
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83 }
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84 return 0;
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85 }
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86
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87 ISR ( USART_RXC_vect ) {
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88 uint8_t tmp;
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89 char c = UDR;
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90
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91 // check for buffer overflow
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92 if (buffer_len==sizeof(buffer)) {
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93 buffer_len=0;
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94 } else {
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95 // collect characters until end of line
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96 if ( (c=='\n') ) {
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97 buffer[buffer_len]=0;
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98
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99 // packet end received, parse the received packet
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100 switch (buffer[0]) {
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101 case 'P': // inject a program data word to the rails
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102 if (program_count == 0) {
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103 program_id = buffer[3]-'0';
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104 program_command = buffer[1]-'0';
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105 if (program_command > 9)
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106 program_command = buffer[1]-'A'+10;
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107 program_parameter = buffer[2]-'0';
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108 if (program_parameter > 9)
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109 program_parameter = buffer[2]-'A'+10;
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110 if (program_command < 4)
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111 program_count = 0x02; // send commands twice (fuel, speed, brake)
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112 else
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113 program_count = 0x01;
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114 RS232_puts_p(ok);
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115 } else RS232_puts_p(busy);
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116 break;
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117
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118 case 'L': // Limit maximum speed for a car
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119 tmp = buffer[2]-'0';
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120 if (tmp > 9)
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121 tmp = buffer[2]-'A'+10;
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122 slot[buffer[1]-'0'].speedlimit = tmp;
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123 RS232_puts_p(ok);
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124 break;
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125
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126 case 'S': // set minimum speed for a car
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127 tmp = buffer[2]-'0';
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128 if (tmp > 9)
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129 tmp = buffer[2]-'A'+10;
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130 slot[buffer[1]-'0'].speedminimum = tmp;
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131 RS232_puts_p(ok);
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132 break;
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133
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134 case 'I': // get Information data (incl. important global parameter dump)
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135 RS232_puts(VERSION);
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136 RS232_putc(':');
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137 for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(slot[tmp].speedlimit); // output speed limits
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138 RS232_putc(':');
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139 for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(slot[tmp].speedminimum); // output minimum speed
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140 RS232_putc(':');
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141 for (tmp=0;tmp<MAX_SLOTS;tmp++) {
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142 itoa(slot[tmp].fuel, s, 16);
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143 RS232_putc(s); // output fuel levels (0=empty, 100=full, 0xff=no fuel option)
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diff changeset
144 RS232_putc(',');
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145 }
37
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diff changeset
146 RS232_putc(':');
43
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diff changeset
147 for (tmp=0;tmp<MAX_SLOTS;tmp++) {
46
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diff changeset
148 itoa(slot[tmp].jumpstart_time, s, 16);
43
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diff changeset
149 RS232_puts(s); // output jumpstart times
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diff changeset
150 RS232_putc(',');
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diff changeset
151 }
37
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diff changeset
152 RS232_putc(':');
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diff changeset
153 RS232_putc('\n');
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diff changeset
154 break;
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diff changeset
155
4
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diff changeset
156 }
0
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157
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158 // wait for the next packet
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159 buffer_len=0;
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diff changeset
160 } else {
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parents:
diff changeset
161 buffer[buffer_len++]=c;
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162 }
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parents:
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163 }
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parents:
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164 }
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parents:
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165
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166
37
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diff changeset
167 void jumpstart(uint8_t controller) {
46
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168 if (slot[controller].jumpstart_time == 0) {
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169 slot[controller].jumpstart_time = sysclk.word[0]; // low word
37
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170 RS232_putc('~');
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171 RS232_putc('0'-controller);
46
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172 RS232_putc(':');
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173 itoa(slot[controller].jumpstart_time, s, 16);
43
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174 RS232_puts(s);
37
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175 RS232_putc('\n');
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176 }
0
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177
37
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178 }
0
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179
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180
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181 int do_controller(uint8_t controller) {
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182 // read controller X speed & encode controller data packet
37
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183 uint16_t tmp = 0;
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184 if ( (PIN(SW_PACECAR_PORT) & _BV(SW_PACECAR)) == 0 ) {
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185 // map controller 1+2 to 5+6
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186 }
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187
0
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188 switch (controller) {
3
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189 case 0:
37
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190 if (mode!=1) tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
48
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191 if (tmp < slot[controller].speedminimum) tmp = slot[controller].speedminimum;
37
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192 if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
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193 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
36
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194 tmp = tmp << 1;
10
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195 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) {
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196 tmp |= (1<<5);
37
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197 if (mode == 0) LED(1,0);
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198 } else if (mode == 0) LED(1,1);
3
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199 break;
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200 case 1:
37
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201 if (mode!=1) tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
48
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202 if (tmp < slot[controller].speedminimum) tmp = slot[controller].speedminimum;
37
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diff changeset
203 if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
46
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204 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
36
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diff changeset
205 tmp = tmp << 1;
10
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206 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) {
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207 tmp |= (1<<5);
37
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208 if (mode == 0) LED(2,0);
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209 } else if (mode == 0) LED(2,1);
3
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210 break;
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211 case 2:
37
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212 if (mode!=1) tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
48
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213 if (tmp < slot[controller].speedminimum) tmp = slot[controller].speedminimum;
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diff changeset
214 if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
46
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diff changeset
215 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
36
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diff changeset
216 tmp = tmp << 1;
10
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217 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) {
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diff changeset
218 tmp |= (1<<5);
37
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diff changeset
219 if (mode == 0) LED(4,0);
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diff changeset
220 } else if (mode == 0) LED(4,1);
3
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diff changeset
221 break;
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diff changeset
222 case 3:
37
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diff changeset
223 if (mode!=1) tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
48
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diff changeset
224 if (tmp < slot[controller].speedminimum) tmp = slot[controller].speedminimum;
37
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diff changeset
225 if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
46
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diff changeset
226 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
36
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diff changeset
227 tmp = tmp << 1;
10
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diff changeset
228 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) {
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diff changeset
229 tmp |= (1<<5);
37
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diff changeset
230 if (mode == 0) LED(5,0);
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diff changeset
231 } else if (mode == 0) LED(5,1);
3
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parents: 2
diff changeset
232 break;
48
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diff changeset
233 case 4: // virtual car #1
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234 if ((mode == 0) && (tmp < slot[controller].speedminimum)) tmp = slot[controller].speedminimum;
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diff changeset
235 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
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diff changeset
236 tmp = tmp << 1;
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diff changeset
237 if (slot[controller].trackswitch) tmp |= (1<<5);
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diff changeset
238 break;
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diff changeset
239 case 5: // virtual car #2
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diff changeset
240 if ((mode == 0) && (tmp < slot[controller].speedminimum)) tmp = slot[controller].speedminimum;
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parents: 47
diff changeset
241 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
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diff changeset
242 tmp = tmp << 1;
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diff changeset
243 if (slot[controller].trackswitch) tmp |= (1<<5);
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diff changeset
244 break;
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diff changeset
245
0
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246 }
34
d12d095e3282 some code cleanup
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parents: 33
diff changeset
247 tmp |= (0b1000000000 | (controller << 6));
0
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248 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter
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249 return insert_queue(tmp, 9);
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250 }
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parents:
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251
4
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diff changeset
252 uint8_t mirror( uint8_t n ) {
0
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253 n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa);
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254 n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc);
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parents:
diff changeset
255 n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0);
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diff changeset
256 return n;
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257 }
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parents:
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258
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259 int do_program(uint8_t controller, uint8_t command, uint8_t parameter) {
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260 // send program data packet
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261 uint16_t tmp;
4
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diff changeset
262 parameter = mirror(parameter);
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diff changeset
263 controller = mirror(controller);
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diff changeset
264 command = mirror(command);
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diff changeset
265 tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5);
0
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266 return insert_queue(tmp, 12);
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267 }
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diff changeset
268
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269 int do_active(void) {
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270 // send controller active data packet
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271 uint16_t tmp = 0b10000000;
48
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diff changeset
272 if ((slot[0].speedminimum != 0) || ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0)) tmp |= 0b11000001;
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diff changeset
273 if ((slot[1].speedminimum != 0) || ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0)) tmp |= 0b10100001;
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diff changeset
274 if ((slot[2].speedminimum != 0) || ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0)) tmp |= 0b10010001;
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diff changeset
275 if ((slot[3].speedminimum != 0) || ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0)) tmp |= 0b10001001;
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diff changeset
276 if (slot[4].speedminimum != 0) tmp |= 0b10000101;
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diff changeset
277 if (slot[5].speedminimum != 0) tmp |= 0b10000011;
4
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diff changeset
278 // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word
0
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279
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280 return insert_queue(tmp, 7);
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281 }
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282
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283 int do_pace_ghost(void) {
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284 // send ghost and pacecar data packet
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285 // todo: at the moment, both disabled!
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286 uint16_t tmp = 0b1111100000;
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287 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter
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288 // todo: PC, NH, TK, (KFR, FR)
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289
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290 return insert_queue(tmp, 9);
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291 }
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292
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293 ISR ( TIMER1_COMPA_vect ) {
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294 //PORTC ^= _BV(PC0); // DEBUG OUTPUT SYSTEM CLOCK
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295
0
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296 // trigger packet transfer:
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297 if (sysclk_packettimer == 14) { // 15*500 = 7500 NS
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298 transmit_len = transmit_len_next;
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299 sysclk_packettimer = 0;
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300 } else sysclk_packettimer++;
0
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301 // here is some more time to do something else...
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302
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303 // reset both car counters to overflow
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304 car0_old = TIMER1_500NS;
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305 car1_old = TIMER1_500NS;
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306
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307 sysclk.value++; // increment 500ns timer
0
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308 }
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309
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310 ISR ( TIMER2_COMP_vect ) {
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311 //OCR2 = TIMER2_50US; // make sure that timer2 is 50µs !!!
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312 // data packet timer 100µs pro bit...
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313 if (transmit_len >= 0xFE) {
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314 if (transmit_len != 0xFF) {
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315 RAIL_POWER_PORT |= _BV(RAIL_POWER); // end of transmission
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316 transmit_len = 0xFF;
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317 transmit_buffer = transmit_buffer_queue;
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318 transmit_buffer_queue = 0;
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319 transmit_len_next = transmit_len_queue;
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320
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321 // start the response receiver timer
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322 // TODO: only on 8 timeslots, not on every transmission
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323 // TODO: give slot number to timer - then store the transmission to 8 slots array
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324 TCNT0 = TIMER0_250US;
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325 timer0_delay = TIMER0_2300NS;
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326 response = 0;
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327 response_len = 0;
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328 TIMSK |= _BV(TOIE0);
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329
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330 }
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331 } else {
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332 uint16_t bit = (1<<(transmit_len & 0b01111111));
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333 uint16_t clock;
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334 if ((transmit_len & 0b10000000) == 0) clock = 0; else clock = 0xffff;
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335 if ( ((transmit_buffer ^ clock) & bit) != 0 )
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336 RAIL_POWER_PORT |= _BV(RAIL_POWER); else
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337 RAIL_POWER_PORT &= ~_BV(RAIL_POWER);
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338 if ( (transmit_len & 0b10000000) == 0 ) {
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339 // block 0
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340 //if (transmit_len == 0) transmit_len = 0xFF; else transmit_len |= 0b10000000; // set clock
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341 transmit_len |= 0b10000000; // set clock
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342 } else {
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343 // block 1, output the current bit
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344 transmit_len &= 0b01111111; // reset clock
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345 //if (transmit_len != 0) transmit_len--; // next bit
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346 if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit
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347 }
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348 }
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349 }
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350
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351
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352 ISR ( TIMER0_OVF_vect ) {
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353 // TODO: last bit should be set by the sender, not from us!
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354 TCNT0 = TIMER0_250US;
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355 if (timer0_delay == 0) {
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356 RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low
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357 _delay_us(28); // wait some cycles
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358 if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) != 0) { // check for logic zero
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359 if (response == 0) {
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360 // there is no start bit, so stop the timer and cancel response receiving
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361 TIMSK &= ~_BV(TOIE0);
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362 } else {
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363 // we received a bit (logic low)
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364 response = response << 1;
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365 response_len++;
6
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366 }
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367 } else {
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368 // okay, we have logic high
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369 response = response << 1;
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370 response |= 1;
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371 response_len++;
6
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372 }
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373 if (response_len == 15) { // maximum response length reached
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374 RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power
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375 TIMSK &= ~_BV(TOIE0);
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376 } else {
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377 _delay_us(20); // wait some cycles
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378 RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power
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379 }
6
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380 } else timer0_delay--; // 2.3 ms delay not reached yet
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381 }
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382
41
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383 ISR (INT0_vect) {
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384 // car0 detector
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385 uint16_t tmp = 0;
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386 car0_new = TCNT1; // get current counter
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387 if (car0_old < car0_new) {
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388 // calculate difference
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389 if (car0 == 0) tmp = car0_new-car0_old;
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390 if ( (tmp > 54) && (tmp < 74) ) car0 = 1;
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391 if ( (tmp > 118) && (tmp < 138) ) car0 = 2;
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392 if ( (tmp > 186) && (tmp < 206) ) car0 = 3;
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393 if ( (tmp > 246) && (tmp < 266) ) car0 = 4;
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394 }
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395 car0_old = car0_new;
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396 }
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397
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398 ISR (INT1_vect) {
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399 // car1 detector
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400 uint16_t tmp = 0;
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401 car1_new = TCNT1; // get current counter
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402 if (car1_old < car1_new) {
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403 // calculate difference
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404 if (car1 == 0) tmp = car1_new-car1_old;
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405 if ( (tmp > 54) && (tmp < 74) ) car1 = 1;
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406 if ( (tmp > 118) && (tmp < 138) ) car1 = 2;
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407 if ( (tmp > 186) && (tmp < 206) ) car1 = 3;
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408 if ( (tmp > 246) && (tmp < 266) ) car1 = 4;
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409 }
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410 car1_old = car1_new;
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411 }
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diff changeset
412
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diff changeset
413
7
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parents: 6
diff changeset
414 ISR (INT2_vect) {
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diff changeset
415 // Lap counter Interrupt
37
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diff changeset
416 // do not know if this ever occurs ?! this is normally an output pin to trigger the counter start
7
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diff changeset
417 }
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diff changeset
418
36
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419 void reset_vars(void) {
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420 uint8_t i;
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diff changeset
421 for (i=0; i<MAX_SLOTS; i++) {
48
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422 slot[i].speedlimit = 15;
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423 slot[i].speedminimum = 0;
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424 slot[i].trackswitch = 0;
46
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425 slot[i].fuel = 100;
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426 slot[i].jumpstart_time = 0;
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diff changeset
427 slot[i].laps = 0;
37
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diff changeset
428 }
46
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parents: 45
diff changeset
429 sysclk.value = 0;
37
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diff changeset
430 }
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parents: 36
diff changeset
431
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
432 void countdown_progress(void) {
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
433 // decrement COUNTDOWN_LOOPS
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
434 if (countdown_loops>0) {
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
435 countdown_loops--;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
436 } else {
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
437 countdown--;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
438 countdown_loops = COUNTDOWN_DELAY;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
439 }
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
440 switch (countdown) {
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
441 case 5: LED(1, 1); break;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
442 case 4: LED(2, 1); break;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
443 case 3: LED(3, 1); break;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
444 case 2: LED(4, 1); break;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
445 case 1: LED(5, 1); break;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
446 case 0: { // RACE START!
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
447 sysclk.value = 0;
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
448 LEDS_OFF();
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
449 LED(3, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
450 mode = 3;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
451 } break;
36
aea84f4f5a12 feature: program a specific controller speed limit without changing the car's acceleration
Malte Bayer <mbayer@neo-soft.org>
parents: 35
diff changeset
452 }
aea84f4f5a12 feature: program a specific controller speed limit without changing the car's acceleration
Malte Bayer <mbayer@neo-soft.org>
parents: 35
diff changeset
453 }
aea84f4f5a12 feature: program a specific controller speed limit without changing the car's acceleration
Malte Bayer <mbayer@neo-soft.org>
parents: 35
diff changeset
454
41
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
455 void check_cars(void) {
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
456 u32 clk, diff;
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
457 clk.value = sysclk.value; // freeze system clock time
44
4f4326794ba4 implemented lap time, there is some bug in 32bit substraction yet
Malte Bayer <mbayer@neo-soft.org>
parents: 43
diff changeset
458
41
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
459 if (car0 != car0_state) {
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
460 car0_state = car0;
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
461 if (car0_state != 0) {
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
462 diff.value = clk.value - slot[car0-1].lap_time_start.value;
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
463 if ( diff.value > 3000 ) { // minimum 1.5 second for 1 lap!
47
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
464 if (slot[car0-1].lap_time_start.value != 0) {
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
465 slot[car0-1].lap_time.value = diff.value;
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
466 slot[car0-1].laps++;
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
467 RS232_putc('L');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
468 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
469 RS232_putc('A');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
470 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
471 itoa(slot[car0-1].laps, s, 16);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
472 RS232_puts(s);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
473 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
474 RS232_putc('0'+car0_state);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
475 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
476 ultoa(diff.value, s, 16);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
477 RS232_puts(s);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
478 RS232_putc('\n');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
479 }
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
480 slot[car0-1].lap_time_start.value = clk.value;
44
4f4326794ba4 implemented lap time, there is some bug in 32bit substraction yet
Malte Bayer <mbayer@neo-soft.org>
parents: 43
diff changeset
481 }
41
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
482 }
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
483 } car0 = 0;
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
484
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
485 if (car1 != car1_state) {
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
486 car1_state = car1;
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
487 if (car1_state != 0) {
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
488 diff.value = clk.value - slot[car1-1].lap_time_start.value;
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
489 if ( diff.value > 3000 ) { // minimum 1.5 second for 1 lap!
47
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
490 if (slot[car1-1].lap_time_start.value != 0) {
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
491 slot[car1-1].lap_time.value = diff.value;
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
492 slot[car1-1].laps++;
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
493 RS232_putc('L');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
494 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
495 RS232_putc('B');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
496 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
497 itoa(slot[car1-1].laps, s, 16);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
498 RS232_puts(s);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
499 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
500 RS232_putc('0'+car1_state);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
501 RS232_putc(':');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
502 ultoa(diff.value, s, 16);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
503 RS232_puts(s);
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
504 RS232_putc('\n');
34ac9f92bc1e implemented lap counter, doesnt count first sensor touch
Malte Bayer <mbayer@neo-soft.org>
parents: 46
diff changeset
505 }
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
506 slot[car1-1].lap_time_start.value = clk.value;
44
4f4326794ba4 implemented lap time, there is some bug in 32bit substraction yet
Malte Bayer <mbayer@neo-soft.org>
parents: 43
diff changeset
507 }
41
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
508 }
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
509 } car1 = 0;
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
510 }
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
511
0
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
512
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
513 int main(void)
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
514 {
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
515
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
516 uint8_t packet_index = 1;
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
517
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
518 uint8_t btn_start = _BV(SW_START);
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
519 uint8_t old_start = btn_start;
0
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
520
41
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
521
0
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
522 init_hardware();
36
aea84f4f5a12 feature: program a specific controller speed limit without changing the car's acceleration
Malte Bayer <mbayer@neo-soft.org>
parents: 35
diff changeset
523 reset_vars();
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
524 LED(3, 1); // enable middle led == idle mode
0
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
525
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
526 // switch on rails power
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
527 RAIL_POWER_PORT |= _BV(RAIL_POWER);
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
528
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
529 while (1) {
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
530 // check for short circuit on the rails
2
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
531 check_rails_shortcut();
41
9857c18c5e64 implemented car detection to cu
Malte Bayer <mbayer@neo-soft.org>
parents: 37
diff changeset
532 check_cars();
0
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
533
33
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
534 if (response_len > 0) {
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
535 itoa(response, s, 2);
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
536 response_len = 0;
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
537 RS232_puts("ANSWER RX: ");
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
538 RS232_puts(s);
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
539 RS232_putc('\n');
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
540 }
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
541
c261350bb394 fixed shortcut detection
Malte Bayer <mbayer@neo-soft.org>
parents: 11
diff changeset
542
7
f4e250d5402b fixes, bound lap counter reset to race start button
Malte Bayer <mbayer@neo-soft.org>
parents: 6
diff changeset
543 // read in button presses
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
544 btn_start = (PIN(SW_START_PORT) & _BV(SW_START));
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
545 if (old_start != btn_start) {
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
546 // start button changed
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
547 if (btn_start == 0) {
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
548 // start button press active
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
549 if (mode == 0) {
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
550 mode = 1; // set wait for race start mode
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
551 reset_vars();
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
552 LED(1, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
553 LED(2, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
554 LED(3, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
555 LED(4, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
556 LED(5, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
557 RS232_puts_p(prepare);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
558 } else if (mode == 1) {
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
559 // Initiate race countdown
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
560 sysclk.value = 0;
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
561 countdown = 5;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
562 countdown_loops = COUNTDOWN_DELAY;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
563 mode = 2;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
564 LED(1, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
565 LED(2, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
566 LED(3, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
567 LED(4, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
568 LED(5, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
569 RS232_puts_p(countdownstart);
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
570 }
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
571 }
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
572 old_start = btn_start;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
573 }
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
574
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
575 if (mode==3) {
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
576 // RACE START!
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
577 // issue reset command to lap counter
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
578 mode = 0;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
579 RS232_puts_p(racestart);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
580 program_command = 6;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
581 program_parameter = 9;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
582 program_id = 0;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
583 program_count = 1;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
584 LAP_COUNTER_PORT |= _BV(LAP_COUNTER);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
585 // TODO: beep long
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
586 _delay_us(50);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
587 LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
588 }
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
589
7
f4e250d5402b fixes, bound lap counter reset to race start button
Malte Bayer <mbayer@neo-soft.org>
parents: 6
diff changeset
590
2
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
591 switch (packet_index) {
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
592 case 1:
4
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
593 if (program_count > 0) {
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
594 // command in queue
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
595 if (do_program(program_id, program_command, program_parameter)) {
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
596 packet_index++;
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
597 program_count--;
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
598 }
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
599 } else {
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
600 // output idle command
11
69c2a1408619 done code for sniffing the rails
Malte Bayer <mbayer@neo-soft.org>
parents: 10
diff changeset
601 if (do_program(7, 19, 0)) packet_index++; // reset
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
602 //if (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect
11
69c2a1408619 done code for sniffing the rails
Malte Bayer <mbayer@neo-soft.org>
parents: 10
diff changeset
603 //if (insert_queue(0, 0)) packet_index++; // null command
4
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
604 }
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
605
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
606 if ( (packet_index>1) && (mode == 2) ) countdown_progress();
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
607
2
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
608 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
609 case 2:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
610 if (do_pace_ghost()) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
611 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
612 case 3:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
613 if (do_active()) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
614 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
615 case 4:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
616 if (do_controller(0)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
617 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
618 case 5:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
619 if (do_controller(4)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
620 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
621 case 6:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
622 if (do_controller(1)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
623 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
624 case 7:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
625 if (do_controller(5)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
626 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
627 case 8:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
628 if (do_controller(2)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
629 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
630 case 9:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
631 if (do_active()) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
632 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
633 case 10:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
634 if (do_controller(3)) packet_index = 1;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
635 // last packet, so reset packet index
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
636 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
637 }
0
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
638
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
639
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
640 } // main loop end
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
641 };
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
642

mercurial