blackbox/lowlevel.c

Sat, 17 Dec 2011 16:47:04 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Sat, 17 Dec 2011 16:47:04 +0100
changeset 95
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parent 91
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permissions
-rw-r--r--

added winning ability ;)

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1 #include <avr/interrupt.h>
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2 #include <avr/pgmspace.h>
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3 #include <util/delay.h>
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4 #include "stdint.h"
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5 #include "main.h"
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6 #include "driver/adc.h"
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7 #include "driver/rs232.h"
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8 #include "lowlevel.h"
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9
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10 void blinkdelay(void) {
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11 _delay_ms(50);
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12 }
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13
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14 void LED(uint8_t num, uint8_t state) {
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15 switch (num) {
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16 case 1: switch (state) {
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17 case 0: LED1_PORT &= ~_BV(LED1); break;
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18 case 1: LED1_PORT |= _BV(LED1); break;
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19 case 2: LED1_PORT ^= _BV(LED1); break;
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20 } break;
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21
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22 case 2: switch (state) {
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23 case 0: LED2_PORT &= ~_BV(LED2); break;
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24 case 1: LED2_PORT |= _BV(LED2); break;
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25 case 2: LED2_PORT ^= _BV(LED2); break;
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26 } break;
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28 case 3: switch (state) {
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29 case 0: LED3_PORT &= ~_BV(LED3); break;
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30 case 1: LED3_PORT |= _BV(LED3); break;
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31 case 2: LED3_PORT ^= _BV(LED3); break;
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32 } break;
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34 case 4: switch (state) {
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35 case 0: LED4_PORT &= ~_BV(LED4); break;
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36 case 1: LED4_PORT |= _BV(LED4); break;
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37 case 2: LED4_PORT ^= _BV(LED4); break;
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38 } break;
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40 case 5: switch (state) {
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41 case 0: LED5_PORT &= ~_BV(LED5); break;
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42 case 1: LED5_PORT |= _BV(LED5); break;
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43 case 2: LED5_PORT ^= _BV(LED5); break;
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44 } break;
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45 }
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46 }
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47
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48 void LEDS_OFF(void) {
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49 LED1_PORT &= ~_BV(LED1);
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50 LED2_PORT &= ~_BV(LED1);
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51 LED3_PORT &= ~_BV(LED1);
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52 LED4_PORT &= ~_BV(LED1);
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53 LED5_PORT &= ~_BV(LED1);
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54 }
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55
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56 void init_hardware(void) {
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57 // reset all ports to input, no pullup
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58 DDRA = 0; PORTA = 0;
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59 DDRB = 0; PORTB = 0;
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60 DDRC = 0; PORTC = 0;
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61 DDRD = 0; PORTD = 0;
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62
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63
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64 RS232_init(); // initialize RS232 interface
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65 initADC();
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66 SFIOR = 0;
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67
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68 // set LED output
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69 DDR(LED1_PORT) |= _BV(LED1);
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70 DDR(LED2_PORT) |= _BV(LED2);
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71 DDR(LED3_PORT) |= _BV(LED3);
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72 DDR(LED4_PORT) |= _BV(LED4);
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73 DDR(LED5_PORT) |= _BV(LED5);
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74
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75 // set Controller Input Pull-UPs
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76 CONTROLLER_PORT |= (_BV(CONTROLLER1_SW) | _BV(CONTROLLER2_SW) | _BV(CONTROLLER3_SW) | _BV(CONTROLLER4_SW));
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77
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78 // switch pull-ups
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79 SW_FUEL_PORT |= _BV(SW_FUEL);
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80 SW_START_PORT |= _BV(SW_START);
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81 //SW_PACECAR_PORT |= _BV(SW_PACECAR);
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83 // control outputs
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84 DDR(LAP_COUNTER_PORT) |= _BV(LAP_COUNTER);
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85
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86 // setup rail control
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87 //RAIL_DETECT_PORT |= _BV(RAIL_DETECT); // enable internal pull-up
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88 DDR(RAIL_POWER_PORT) |= _BV(RAIL_POWER);
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89
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90 // setup debut output on i2c pins
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91 DDR(PORTC) |= _BV(PC0) | _BV(PC1);
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92
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93 // display init sequence on LEDs
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94 LED(1, 1); blinkdelay();
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95 LED(2, 1); blinkdelay();
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96 LED(3, 1); blinkdelay();
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97 LED(4, 1); blinkdelay();
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98 LED(5, 1); blinkdelay();
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99 LED(1, 0); blinkdelay();
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100 LED(2, 0); blinkdelay();
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101 LED(3, 0); blinkdelay();
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102 LED(4, 0); blinkdelay();
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103 LED(5, 0);
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104
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105
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106 // setup response receiver timer
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107 TCCR0 = (1<<CS01); //divide by 8
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108 // interrupt enable + tcnt0 set in timer2
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109
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110
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111 // setup data bit + carid timer
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112 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match
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113 OCR2 = TIMER2_50US;
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114 TIMSK |= _BV(OCIE2); //enable timer2 interrupt
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115
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116 // enable carid interrupts
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117 MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge
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118 GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1
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119
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120
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121
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122 // setup data packet timer
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123 TCCR1B = (1<<CS11) | (1<<WGM12); //divide by 8, set compare match (1mhz clock)
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124 OCR1A = TIMER1_500NS;
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125 //OCR1A = TIMER1_7500NS;
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126 TIMSK |= _BV(OCIE1A); //enable timer1 interrupt
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127
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128 RS232_puts_p(PSTR("FreeSlot Blackbox v"));
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129 RS232_puts(VERSION);
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130 RS232_putc('\n');
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131
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132 }
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133
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134 void panic_mode(void) {
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135 RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power
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136 LEDS_OFF();
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137 LED(1, 2);
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138 blinkdelay();
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139 LED(1, 2);
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140 LED(2, 2);
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141 blinkdelay();
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142 LED(2, 2);
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143 LED(3, 2);
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144 blinkdelay();
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145 LED(3, 2);
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146 LED(4, 2);
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147 blinkdelay();
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148 LED(4, 2);
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149 LED(5, 2);
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150 }
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151
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152
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153 uint8_t check_rails_shortcut(void) {
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154 // check for short circuit on the rails
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155 uint8_t i = 100;
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156 if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) {
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157 while (i>0) {
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158 if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) != 0) return 0;
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159 _delay_us(20);
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160 i--;
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161 }
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162 if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) {
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163 // set panic mode
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164 mode = 0xff;
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165 RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power
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166 // wait a little to all interrupts complete
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167 //cli(); // disable ALL Interrupts
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168 _delay_ms(2);
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169 RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power
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170 RS232_puts_p(SHORTCUT);
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171 LED(1, 1);
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172 LED(2, 1);
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173 LED(3, 0);
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174 LED(4, 0);
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175 LED(5, 0);
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176 while (mode == 0xff) {
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177 LED(1, 2);
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178 LED(2, 2);
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179 LED(4, 2);
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180 LED(5, 2);
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181 blinkdelay();
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182 LED(3, 2);
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183 blinkdelay();
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184 LED(3, 2);
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185 blinkdelay();
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186 LED(3, 2);
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187 blinkdelay();
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188 LED(3, 2);
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189 btn_start = (PIN(SW_START_PORT) & _BV(SW_START));
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190 if (old_start != btn_start) {
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191 // start button changed
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192 if (btn_start == 0) {
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193 mode = 0;
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194 RS232_puts_p(RESUME);
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195 }
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196 old_start = btn_start;
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197 }
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198
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199 }
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200 LEDS_OFF();
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201 LED(3, 1);
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202 }
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203 }
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204 return 0;
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205 }

mercurial