blackbox/main.c

Fri, 09 Dec 2011 12:21:22 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Fri, 09 Dec 2011 12:21:22 +0100
changeset 55
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parent 53
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child 59
361bc4602cf7
permissions
-rw-r--r--

added live display to CLI (lap counter, last and best time)

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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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76
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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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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++) {
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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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160 } else {
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161 buffer[buffer_len++]=c;
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162 }
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163 }
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164 }
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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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diff changeset
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 int do_controller(uint8_t controller) {
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181 // read controller X speed & encode controller data packet
37
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182 uint16_t tmp = 0;
51
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183 uint8_t trackchange = 0xff;
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184
48
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185 if ( (PIN(SW_PACECAR_PORT) & _BV(SW_PACECAR)) == 0 ) {
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186 // map controller 1+2 to 5+6
51
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187 if (controller == 4) tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
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188 if (controller == 5) tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
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189 if (controller == 4) trackchange = (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW));
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190 if (controller == 5) trackchange = (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW));
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191 } else {
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192 // read speeds
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193 if ((controller == 0) && (mode!=1)) tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
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194 if ((controller == 1) && (mode!=1)) tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
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195 if ((controller == 2) && (mode!=1)) tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
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196 if ((controller == 3) && (mode!=1)) tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
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197 if (controller == 0) trackchange = (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW));
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198 if (controller == 1) trackchange = (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW));
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199 if (controller == 2) trackchange = (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW));
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200 if (controller == 3) trackchange = (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW));
52
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201
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202 if (controller < 4) {
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203 if (tmp < slot[controller].speedminimum) tmp = slot[controller].speedminimum;
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204 if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
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205 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
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206 tmp = tmp << 1;
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207 } else {
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208 if ((mode == 0) && (tmp < slot[controller].speedminimum)) tmp = slot[controller].speedminimum;
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209 if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit;
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210 tmp = tmp << 1;
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211 if (trackchange || slot[controller].trackswitch) tmp |= (1<<5);
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212 }
48
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213 }
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diff changeset
214
0
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215 switch (controller) {
3
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diff changeset
216 case 0:
51
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diff changeset
217 if (trackchange != 0) {
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diff changeset
218 tmp |= (1<<5);
37
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diff changeset
219 if (mode == 0) LED(1,0);
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220 } else if (mode == 0) LED(1,1);
3
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diff changeset
221 break;
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diff changeset
222 case 1:
51
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diff changeset
223 if (trackchange != 0) {
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diff changeset
224 tmp |= (1<<5);
37
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diff changeset
225 if (mode == 0) LED(2,0);
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diff changeset
226 } else if (mode == 0) LED(2,1);
3
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diff changeset
227 break;
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diff changeset
228 case 2:
51
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diff changeset
229 if (trackchange != 0) {
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diff changeset
230 tmp |= (1<<5);
37
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diff changeset
231 if (mode == 0) LED(4,0);
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diff changeset
232 } else if (mode == 0) LED(4,1);
3
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diff changeset
233 break;
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diff changeset
234 case 3:
51
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diff changeset
235 if (trackchange != 0) {
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diff changeset
236 tmp |= (1<<5);
37
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diff changeset
237 if (mode == 0) LED(5,0);
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diff changeset
238 } else if (mode == 0) LED(5,1);
3
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diff changeset
239 break;
52
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diff changeset
240 }
48
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diff changeset
241
34
d12d095e3282 some code cleanup
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diff changeset
242 tmp |= (0b1000000000 | (controller << 6));
0
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243 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter
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244 return insert_queue(tmp, 9);
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245 }
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246
4
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diff changeset
247 uint8_t mirror( uint8_t n ) {
0
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248 n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa);
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249 n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc);
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250 n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0);
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251 return n;
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252 }
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253
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254 int do_program(uint8_t controller, uint8_t command, uint8_t parameter) {
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255 // send program data packet
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256 uint16_t tmp;
4
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diff changeset
257 parameter = mirror(parameter);
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diff changeset
258 controller = mirror(controller);
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diff changeset
259 command = mirror(command);
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diff changeset
260 tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5);
0
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261 return insert_queue(tmp, 12);
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262 }
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263
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264 int do_active(void) {
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265 // send controller active data packet
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266 uint16_t tmp = 0b10000000;
51
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diff changeset
267 if ( (PIN(SW_PACECAR_PORT) & _BV(SW_PACECAR)) == 0 ) {
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diff changeset
268 // map controller 1+2 to 5+6
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diff changeset
269 if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10000101;
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diff changeset
270 if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10000011;
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diff changeset
271 } else {
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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;
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278 }
4
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diff changeset
279 // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word
0
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280
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281 return insert_queue(tmp, 7);
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282 }
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283
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284 int do_pace_ghost(void) {
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285 // send ghost and pacecar data packet
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286 // todo: at the moment, both disabled!
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287 uint16_t tmp = 0b1111100000;
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288 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter
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289 // todo: PC, NH, TK, (KFR, FR)
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290
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291 return insert_queue(tmp, 9);
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292 }
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293
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f659e6faf18f moved ISRs from main.c to interrupts.c
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294 #include "interrupts.c"
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295
36
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296 void reset_vars(void) {
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297 uint8_t i;
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298 for (i=0; i<MAX_SLOTS; i++) {
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299 slot[i].speedlimit = 15;
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300 slot[i].speedminimum = 0;
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301 slot[i].trackswitch = 0;
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diff changeset
302 slot[i].fuel = 100;
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303 slot[i].jumpstart_time = 0;
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304 slot[i].laps = 0;
37
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305 }
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diff changeset
306 sysclk.value = 0;
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307 }
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308
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309 void countdown_progress(void) {
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310 // decrement COUNTDOWN_LOOPS
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311 if (countdown_loops>0) {
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312 countdown_loops--;
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313 } else {
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314 countdown--;
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315 countdown_loops = COUNTDOWN_DELAY;
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316 }
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317 switch (countdown) {
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318 case 5: LED(1, 1); break;
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319 case 4: LED(2, 1); break;
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320 case 3: LED(3, 1); break;
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321 case 2: LED(4, 1); break;
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322 case 1: LED(5, 1); break;
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323 case 0: { // RACE START!
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324 sysclk.value = 0;
37
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325 LEDS_OFF();
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326 LED(3, 1);
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327 mode = 3;
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328 } break;
36
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329 }
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330 }
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331
41
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diff changeset
332 void check_cars(void) {
46
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333 u32 clk, diff;
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334 clk.value = sysclk.value; // freeze system clock time
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335
41
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336 if (car0 != car0_state) {
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337 car0_state = car0;
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338 if (car0_state != 0) {
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339 diff.value = clk.value - slot[car0-1].lap_time_start.value;
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340 if ( diff.value > 3000 ) { // minimum 1.5 second for 1 lap!
47
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341 if (slot[car0-1].lap_time_start.value != 0) {
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342 slot[car0-1].lap_time.value = diff.value;
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343 slot[car0-1].laps++;
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344 RS232_putc('L');
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345 RS232_putc(':');
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346 RS232_putc('A');
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347 RS232_putc(':');
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348 itoa(slot[car0-1].laps, s, 16);
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349 RS232_puts(s);
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350 RS232_putc(':');
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351 RS232_putc('0'+car0_state);
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352 RS232_putc(':');
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diff changeset
353 ultoa(diff.value, s, 16);
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354 RS232_puts(s);
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355 RS232_putc('\n');
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356 }
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357 slot[car0-1].lap_time_start.value = clk.value;
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358 }
41
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359 }
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360 } car0 = 0;
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361
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362 if (car1 != car1_state) {
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363 car1_state = car1;
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364 if (car1_state != 0) {
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diff changeset
365 diff.value = clk.value - slot[car1-1].lap_time_start.value;
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diff changeset
366 if ( diff.value > 3000 ) { // minimum 1.5 second for 1 lap!
47
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diff changeset
367 if (slot[car1-1].lap_time_start.value != 0) {
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diff changeset
368 slot[car1-1].lap_time.value = diff.value;
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diff changeset
369 slot[car1-1].laps++;
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370 RS232_putc('L');
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diff changeset
371 RS232_putc(':');
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diff changeset
372 RS232_putc('B');
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diff changeset
373 RS232_putc(':');
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diff changeset
374 itoa(slot[car1-1].laps, s, 16);
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diff changeset
375 RS232_puts(s);
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diff changeset
376 RS232_putc(':');
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diff changeset
377 RS232_putc('0'+car1_state);
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diff changeset
378 RS232_putc(':');
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diff changeset
379 ultoa(diff.value, s, 16);
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diff changeset
380 RS232_puts(s);
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diff changeset
381 RS232_putc('\n');
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diff changeset
382 }
46
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diff changeset
383 slot[car1-1].lap_time_start.value = clk.value;
44
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diff changeset
384 }
41
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diff changeset
385 }
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diff changeset
386 } car1 = 0;
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diff changeset
387 }
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parents: 37
diff changeset
388
0
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389
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390 int main(void)
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391 {
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392
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393 uint8_t packet_index = 1;
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diff changeset
394
8
84249ab5d691 debugging stuff
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diff changeset
395 uint8_t btn_start = _BV(SW_START);
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diff changeset
396 uint8_t old_start = btn_start;
0
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397
41
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diff changeset
398
0
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diff changeset
399 init_hardware();
36
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diff changeset
400 reset_vars();
37
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diff changeset
401 LED(3, 1); // enable middle led == idle mode
0
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parents:
diff changeset
402
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parents:
diff changeset
403 // switch on rails power
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diff changeset
404 RAIL_POWER_PORT |= _BV(RAIL_POWER);
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parents:
diff changeset
405
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parents:
diff changeset
406 while (1) {
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parents:
diff changeset
407 // check for short circuit on the rails
2
6c59b4293fa9 finished: rails short circuit check
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parents: 0
diff changeset
408 check_rails_shortcut();
41
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parents: 37
diff changeset
409 check_cars();
0
9b7de464f0ea initial commit - controller1 working
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parents:
diff changeset
410
33
c261350bb394 fixed shortcut detection
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parents: 11
diff changeset
411 if (response_len > 0) {
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parents: 11
diff changeset
412 itoa(response, s, 2);
c261350bb394 fixed shortcut detection
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parents: 11
diff changeset
413 response_len = 0;
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diff changeset
414 RS232_puts("ANSWER RX: ");
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parents: 11
diff changeset
415 RS232_puts(s);
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parents: 11
diff changeset
416 RS232_putc('\n');
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parents: 11
diff changeset
417 }
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parents: 11
diff changeset
418
c261350bb394 fixed shortcut detection
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parents: 11
diff changeset
419
7
f4e250d5402b fixes, bound lap counter reset to race start button
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parents: 6
diff changeset
420 // read in button presses
8
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parents: 7
diff changeset
421 btn_start = (PIN(SW_START_PORT) & _BV(SW_START));
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parents: 7
diff changeset
422 if (old_start != btn_start) {
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parents: 7
diff changeset
423 // start button changed
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parents: 7
diff changeset
424 if (btn_start == 0) {
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parents: 7
diff changeset
425 // start button press active
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
426 if (mode == 0) {
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
427 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
428 reset_vars();
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
429 LED(1, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
430 LED(2, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
431 LED(3, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
432 LED(4, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
433 LED(5, 1);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
434 RS232_puts_p(prepare);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
435 } else if (mode == 1) {
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
436 // Initiate race countdown
46
d200e3d8a550 corrected lap times, packed data struct for each slotcar
Malte Bayer <mbayer@neo-soft.org>
parents: 45
diff changeset
437 sysclk.value = 0;
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
438 countdown = 5;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
439 countdown_loops = COUNTDOWN_DELAY;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
440 mode = 2;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
441 LED(1, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
442 LED(2, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
443 LED(3, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
444 LED(4, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
445 LED(5, 0);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
446 RS232_puts_p(countdownstart);
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
447 }
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
448 }
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
449 old_start = btn_start;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
450 }
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
451
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
452 if (mode==3) {
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
453 // RACE START!
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
454 // 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
455 mode = 0;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
456 RS232_puts_p(racestart);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
457 program_command = 6;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
458 program_parameter = 9;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
459 program_id = 0;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
460 program_count = 1;
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
461 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
462 // TODO: beep long
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
463 _delay_us(50);
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
464 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
465 }
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
466
7
f4e250d5402b fixes, bound lap counter reset to race start button
Malte Bayer <mbayer@neo-soft.org>
parents: 6
diff changeset
467
2
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
468 switch (packet_index) {
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
469 case 1:
4
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
470 if (program_count > 0) {
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
471 // command in queue
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
472 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
473 packet_index++;
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
474 program_count--;
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
475 }
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
476 } else {
58529e14c45c implemented rs232 program word injection
Malte Bayer <mbayer@neo-soft.org>
parents: 3
diff changeset
477 // output idle command
11
69c2a1408619 done code for sniffing the rails
Malte Bayer <mbayer@neo-soft.org>
parents: 10
diff changeset
478 if (do_program(7, 19, 0)) packet_index++; // reset
8
84249ab5d691 debugging stuff
Malte Bayer <mbayer@neo-soft.org>
parents: 7
diff changeset
479 //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
480 //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
481 }
37
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
482
136a79772098 implemented race prepare phase, countdown and jumpstart detection
Malte Bayer <mbayer@neo-soft.org>
parents: 36
diff changeset
483 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
484
2
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
485 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
486 case 2:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
487 if (do_pace_ghost()) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
488 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
489 case 3:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
490 if (do_active()) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
491 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
492 case 4:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
493 if (do_controller(0)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
494 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
495 case 5:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
496 if (do_controller(4)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
497 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
498 case 6:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
499 if (do_controller(1)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
500 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
501 case 7:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
502 if (do_controller(5)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
503 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
504 case 8:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
505 if (do_controller(2)) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
506 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
507 case 9:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
508 if (do_active()) packet_index++;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
509 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
510 case 10:
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
511 if (do_controller(3)) packet_index = 1;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
512 // last packet, so reset packet index
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
513 break;
6c59b4293fa9 finished: rails short circuit check
Malte Bayer <mbayer@neo-soft.org>
parents: 0
diff changeset
514 }
0
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
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
517 } // main loop end
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
518 };
9b7de464f0ea initial commit - controller1 working
Malte Bayer <mbayer@neo-soft.org>
parents:
diff changeset
519

mercurial