Thu, 24 Nov 2011 16:04:30 +0100
added timer0 based car id detection - works only on 50/50 input signal
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1 | #include <avr/interrupt.h> |
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2 | #include <avr/io.h> |
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3 | #include <avr/wdt.h> |
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4 | #include <avr/eeprom.h> |
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5 | #include <stdlib.h> |
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6 | #include <stdint.h> |
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7 | #include <avr/pgmspace.h> |
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8 | #include <util/delay.h> |
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9 | |
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10 | #include "driver/rs232.h" |
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11 | #include "driver/adc.h" |
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12 | |
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13 | #include "main.h" |
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14 | #include "lowlevel.h" |
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15 | |
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16 | volatile uint8_t program_count = 0; |
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17 | volatile uint8_t program_id; |
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18 | volatile uint8_t program_command; |
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19 | volatile uint8_t program_parameter; |
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20 | |
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21 | volatile uint8_t datalen = 0; |
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22 | char data[10]; // 8 bytes data buffer + string termination |
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23 | |
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24 | static char buffer[RS232_BUFSIZE+1]; |
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25 | static uint8_t buffer_len; |
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26 | |
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27 | |
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28 | volatile uint16_t transmit_buffer; |
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29 | volatile uint16_t transmit_buffer_queue; |
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30 | volatile uint8_t transmit_len; |
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31 | volatile uint8_t transmit_len_next; |
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32 | volatile uint8_t transmit_len_queue; |
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33 | |
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34 | volatile uint16_t response; |
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35 | volatile uint8_t timer0_delay; |
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36 | |
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37 | |
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38 | ISR ( USART_RXC_vect ) { |
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39 | char c = UDR; |
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40 | |
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41 | // check for buffer overflow |
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42 | if (buffer_len==sizeof(buffer)) { |
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43 | buffer_len=0; |
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44 | } else { |
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45 | // collect characters until end of line |
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46 | if ( (c==0x0A) ) { |
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47 | buffer[buffer_len]=0; |
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48 | |
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49 | // packet end received, parse the received packet |
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50 | switch (buffer[0]) { |
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51 | case 'P': // inject a program data word to the rails |
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52 | // TODO: at the moment only parameters 0..9 supported |
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53 | // needs to build a "human" parser |
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54 | if (program_count == 0) { |
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55 | program_id = buffer[3]-'0'; |
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56 | program_command = buffer[1]-'0'; |
10 | 57 | if (program_command > 9) |
58 | program_command = buffer[1]-'A'+10; | |
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59 | program_parameter = buffer[2]-'0'; |
10 | 60 | if (program_parameter > 9) |
61 | program_parameter = buffer[2]-'A'+10; | |
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62 | if (program_command < 4) |
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63 | program_count = 0x02; // send commands twice (fuel, speed, brake) |
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64 | else |
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65 | program_count = 0x01; |
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66 | RS232_puts_p(PSTR("OK\n")); |
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67 | } else RS232_puts_p(PSTR("BUSY\n")); |
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68 | break; |
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69 | |
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70 | } |
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71 | |
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72 | // wait for the next packet |
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73 | buffer_len=0; |
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74 | } else { |
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75 | buffer[buffer_len++]=c; |
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76 | } |
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77 | } |
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78 | } |
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79 | |
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80 | |
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81 | |
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82 | int insert_queue(uint16_t tmp, uint8_t len) { |
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83 | if (transmit_buffer_queue == 0) { |
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84 | transmit_buffer_queue = tmp; |
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85 | transmit_len_queue = len; |
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86 | return 1; |
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87 | } |
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88 | return 0; |
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89 | } |
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90 | |
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91 | |
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92 | int do_controller(uint8_t controller) { |
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93 | // read controller X speed & encode controller data packet |
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94 | uint16_t tmp; |
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95 | switch (controller) { |
3 | 96 | case 0: |
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97 | tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; |
10 | 98 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) { |
99 | tmp |= (1<<5); | |
100 | LED(1,0); | |
101 | } else LED(1,1); | |
3 | 102 | break; |
103 | case 1: | |
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104 | tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; |
10 | 105 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) { |
106 | tmp |= (1<<5); | |
107 | LED(2,0); | |
108 | } else LED(2,1); | |
3 | 109 | break; |
110 | case 2: | |
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111 | tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; |
10 | 112 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) { |
113 | tmp |= (1<<5); | |
114 | LED(3,0); | |
115 | } else LED(3,1); | |
3 | 116 | break; |
117 | case 3: | |
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118 | tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; |
10 | 119 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) { |
120 | tmp |= (1<<5); | |
121 | LED(4,0); | |
122 | } else LED(4,1); | |
3 | 123 | break; |
124 | case 4: tmp = (1<<5); break; // todo regler 5 | |
125 | case 5: tmp = (1<<5); break; // todo regler 6 | |
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126 | } |
3 | 127 | tmp |= 0b1000000000 | (controller << 6); |
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128 | if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter |
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129 | |
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130 | return insert_queue(tmp, 9); |
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131 | } |
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132 | |
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133 | uint8_t mirror( uint8_t n ) { |
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134 | n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa); |
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135 | n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc); |
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136 | n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0); |
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137 | return n; |
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138 | } |
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139 | |
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140 | int do_program(uint8_t controller, uint8_t command, uint8_t parameter) { |
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141 | // send program data packet |
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142 | uint16_t tmp; |
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143 | parameter = mirror(parameter); |
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144 | controller = mirror(controller); |
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145 | command = mirror(command); |
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146 | tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5); |
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147 | return insert_queue(tmp, 12); |
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148 | } |
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149 | |
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150 | int do_active(void) { |
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151 | // send controller active data packet |
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152 | uint16_t tmp = 0b10000000; |
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153 | if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001; |
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154 | if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001; |
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155 | if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001; |
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156 | if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001; |
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157 | // todo: regler 5 und 6 |
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158 | // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word |
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159 | |
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160 | return insert_queue(tmp, 7); |
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161 | } |
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162 | |
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163 | int do_pace_ghost(void) { |
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164 | // send ghost and pacecar data packet |
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165 | // todo: at the moment, both disabled! |
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166 | uint16_t tmp = 0b1111100000; |
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167 | if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter |
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168 | // todo: PC, NH, TK, (KFR, FR) |
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169 | |
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170 | return insert_queue(tmp, 9); |
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171 | } |
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172 | |
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173 | ISR ( TIMER1_COMPA_vect ) { |
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174 | // trigger packet transfer: |
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175 | transmit_len = transmit_len_next; |
10 | 176 | //LED(2,2); |
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177 | |
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178 | // here is some more time to do something else... |
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179 | } |
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180 | |
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181 | ISR ( TIMER2_COMP_vect ) { |
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182 | //OCR2 = TIMER2_50US; // make sure that timer2 is 50µs !!! |
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183 | // data packet timer 100µs pro bit... |
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184 | if (transmit_len >= 0xFE) { |
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185 | if (transmit_len != 0xFF) { |
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186 | RAIL_POWER_PORT |= _BV(RAIL_POWER); // end of transmission |
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187 | transmit_len = 0xFF; |
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188 | transmit_buffer = transmit_buffer_queue; |
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189 | transmit_buffer_queue = 0; |
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190 | transmit_len_next = transmit_len_queue; |
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191 | |
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192 | // start the response receiver timer |
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193 | // TODO: only on 8 timeslots, not on every transmission |
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194 | // TODO: give slot number to timer - then store the transmission to 8 slots array |
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195 | TCNT0 = TIMER0_250US; |
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196 | timer0_delay = TIMER0_2300NS; |
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197 | response = 0; |
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198 | TIMSK |= _BV(TOIE0); |
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199 | |
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200 | } |
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201 | } else { |
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202 | uint16_t bit = (1<<(transmit_len & 0b01111111)); |
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203 | uint16_t clock; |
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204 | if ((transmit_len & 0b10000000) == 0) clock = 0; else clock = 0xffff; |
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205 | if ( ((transmit_buffer ^ clock) & bit) != 0 ) |
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206 | RAIL_POWER_PORT |= _BV(RAIL_POWER); else |
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207 | RAIL_POWER_PORT &= ~_BV(RAIL_POWER); |
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208 | if ( (transmit_len & 0b10000000) == 0 ) { |
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209 | // block 0 |
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210 | //if (transmit_len == 0) transmit_len = 0xFF; else transmit_len |= 0b10000000; // set clock |
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211 | transmit_len |= 0b10000000; // set clock |
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212 | } else { |
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213 | // block 1, output the current bit |
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214 | transmit_len &= 0b01111111; // reset clock |
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215 | //if (transmit_len != 0) transmit_len--; // next bit |
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216 | if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit |
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217 | } |
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218 | } |
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219 | |
10 | 220 | //LED(3,2); |
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221 | } |
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222 | |
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223 | |
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224 | ISR ( TIMER0_OVF_vect ) { |
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225 | // TODO: last bit should be set by the sender, not from us! |
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226 | TCNT0 = TIMER0_250US; |
10 | 227 | //LED(1,2); |
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228 | if (timer0_delay == 0) { |
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229 | RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low |
8 | 230 | _delay_us(28); // wait some cycles |
231 | if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) != 0) { // check for logic zero | |
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232 | if (response == 0) { |
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233 | // there is no start bit, so stop the timer and cancel response receiving |
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234 | TIMSK &= ~_BV(TOIE0); |
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235 | } else { |
8 | 236 | // we received a bit (logic low) |
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237 | response = response << 1; |
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238 | } |
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239 | } else { |
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240 | // okay, we have logic high |
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241 | response = response << 1; |
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242 | response |= 1; |
8 | 243 | //debug: |
244 | RS232_puts("ANSWER RX\n"); | |
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245 | } |
8 | 246 | _delay_us(20); // wait some cycles |
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247 | RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power |
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248 | } else timer0_delay--; // 2.3 ms delay not reached yet |
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249 | } |
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250 | |
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251 | ISR (INT2_vect) { |
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252 | // Lap counter Interrupt |
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253 | LED(5,2); |
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254 | } |
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255 | |
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256 | |
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257 | int main(void) |
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258 | { |
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259 | |
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260 | unsigned char s[30]; |
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261 | uint16_t tmp; |
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262 | uint8_t packet_index = 1; |
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263 | |
8 | 264 | uint8_t btn_start = _BV(SW_START); |
265 | uint8_t old_start = btn_start; | |
266 | uint8_t mode = 0; | |
267 | // valid race modes: | |
268 | // 0: free drive | |
269 | // 1: race countdown initiated | |
270 | // 2: countdown 5 | |
271 | // 3: countdown 4 | |
272 | // 4: countdown 3 | |
273 | // 5: countdown 2 | |
274 | // 6: countdown 1 | |
275 | // 7: race start initiated (next mode will be zero = free drive) | |
276 | ||
277 | ||
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278 | |
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279 | init_hardware(); |
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280 | |
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281 | // switch on rails power |
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282 | RAIL_POWER_PORT |= _BV(RAIL_POWER); |
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283 | |
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284 | while (1) { |
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285 | // check for short circuit on the rails |
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286 | check_rails_shortcut(); |
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287 | |
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288 | // read in button presses |
8 | 289 | btn_start = (PIN(SW_START_PORT) & _BV(SW_START)); |
290 | if (old_start != btn_start) { | |
291 | // start button changed | |
292 | if (btn_start == 0) { | |
293 | // start button press active | |
294 | if (mode == 0) { | |
295 | // Initiate race countdown | |
296 | mode = 0; // todo: set to 1 | |
297 | // issue reset command to lap counter | |
298 | program_command = 6; | |
299 | program_parameter = 9; | |
300 | program_id = 0; | |
301 | program_count = 1; | |
10 | 302 | LAP_COUNTER_PORT |= _BV(LAP_COUNTER); |
8 | 303 | } else { |
304 | // do a reset, switch back to free drive mode 0 | |
305 | mode = 0; | |
306 | // issue reset command | |
307 | program_command = 19; | |
308 | program_parameter = 0; | |
309 | program_id = 7; | |
310 | program_count = 1; | |
10 | 311 | LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER); |
8 | 312 | } |
313 | } | |
314 | //LAP_COUNTER_PORT |= _BV(LAP_COUNTER); | |
315 | } else old_start = btn_start; | |
316 | // LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER); | |
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317 | |
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318 | switch (packet_index) { |
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319 | case 1: |
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320 | if (program_count > 0) { |
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321 | // command in queue |
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322 | if (do_program(program_id, program_command, program_parameter)) { |
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323 | packet_index++; |
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324 | program_count--; |
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325 | } |
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326 | } else { |
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327 | // output idle command |
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328 | if (do_program(7, 19, 0)) packet_index++; // reset |
8 | 329 | //if (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect |
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330 | //if (insert_queue(0, 0)) packet_index++; // null command |
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331 | } |
2
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332 | break; |
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333 | case 2: |
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334 | if (do_pace_ghost()) packet_index++; |
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335 | break; |
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336 | case 3: |
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337 | if (do_active()) packet_index++; |
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338 | break; |
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339 | case 4: |
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340 | if (do_controller(0)) packet_index++; |
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341 | break; |
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342 | case 5: |
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343 | if (do_controller(4)) packet_index++; |
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344 | break; |
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345 | case 6: |
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346 | if (do_controller(1)) packet_index++; |
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347 | break; |
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348 | case 7: |
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349 | if (do_controller(5)) packet_index++; |
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350 | break; |
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351 | case 8: |
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352 | if (do_controller(2)) packet_index++; |
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353 | break; |
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354 | case 9: |
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355 | if (do_active()) packet_index++; |
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356 | break; |
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357 | case 10: |
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358 | if (do_controller(3)) packet_index = 1; |
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359 | // last packet, so reset packet index |
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360 | break; |
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361 | } |
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362 | |
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363 | |
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364 | } // main loop end |
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365 | }; |
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366 |