trackswitch/main.c

Sat, 03 Dec 2011 11:11:06 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Sat, 03 Dec 2011 11:11:06 +0100
changeset 32
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parent 22
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child 40
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permissions
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merge

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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
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9 #include "main.h"
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10
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11 #include "driver/rs232.h"
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12 #include "util/delay.h"
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13
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14
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15 ISR ( USART_RXC_vect ) {
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16 }
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17
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18 #define PULSE_PORT PORTD
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19 #define PULSE_BIT PD2
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20 #define SOLENOID_A_PORT PORTB
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21 #define SOLENOID_B_PORT PORTB
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22
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23 #define TRACKSWITCH_TYPE 2 // 1=double, 2=single
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24
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25 #define SOLENOID_A_PIN PB1
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26 #define SOLENOID_B_PIN PB2
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27
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28 // internal analog comparator doesnt work well
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29 //#define ANALOG_COMPARATOR 1
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30
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31 volatile uint16_t data = 0;
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32 volatile uint8_t data_len = 0;
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33 volatile uint8_t bitbuf_len = 0;
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34 volatile uint16_t bitbuf = 0;
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35 volatile uint8_t car_speed[8];
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36 volatile uint8_t car_switch[8];
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37 volatile uint16_t car0, car1;
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38 volatile uint16_t car0_new, car0_old;
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39 volatile uint16_t car1_new, car1_old;
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40
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41 ISR ( INT0_vect ) {
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42 GICR &= ~_BV(INT0) ; // Disable INT0
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43 // Startsignal erkannt, ab hier den Timer2 starten,
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44 // der liest dann alle 50µs den Zustand ein und schreibt das
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45 // empfangene Bit in den Puffer
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46 bitbuf = 0; // init
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47 bitbuf_len = 0b10000000; // init 1 pulse received
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48 TCNT2 = 0;
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49 TIMSK |= _BV(OCIE2); //enable timer2 interrupt
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50 }
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51
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52 ISR ( TIMER2_COMP_vect ) {
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53 uint8_t clock;
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54 uint8_t state;
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55 uint8_t state2;
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56 if ((bitbuf_len & 0b10000000) == 0) clock = 0; else clock = 0xff;
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57 if ((bitbuf_len & 0b01000000) == 0) state = 0; else state = 0xff;
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58 if ((PIN(PULSE_PORT) & _BV(PULSE_BIT)) == 0) state2 = 0xff; else state2 = 0;
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59
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60 if (clock) {
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61 bitbuf_len &= ~_BV(7); // switch clock to low
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62 // second pulse of bit
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63 if ((state==state2) & state2) {
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64 // two cycles high: packet end received
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65 data_len = (bitbuf_len & 0b00111111);
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66 TIMSK &= ~_BV(OCIE2); //disable timer2 interrupt
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67 GICR |= _BV(INT0) ; // Enable INT0
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68
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69 //data = bitbuf; // output data
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70 // write data of controllers to array
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71 if (data_len == 10) { // controller data packet
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72 clock = (bitbuf >> 6) & 0b00000111;
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73 car_speed[clock] = (bitbuf >> 1) & 0x0F;
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74 car_switch[clock] = (bitbuf >> 5) & 1;
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75 }
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76
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77
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78 } else {
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79 bitbuf_len++; // increment bit counter
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80 bitbuf = bitbuf << 1; // shift bits
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81 if (state2 == 0) bitbuf |= 1; // receive logic one
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82 }
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83 } else {
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84 bitbuf_len |= _BV(7); // switch clock to high
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85 // first pulse of bit
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86 if (state2) {
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87 bitbuf_len |= _BV(6); // store new state
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88 } else {
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89 bitbuf_len &= ~_BV(6); // store new state
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90 }
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91 }
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92 }
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93
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94
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95 ISR (TIMER1_OVF_vect) {
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96 // reset both car counters to overflow
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97 car0_old = 0xffff;
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98 car1_old = 0xffff;
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99 }
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100
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101 ISR (INT1_vect) {
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102 // car0 detector
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103 uint16_t tmp = 0;
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104 car0_new = TCNT1; // get current counter
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105 if (car0_old < car0_new) {
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106 // calculate difference
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107 if (car0 == 0) tmp = car0_new-car0_old;
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108 if ( (tmp > 54) && (tmp < 74) ) car0 = 1;
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109 if ( (tmp > 118) && (tmp < 138) ) car0 = 2;
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110 if ( (tmp > 186) && (tmp < 206) ) car0 = 3;
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111 if ( (tmp > 246) && (tmp < 266) ) car0 = 4;
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112 }
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113 car0_old = car0_new;
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114 }
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115
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116 // ISR (TIMER1_CAPT_vect) {
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117 #ifdef ANALOG_COMPARATOR
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118 ISR (ANA_COMP_vect) {
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119 // car1 detector
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120 uint16_t tmp = 0;
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121 car1_new = TCNT1; // get current counter
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122 if (car1_old < car1_new) {
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123 // calculate difference
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124 if (car1 == 0) tmp = car1_new-car1_old;
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125 if ( (tmp > 50) && (tmp < 78) ) car1 = 1;
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126 if ( (tmp > 114) && (tmp < 146) ) car1 = 2;
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127 if ( (tmp > 183) && (tmp < 210) ) car1 = 3;
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128 if ( (tmp > 242) && (tmp < 270) ) car1 = 4;
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129 }
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130 car1_old = car1_new;
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131 }
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132 #else
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133 // ALTERNATIV:
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134 ISR (TIMER1_CAPT_vect) {
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135 // car1 detector
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136 uint16_t tmp = 0;
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137 car1_new = TCNT1; // get current counter
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138 if (car1_old < car1_new) {
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139 // calculate difference
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140 if (car1 == 0) tmp = car1_new-car1_old;
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141 if ( (tmp > 50) && (tmp < 78) ) car1 = 1;
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142 if ( (tmp > 114) && (tmp < 146) ) car1 = 2;
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143 if ( (tmp > 183) && (tmp < 210) ) car1 = 3;
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144 if ( (tmp > 242) && (tmp < 270) ) car1 = 4;
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145 }
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146 car1_old = car1_new;
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147 }
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148 #endif
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149
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150 void solenoid_delay(void) {
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151 _delay_ms(10);
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152 }
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153
19
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154
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155
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156 int main(void)
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157 {
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158 uint8_t car0_state, car1_state;
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159
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160 // setup data bit timer2
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161 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match
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162 OCR2 = TIMER2_50US;
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163
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164 // initialize timer1 for IR signal detection
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165 #ifdef ANALOG_COMPARATOR
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166 TCCR1B = _BV(CS01) ; // 1mhz clock
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167 TIMSK = _BV(OCIE2) | _BV(TOIE1) ; //enable timer1+2
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168 #else
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169 TCCR1B = _BV(CS01) | _BV(ICNC1) | _BV(ICES1); // 1mhz clock, enable ICP on rising edge
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170 TIMSK = _BV(OCIE2) | _BV(TOIE1) | _BV(TICIE1); //enable timer1+2 / ICP1
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171 #endif
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172
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173 // enable both external interrupts
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174 // int 0 = data RX
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175 // int 1 = car0 input
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176 MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge
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177 GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1
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178
21
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179 #ifdef ANALOG_COMPARATOR
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180 ACSR = _BV(ACIE) | _BV(ACIS1) | _BV(ACIS0); // setup analog comparator
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181 #endif
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182
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183 // oscillator calibration
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184 // atmega8@1mhz = 0xac
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185 // @4mhz = ca 0xa0
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186 //OSCCAL = 0xa0;
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187 //OSCCAL = 0x9A;
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188 //OSCCAL = 0xa0; // internal oscillator @ 4 mhz.... doesnt work accurate!
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189
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190 RS232_init(); // initialize RS232 interface
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191 RS232_puts_p(PSTR("Freeslot TrackSwitch v1.1\n"));
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192 sei();
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193
21
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194
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195 DDR(SOLENOID_A_PORT) |= _BV(SOLENOID_A_PIN);
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196 DDR(SOLENOID_B_PORT) |= _BV(SOLENOID_B_PIN);
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197
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198 while (1) {
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199 // main loop
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200
20
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201 if (car0 != car0_state) {
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202 car0_state = car0;
22
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203 if ( (car0_state != 0) && (car_switch[car0_state-1] == 0) && (car_speed[car0_state-1]>0) ) {
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204 // trigger solenoid A
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205 RS232_putc('A');
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206 RS232_putc('B');
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207 RS232_putc('0'+car0_state);
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208 RS232_putc('\n');
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209
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210 SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN);
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211 solenoid_delay();
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212 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN);
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213 solenoid_delay();
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214 }
22
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215 if (car0_state != 0) {
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216 RS232_putc('A');
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217 RS232_putc('A');
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218 RS232_putc('0'+car0_state);
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219 RS232_putc('\n');
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220 }
20
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221 } car0 = 0;
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222
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223
20
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224 if (car1 != car1_state) {
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225 car1_state = car1;
22
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226 if ( (car1_state != 0) && (car_switch[car1_state-1] == 0) && (car_speed[car1_state-1]>0) ) {
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227 // trigger solenoid A
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228 RS232_putc('B');
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229 RS232_putc('A');
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230 RS232_putc('0'+car1_state);
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231 RS232_putc('\n');
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232
20
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233 SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN);
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234 solenoid_delay();
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235 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN);
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236 solenoid_delay();
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237 }
22
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238 if (car1_state != 0) {
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239 RS232_putc('B');
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240 RS232_putc('B');
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241 RS232_putc('0'+car1_state);
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242 RS232_putc('\n');
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243 }
20
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244 } car1 = 0;
19
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245
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246
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247 } // main loop end
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248 };
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249

mercurial