Tue, 06 Dec 2011 16:45:52 +0100
added 16bit response to track switch
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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 | |
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23 | static uint8_t countdown, countdown_loops; |
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24 | uint8_t mode = 0; |
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25 | // valid race modes: |
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26 | // 0: free drive / idle |
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27 | // 1: waiting for countdown start |
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28 | // 2: race countdown initiated |
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29 | // 3: Race start condition |
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30 | |
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31 | |
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32 | #define MAX_SLOTS 6 |
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33 | volatile uint8_t speedlimit[MAX_SLOTS]; |
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34 | volatile uint8_t fuel[MAX_SLOTS]; |
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35 | volatile uint8_t jumpstart_time[MAX_SLOTS]; |
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36 | |
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37 | |
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38 | |
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39 | volatile uint8_t program_count = 0; |
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40 | volatile uint8_t program_id; |
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41 | volatile uint8_t program_command; |
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42 | volatile uint8_t program_parameter; |
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43 | |
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44 | volatile uint8_t datalen = 0; |
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45 | char data[10]; // 8 bytes data buffer + string termination |
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46 | |
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47 | static char buffer[RS232_BUFSIZE+1]; |
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48 | static uint8_t buffer_len; |
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49 | |
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50 | |
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51 | volatile uint16_t transmit_buffer; |
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52 | volatile uint16_t transmit_buffer_queue; |
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53 | volatile uint8_t transmit_len; |
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54 | volatile uint8_t transmit_len_next; |
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55 | volatile uint8_t transmit_len_queue; |
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56 | |
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57 | volatile uint16_t response; |
33 | 58 | volatile uint8_t response_len; |
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59 | volatile uint8_t timer0_delay; |
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60 | |
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61 | |
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62 | int insert_queue(uint16_t tmp, uint8_t len) { |
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63 | if (transmit_buffer_queue == 0) { |
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64 | transmit_buffer_queue = tmp; |
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65 | transmit_len_queue = len; |
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66 | return 1; |
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67 | } |
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68 | return 0; |
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69 | } |
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70 | |
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71 | |
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72 | |
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73 | ISR ( USART_RXC_vect ) { |
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74 | uint8_t tmp; |
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75 | char c = UDR; |
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76 | |
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77 | // check for buffer overflow |
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78 | if (buffer_len==sizeof(buffer)) { |
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79 | buffer_len=0; |
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80 | } else { |
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81 | // collect characters until end of line |
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82 | if ( (c=='\n') ) { |
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83 | buffer[buffer_len]=0; |
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84 | |
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85 | // packet end received, parse the received packet |
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86 | switch (buffer[0]) { |
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87 | case 'P': // inject a program data word to the rails |
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88 | if (program_count == 0) { |
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89 | program_id = buffer[3]-'0'; |
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90 | program_command = buffer[1]-'0'; |
10 | 91 | if (program_command > 9) |
92 | program_command = buffer[1]-'A'+10; | |
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93 | program_parameter = buffer[2]-'0'; |
10 | 94 | if (program_parameter > 9) |
95 | program_parameter = buffer[2]-'A'+10; | |
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96 | if (program_command < 4) |
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97 | program_count = 0x02; // send commands twice (fuel, speed, brake) |
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98 | else |
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99 | program_count = 0x01; |
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100 | RS232_puts_p(ok); |
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101 | } else RS232_puts_p(busy); |
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102 | break; |
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103 | |
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104 | case 'L': // Limit maximum speed for a car |
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105 | tmp = buffer[2]-'0'; |
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106 | if (tmp > 9) |
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107 | tmp = buffer[2]-'A'+10; |
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108 | speedlimit[buffer[1]-'0'] = tmp; |
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109 | RS232_puts_p(ok); |
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110 | break; |
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111 | |
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112 | case 'I': // get Information data (incl. important global parameter dump) |
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113 | RS232_puts(VERSION); |
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114 | RS232_putc(':'); |
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115 | for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(speedlimit[tmp]); // output speed limits |
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116 | RS232_putc(':'); |
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117 | for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(fuel[tmp]); // output fuel levels (0=empty, 100=full, 0xff=no fuel option) |
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118 | RS232_putc(':'); |
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119 | for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(jumpstart_time[tmp]); // output jumpstart times |
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120 | RS232_putc(':'); |
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121 | RS232_putc('\n'); |
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122 | break; |
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123 | |
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124 | } |
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125 | |
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126 | // wait for the next packet |
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127 | buffer_len=0; |
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128 | } else { |
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129 | buffer[buffer_len++]=c; |
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130 | } |
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131 | } |
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132 | } |
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133 | |
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134 | |
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135 | void jumpstart(uint8_t controller) { |
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136 | if (jumpstart_time[controller] == 0) { |
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137 | jumpstart_time[controller] = 1; |
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138 | // todo: later the timestamp should written instead of just "1" |
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139 | RS232_putc('~'); |
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140 | RS232_putc('0'-controller); |
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141 | RS232_putc('\n'); |
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142 | } |
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143 | |
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144 | } |
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145 | |
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146 | |
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147 | int do_controller(uint8_t controller) { |
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148 | // read controller X speed & encode controller data packet |
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149 | uint16_t tmp = 0; |
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150 | switch (controller) { |
3 | 151 | case 0: |
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152 | if (mode!=1) tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
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153 | if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } |
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154 | if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; |
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155 | tmp = tmp << 1; |
10 | 156 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) { |
157 | tmp |= (1<<5); | |
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158 | if (mode == 0) LED(1,0); |
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159 | } else if (mode == 0) LED(1,1); |
3 | 160 | break; |
161 | case 1: | |
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162 | if (mode!=1) tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
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163 | if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } |
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164 | if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; |
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165 | tmp = tmp << 1; |
10 | 166 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) { |
167 | tmp |= (1<<5); | |
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168 | if (mode == 0) LED(2,0); |
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169 | } else if (mode == 0) LED(2,1); |
3 | 170 | break; |
171 | case 2: | |
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172 | if (mode!=1) tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
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173 | if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } |
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174 | if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; |
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175 | tmp = tmp << 1; |
10 | 176 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) { |
177 | tmp |= (1<<5); | |
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178 | if (mode == 0) LED(4,0); |
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179 | } else if (mode == 0) LED(4,1); |
3 | 180 | break; |
181 | case 3: | |
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182 | if (mode!=1) tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
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183 | if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } |
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184 | if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; |
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185 | tmp = tmp << 1; |
10 | 186 | if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) { |
187 | tmp |= (1<<5); | |
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188 | if (mode == 0) LED(5,0); |
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189 | } else if (mode == 0) LED(5,1); |
3 | 190 | break; |
191 | case 4: tmp = (1<<5); break; // todo regler 5 | |
192 | case 5: tmp = (1<<5); break; // todo regler 6 | |
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193 | } |
34 | 194 | tmp |= (0b1000000000 | (controller << 6)); |
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195 | if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter |
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196 | |
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197 | return insert_queue(tmp, 9); |
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198 | } |
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199 | |
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200 | uint8_t mirror( uint8_t n ) { |
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201 | n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa); |
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202 | n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc); |
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203 | n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0); |
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204 | return n; |
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205 | } |
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206 | |
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207 | int do_program(uint8_t controller, uint8_t command, uint8_t parameter) { |
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208 | // send program data packet |
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209 | uint16_t tmp; |
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210 | parameter = mirror(parameter); |
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211 | controller = mirror(controller); |
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212 | command = mirror(command); |
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213 | tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5); |
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214 | return insert_queue(tmp, 12); |
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215 | } |
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216 | |
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217 | int do_active(void) { |
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218 | // send controller active data packet |
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219 | uint16_t tmp = 0b10000000; |
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220 | if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001; |
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221 | if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001; |
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222 | if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001; |
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223 | if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001; |
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224 | // todo: regler 5 und 6 |
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225 | // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word |
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226 | |
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227 | return insert_queue(tmp, 7); |
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228 | } |
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229 | |
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230 | int do_pace_ghost(void) { |
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231 | // send ghost and pacecar data packet |
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232 | // todo: at the moment, both disabled! |
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233 | uint16_t tmp = 0b1111100000; |
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234 | if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter |
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235 | // todo: PC, NH, TK, (KFR, FR) |
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236 | |
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237 | return insert_queue(tmp, 9); |
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238 | } |
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239 | |
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240 | ISR ( TIMER1_COMPA_vect ) { |
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241 | // trigger packet transfer: |
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242 | transmit_len = transmit_len_next; |
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243 | // here is some more time to do something else... |
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244 | } |
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245 | |
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246 | ISR ( TIMER2_COMP_vect ) { |
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247 | //OCR2 = TIMER2_50US; // make sure that timer2 is 50µs !!! |
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248 | // data packet timer 100µs pro bit... |
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249 | if (transmit_len >= 0xFE) { |
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250 | if (transmit_len != 0xFF) { |
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251 | RAIL_POWER_PORT |= _BV(RAIL_POWER); // end of transmission |
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252 | transmit_len = 0xFF; |
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253 | transmit_buffer = transmit_buffer_queue; |
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254 | transmit_buffer_queue = 0; |
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255 | transmit_len_next = transmit_len_queue; |
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256 | |
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257 | // start the response receiver timer |
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258 | // TODO: only on 8 timeslots, not on every transmission |
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259 | // TODO: give slot number to timer - then store the transmission to 8 slots array |
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260 | TCNT0 = TIMER0_250US; |
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261 | timer0_delay = TIMER0_2300NS; |
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262 | response = 0; |
33 | 263 | response_len = 0; |
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264 | TIMSK |= _BV(TOIE0); |
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265 | |
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266 | } |
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267 | } else { |
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268 | uint16_t bit = (1<<(transmit_len & 0b01111111)); |
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269 | uint16_t clock; |
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270 | if ((transmit_len & 0b10000000) == 0) clock = 0; else clock = 0xffff; |
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271 | if ( ((transmit_buffer ^ clock) & bit) != 0 ) |
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272 | RAIL_POWER_PORT |= _BV(RAIL_POWER); else |
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273 | RAIL_POWER_PORT &= ~_BV(RAIL_POWER); |
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274 | if ( (transmit_len & 0b10000000) == 0 ) { |
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275 | // block 0 |
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276 | //if (transmit_len == 0) transmit_len = 0xFF; else transmit_len |= 0b10000000; // set clock |
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277 | transmit_len |= 0b10000000; // set clock |
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278 | } else { |
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279 | // block 1, output the current bit |
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280 | transmit_len &= 0b01111111; // reset clock |
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281 | //if (transmit_len != 0) transmit_len--; // next bit |
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282 | if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit |
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283 | } |
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284 | } |
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285 | } |
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286 | |
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287 | |
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288 | ISR ( TIMER0_OVF_vect ) { |
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289 | // TODO: last bit should be set by the sender, not from us! |
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290 | TCNT0 = TIMER0_250US; |
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291 | if (timer0_delay == 0) { |
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292 | RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low |
8 | 293 | _delay_us(28); // wait some cycles |
294 | if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) != 0) { // check for logic zero | |
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295 | if (response == 0) { |
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296 | // there is no start bit, so stop the timer and cancel response receiving |
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297 | TIMSK &= ~_BV(TOIE0); |
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298 | } else { |
8 | 299 | // we received a bit (logic low) |
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300 | response = response << 1; |
33 | 301 | response_len++; |
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302 | } |
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303 | } else { |
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304 | // okay, we have logic high |
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305 | response = response << 1; |
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306 | response |= 1; |
33 | 307 | response_len++; |
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308 | } |
33 | 309 | if (response_len == 15) { // maximum response length reached |
310 | RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power | |
311 | TIMSK &= ~_BV(TOIE0); | |
312 | } else { | |
313 | _delay_us(20); // wait some cycles | |
314 | RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power | |
315 | } | |
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316 | } else timer0_delay--; // 2.3 ms delay not reached yet |
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317 | } |
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318 | |
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319 | ISR (INT2_vect) { |
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320 | // Lap counter Interrupt |
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321 | // do not know if this ever occurs ?! this is normally an output pin to trigger the counter start |
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322 | } |
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323 | |
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324 | void reset_vars(void) { |
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325 | uint8_t i; |
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326 | for (i=0; i<MAX_SLOTS; i++) { |
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327 | speedlimit[i] = 15; |
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328 | fuel[i] = 100; |
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329 | jumpstart_time[i] = 0; |
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330 | } |
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331 | } |
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332 | |
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333 | void countdown_progress(void) { |
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334 | // decrement COUNTDOWN_LOOPS |
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335 | if (countdown_loops>0) { |
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336 | countdown_loops--; |
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337 | } else { |
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338 | countdown--; |
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339 | countdown_loops = COUNTDOWN_DELAY; |
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340 | } |
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341 | switch (countdown) { |
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342 | case 5: LED(1, 1); break; |
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343 | case 4: LED(2, 1); break; |
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344 | case 3: LED(3, 1); break; |
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345 | case 2: LED(4, 1); break; |
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346 | case 1: LED(5, 1); break; |
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347 | case 0: { // RACE START! |
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348 | LEDS_OFF(); |
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349 | LED(3, 1); |
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350 | mode = 3; |
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351 | } break; |
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352 | } |
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353 | } |
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354 | |
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355 | |
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356 | int main(void) |
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357 | { |
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358 | |
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359 | unsigned char s[10]; |
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360 | uint8_t packet_index = 1; |
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361 | |
8 | 362 | uint8_t btn_start = _BV(SW_START); |
363 | uint8_t old_start = btn_start; | |
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364 | |
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365 | init_hardware(); |
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366 | reset_vars(); |
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367 | LED(3, 1); // enable middle led == idle mode |
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368 | |
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369 | // switch on rails power |
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370 | RAIL_POWER_PORT |= _BV(RAIL_POWER); |
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371 | |
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372 | while (1) { |
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373 | // check for short circuit on the rails |
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374 | check_rails_shortcut(); |
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375 | |
33 | 376 | if (response_len > 0) { |
377 | itoa(response, s, 2); | |
378 | response_len = 0; | |
379 | RS232_puts("ANSWER RX: "); | |
380 | RS232_puts(s); | |
381 | RS232_putc('\n'); | |
382 | } | |
383 | ||
384 | ||
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385 | // read in button presses |
8 | 386 | btn_start = (PIN(SW_START_PORT) & _BV(SW_START)); |
387 | if (old_start != btn_start) { | |
388 | // start button changed | |
389 | if (btn_start == 0) { | |
390 | // start button press active | |
391 | if (mode == 0) { | |
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392 | mode = 1; // set wait for race start mode |
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393 | reset_vars(); |
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394 | LED(1, 1); |
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395 | LED(2, 1); |
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396 | LED(3, 1); |
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397 | LED(4, 1); |
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398 | LED(5, 1); |
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399 | RS232_puts_p(prepare); |
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400 | } else if (mode == 1) { |
8 | 401 | // Initiate race countdown |
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402 | countdown = 5; |
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403 | countdown_loops = COUNTDOWN_DELAY; |
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404 | mode = 2; |
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405 | LED(1, 0); |
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406 | LED(2, 0); |
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407 | LED(3, 0); |
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408 | LED(4, 0); |
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409 | LED(5, 0); |
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410 | RS232_puts_p(countdownstart); |
8 | 411 | } |
412 | } | |
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413 | old_start = btn_start; |
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414 | } |
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415 | |
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416 | if (mode==3) { |
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417 | // RACE START! |
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418 | // issue reset command to lap counter |
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419 | mode = 0; |
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420 | RS232_puts_p(racestart); |
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421 | program_command = 6; |
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422 | program_parameter = 9; |
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423 | program_id = 0; |
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424 | program_count = 1; |
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425 | LAP_COUNTER_PORT |= _BV(LAP_COUNTER); |
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426 | // TODO: beep long |
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427 | _delay_us(50); |
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428 | LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER); |
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429 | } |
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430 | |
7
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431 | |
2
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432 | switch (packet_index) { |
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433 | case 1: |
4
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434 | if (program_count > 0) { |
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435 | // command in queue |
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436 | if (do_program(program_id, program_command, program_parameter)) { |
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437 | packet_index++; |
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438 | program_count--; |
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439 | } |
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440 | } else { |
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441 | // output idle command |
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442 | if (do_program(7, 19, 0)) packet_index++; // reset |
8 | 443 | //if (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect |
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444 | //if (insert_queue(0, 0)) packet_index++; // null command |
4
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445 | } |
37
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446 | |
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447 | if ( (packet_index>1) && (mode == 2) ) countdown_progress(); |
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448 | |
2
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449 | break; |
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450 | case 2: |
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451 | if (do_pace_ghost()) packet_index++; |
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452 | break; |
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453 | case 3: |
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454 | if (do_active()) packet_index++; |
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455 | break; |
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456 | case 4: |
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457 | if (do_controller(0)) packet_index++; |
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458 | break; |
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459 | case 5: |
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460 | if (do_controller(4)) packet_index++; |
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461 | break; |
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462 | case 6: |
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463 | if (do_controller(1)) packet_index++; |
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464 | break; |
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465 | case 7: |
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466 | if (do_controller(5)) packet_index++; |
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467 | break; |
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468 | case 8: |
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469 | if (do_controller(2)) packet_index++; |
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470 | break; |
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471 | case 9: |
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472 | if (do_active()) packet_index++; |
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473 | break; |
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474 | case 10: |
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475 | if (do_controller(3)) packet_index = 1; |
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476 | // last packet, so reset packet index |
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477 | break; |
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478 | } |
0
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479 | |
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480 | |
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481 | } // main loop end |
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482 | }; |
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483 |