pitlane/main.c

Sat, 17 Dec 2011 15:12:19 +0100

author
Malte Bayer <mbayer@neo-soft.org>
date
Sat, 17 Dec 2011 15:12:19 +0100
changeset 93
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parent 73
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child 104
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permissions
-rw-r--r--

improved live display with colors

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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 RESPONSE_PORT PORTC
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21 #define RESPONSE_PIN PC1
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22 #define SOLENOID_A_PORT PORTB
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23 #define SOLENOID_B_PORT PORTB
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24 #define SOLENOID_A_PIN PB1
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25 #define SOLENOID_B_PIN PB2
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26
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27 #define TRACKSWITCH_TYPE 4 // 1=double, 2=single left, 3=single right, 4=pitlane
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28 #define TYPE_DOUBLE 1
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29 #define TYPE_SINGLE_L 2
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30 #define TYPE_SINGLE_R 3
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31 #define TYPE_PITLANE 4
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32
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33 #define MAX_SENSORS 3
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34
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35 #define PIT_PORT PORTC
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36 #define PIT_CONNECT_PIN PC3
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37 #define PIT_GROUND_PIN PC2 // low active
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38
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39 #define SENS2_PORT PORTD
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40 #define SENS2_PIN PD5
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41
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42 #define LED_PORT PORTB
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43 #define LED_PIN PB5
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44
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45
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46 // internal analog comparator doesnt work well
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47 //#define ANALOG_COMPARATOR 1
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48
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49 typedef struct {
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50 unsigned speed:4;
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51 unsigned trackswitch:1;
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52 unsigned inside:1;
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53 } cardata;
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54
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55 typedef struct {
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56 unsigned car:4;
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57 unsigned state:4;
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58 uint16_t old, new;
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59 } sensordata;
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60
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61 volatile cardata slot[MAX_SLOTS];
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62 volatile sensordata sens[MAX_SENSORS];
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63
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64 volatile uint16_t data = 0;
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65 volatile uint8_t data_len = 0;
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66 volatile uint8_t bitbuf_len = 0;
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67 volatile uint16_t bitbuf = 0;
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68
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69 volatile uint8_t response = 0;
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70 volatile uint8_t response_car = 0;
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71 uint8_t self_id = 0b1111; // ONLY ONE pitlane
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73 void solenoid_delay(void) {
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74 _delay_ms(2);
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75 }
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77 void send_response(uint8_t car, uint8_t status) {
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78 /* frame format:
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79 1 startbit
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80 2 car id bit 1
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81 3 car id bit 2
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82 4 car id bit 3
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83 5 track change status bit 1
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84 6 track change status bit 2
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85 7 track change status bit 3
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86 8 track change status bit 4
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87 9 sender id bit 1
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88 10 sender id bit 2
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89 11 sender id bit 3
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90 12 sender id bit 4
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91 13 device type bit 1
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92 14 device type bit 2
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93 15 device type bit 3
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94 16 stopbit
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95 */
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96 uint16_t data;
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97 // produce packet
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98 data = ((car & 0b111) << 1) | ((status & 0b1111) << 4) | ((self_id & 0b1111) << 8) | (TRACKSWITCH_TYPE << 12);
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99 data |= 0b100000000000001; // make sure start/stop bits are set
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100
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101 uint8_t index = 16; // bit count maximum
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102 uint8_t enable = DDR(RESPONSE_PORT) | _BV(RESPONSE_PIN);
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103 uint8_t disable = DDR(RESPONSE_PORT) & ~_BV(RESPONSE_PIN);
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104 while (index != 0) {
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105 if ((data & 1) != 0) {
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106 DDR(RESPONSE_PORT) = enable; // enable response output
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107 } else {
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108 DDR(RESPONSE_PORT) = disable; // disable response output
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109 }
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110 data = data >> 1; // next bit prepare
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111 index--; // decrement index
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112 _delay_us(49); // bit valid phase
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113 }
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114 // finally be sure to release the bus!
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115 DDR(RESPONSE_PORT) = disable; // disable response output
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116 }
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117
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118
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119 ISR ( INT0_vect ) {
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120 GICR &= ~_BV(INT0) ; // Disable INT0
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121 // Startsignal erkannt, ab hier den Timer2 starten,
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122 // der liest dann alle 50µs den Zustand ein und schreibt das
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123 // empfangene Bit in den Puffer
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124 bitbuf = 0; // init
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125 bitbuf_len = 0b10000000; // init 1 pulse received
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126 TCNT2 = 0;
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127 TIMSK |= _BV(OCIE2); //enable timer2 interrupt
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128 }
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129
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130 ISR ( TIMER2_COMP_vect ) {
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131 uint8_t clock;
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132 uint8_t state;
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133 uint8_t state2;
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134 if ((bitbuf_len & 0b10000000) == 0) clock = 0; else clock = 0xff;
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135 if ((bitbuf_len & 0b01000000) == 0) state = 0; else state = 0xff;
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136 if ((PIN(PULSE_PORT) & _BV(PULSE_BIT)) == 0) state2 = 0xff; else state2 = 0;
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137
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138 if (clock) {
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139 bitbuf_len &= ~_BV(7); // switch clock to low
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140 // second pulse of bit
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141 if ((state==state2) & state2) {
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142 // two cycles high: packet end received
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143 data_len = (bitbuf_len & 0b00111111);
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144 TIMSK &= ~_BV(OCIE2); //disable timer2 interrupt
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145 GICR |= _BV(INT0) ; // Enable INT0
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146
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147 //data = bitbuf; // output data
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148 // write data of controllers to array
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149 if (data_len == 10) { // controller data packet
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150 clock = (bitbuf >> 6) & 0b00000111;
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151 slot[clock].speed = (bitbuf >> 1) & 0x0F;
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152 slot[clock].trackswitch = (bitbuf >> 5) & 1;
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153 // current response for this car?
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154 if (response != 0) {
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155 if ( response_car == clock) {
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156 // add our ID to response:
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157 send_response(clock, response);
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158 response = 0;
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159 }
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160 }
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161 }
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162
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163
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164 } else {
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165 bitbuf_len++; // increment bit counter
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166 bitbuf = bitbuf << 1; // shift bits
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167 if (state2 == 0) bitbuf |= 1; // receive logic one
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168 }
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169 } else {
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170 bitbuf_len |= _BV(7); // switch clock to high
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171 // first pulse of bit
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172 if (state2) {
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173 bitbuf_len |= _BV(6); // store new state
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174 } else {
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175 bitbuf_len &= ~_BV(6); // store new state
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176 }
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177 }
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178 }
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179
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180
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181 ISR (TIMER1_OVF_vect) {
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182 // reset car counters to overflow
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183 uint8_t i;
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184 for (i=0;i<MAX_SENSORS;i++)
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185 sens[i].old = 0xffff;
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186 }
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187
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188 void detect_car(uint8_t idx) {
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189 uint16_t tmp = 0;
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190 sens[idx].new = TCNT1; // get current counter
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191 if (sens[idx].old < sens[idx].new) {
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192 // calculate difference
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193 if (sens[idx].car == 0) tmp = sens[idx].new-sens[idx].old;
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194 if ( (tmp > 54) && (tmp < 74) ) tmp = 1;
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195 else if ( (tmp > 118) && (tmp < 138) ) tmp = 2;
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196 else if ( (tmp > 186) && (tmp < 206) ) tmp = 3;
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197 else if ( (tmp > 246) && (tmp < 266) ) tmp = 4;
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198 else if ( (tmp > 310) && (tmp < 330) ) tmp = 5;
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199 else if ( (tmp > 374) && (tmp < 394) ) tmp = 6;
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200 else tmp = 0;
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201 sens[idx].car = tmp;
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202 }
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203 sens[idx].old = sens[idx].new;
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204 }
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205
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206 ISR (INT1_vect) {
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207 // car0 detector
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208 detect_car(0);
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209 }
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210
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211 #ifdef ANALOG_COMPARATOR
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212 ISR (ANA_COMP_vect) {
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213 // car1 detector
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214 detect_car(1);
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215 }
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216 #else
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217 // ALTERNATIV:
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218 ISR (TIMER1_CAPT_vect) {
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219 // car1 detector
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220 detect_car(1);
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221 }
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222 #endif
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223
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224
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225 int main(void)
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226 {
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227 uint8_t tmp;
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228
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229 // setup data bit timer2
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230 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match
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231 OCR2 = TIMER2_50US;
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232
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233 // initialize timer1 for IR signal detection
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234 #ifdef ANALOG_COMPARATOR
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235 TCCR1B = _BV(CS01) ; // 1mhz clock
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236 TIMSK = _BV(OCIE2) | _BV(TOIE1) ; //enable timer1+2
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237 #else
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238 TCCR1B = _BV(CS01) | _BV(ICNC1) | _BV(ICES1); // 1mhz clock, enable ICP on rising edge
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239 TIMSK = _BV(OCIE2) | _BV(TOIE1) | _BV(TICIE1); //enable timer1+2 / ICP1
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240 #endif
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241
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242 // enable both external interrupts
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243 // int 0 = data RX
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244 // int 1 = car0 input
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245 MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge
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246 GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1
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247
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248 #ifdef ANALOG_COMPARATOR
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249 ACSR = _BV(ACIE) | _BV(ACIS1) | _BV(ACIS0); // setup analog comparator
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250 #endif
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251
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252 // oscillator calibration
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253 // atmega8@1mhz = 0xac
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254 // @4mhz = ca 0xa0
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255 //OSCCAL = 0xa0;
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256 //OSCCAL = 0x9A;
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257 //OSCCAL = 0xa0; // internal oscillator @ 4 mhz.... doesnt work accurate!
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258
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259 RS232_init(); // initialize RS232 interface
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260 RS232_puts_p(PSTR("Freeslot TrackSwitch / Pitlane v1.4\n"));
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261 sei();
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262
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263
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264 DDR(SOLENOID_A_PORT) |= _BV(SOLENOID_A_PIN);
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265 DDR(SOLENOID_B_PORT) |= _BV(SOLENOID_B_PIN);
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266
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267 DDR(RESPONSE_PORT) &= ~_BV(RESPONSE_PIN); // switch response off
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268 RESPONSE_PORT &= ~_BV(RESPONSE_PIN); // switch response off
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269
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270 // setup pitlane output
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271 DDR(PIT_PORT) |= _BV(PIT_CONNECT_PIN) | _BV(PIT_GROUND_PIN);
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272
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273 // setup LED
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274 DDR(LED_PORT) |= _BV(LED_PIN);
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275 LED_PORT |= _BV(LED_PIN); // switch LED off
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276
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277 // CONNECT PITLANE TO MAIN TRACK
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278 PIT_PORT &= ~_BV(PIT_CONNECT_PIN);
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279 PIT_PORT |= _BV(PIT_GROUND_PIN);
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280
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281 while (1) {
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282 // main loop
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283
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284 /*
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285 1 = AA
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286 2 = AB
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287 3 = BB
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288 4 = BA
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289 5 = BC
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290 6 = ZZ -> pitlane exit
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291 */
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292 if (sens[0].car != sens[0].state) {
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293 sens[0].state = sens[0].car;
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294 #if (TRACKSWITCH_TYPE != TYPE_PITLANE)
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295 if ( (sens[0].state != 0) && (slot[sens[0].state-1].trackswitch == 0) && (slot[sens[0].state-1].speed>0) ) {
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296 response = 2;
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297 response_car = sens[0].state - 1;
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298
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299 // set inside status
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300 slot[sens[0].state].inside = 1;
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301
63
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302 // trigger solenoid A
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303 RS232_putc('A');
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304 RS232_putc('B');
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305 RS232_putc('0'+sens[0].state);
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306 RS232_putc('\n');
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307
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308 SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN);
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309 solenoid_delay();
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310 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN);
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311 solenoid_delay();
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312 } else
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313 #endif
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314 if (sens[0].state != 0) {
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315 response = 1;
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316 response_car = sens[0].state - 1;
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317 RS232_putc('A');
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318 RS232_putc('A');
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319 RS232_putc('0'+sens[0].state);
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320 RS232_putc('\n');
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321 }
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322 } sens[0].car = 0;
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323
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324
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325 if (sens[1].car != sens[1].state) {
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326 sens[1].state = sens[1].car;
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327 if ( (sens[1].state != 0) && (slot[sens[1].state-1].trackswitch == 0) && (slot[sens[1].state-1].speed>0) ) {
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328 response = 5;
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329 response_car = sens[1].state - 1;
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330
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331 // set inside status
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332 slot[sens[1].state-1].inside = 1;
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333
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334 // trigger solenoid B
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335 RS232_putc('B');
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336 RS232_putc('C');
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337 RS232_putc('0'+sens[1].state);
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338 RS232_putc('\n');
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339
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340 SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN);
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341 solenoid_delay();
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342 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN);
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343 solenoid_delay();
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344 } else
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345 if (sens[1].state != 0) {
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346 response = 3;
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347 response_car = sens[1].state - 1;
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348 RS232_putc('B');
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349 RS232_putc('B');
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350 RS232_putc('0'+sens[1].state);
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351 RS232_putc('\n');
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352 }
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353 } sens[1].car = 0;
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354
68
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355 // TODO: At the moment, all "inside" cars gets exit response, but probably only the last response will be sent
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356 // we have to detect which car is passing sensor2 - but at the moment we are lack of external interrupt source
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357 if ( (PIN(SENS2_PORT) & _BV(SENS2_PIN)) != 0 ) {
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358 // set inside status
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359 for (tmp=0; tmp<MAX_SLOTS; tmp++)
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360 if (slot[tmp].inside) {
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361 slot[tmp].inside = 0;
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362 }
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363 response = 6;
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364 response_car = 0;
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365 RS232_puts_p(PSTR("PIT:EXIT\n"));
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366 }
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367
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368 if (sens[2].car != sens[2].state) {
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369 sens[2].state = sens[2].car;
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370 if (sens[2].state != 0) {
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371 response = 6;
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372 response_car = sens[2].state-1;
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373
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374 // set inside status
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375 slot[sens[2].state-1].inside = 0;
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376
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377 RS232_putc('Z');
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378 RS232_putc('Z');
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379 RS232_putc('0'+sens[2].state);
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380 RS232_putc('\n');
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381 }
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382 } sens[2].car = 0;
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383
66
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384 // enable LED when car is in pitlane
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385 LED_PORT |= _BV(LED_PIN);
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386 for (tmp=0; tmp<MAX_SLOTS; tmp++)
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387 if (slot[tmp].inside) LED_PORT &= ~_BV(LED_PIN);
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388
63
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389
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390 } // main loop end
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391 };
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parents:
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392

mercurial