comparison: blackbox/main.c
blackbox/main.c
- changeset 6
- 2405aff29a51
- parent 5
- 7319de27d44a
- child 7
- f4e250d5402b
equal
deleted
inserted
replaced
| 5:7319de27d44a | 6:2405aff29a51 |
|---|---|
| 22 char data[10]; // 8 bytes data buffer + string termination | 22 char data[10]; // 8 bytes data buffer + string termination |
| 23 | 23 |
| 24 static char buffer[RS232_BUFSIZE+1]; | 24 static char buffer[RS232_BUFSIZE+1]; |
| 25 static uint8_t buffer_len; | 25 static uint8_t buffer_len; |
| 26 | 26 |
| 27 // USART0 RX interrupt | 27 |
| 28 volatile uint16_t transmit_buffer; | |
| 29 volatile uint16_t transmit_buffer_queue; | |
| 30 volatile uint8_t transmit_len; | |
| 31 volatile uint8_t transmit_len_next; | |
| 32 volatile uint8_t transmit_len_queue; | |
| 33 | |
| 34 volatile uint16_t response; | |
| 35 volatile uint8_t timer0_delay; | |
| 36 | |
| 37 | |
| 28 ISR ( USART_RXC_vect ) { | 38 ISR ( USART_RXC_vect ) { |
| 29 char c = UDR; | 39 char c = UDR; |
| 30 | 40 |
| 31 // check for buffer overflow | 41 // check for buffer overflow |
| 32 if (buffer_len==sizeof(buffer)) { | 42 if (buffer_len==sizeof(buffer)) { |
| 62 } | 72 } |
| 63 } | 73 } |
| 64 } | 74 } |
| 65 | 75 |
| 66 | 76 |
| 67 volatile uint16_t transmit_buffer; | 77 |
| 68 volatile uint16_t transmit_buffer_queue; | 78 int insert_queue(uint16_t tmp, uint8_t len) { |
| 69 volatile uint8_t transmit_len; | 79 if (transmit_buffer_queue == 0) { |
| 70 volatile uint8_t transmit_len_next; | 80 transmit_buffer_queue = tmp; |
| 71 volatile uint8_t transmit_len_queue; | 81 transmit_len_queue = len; |
| 82 return 1; | |
| 83 } | |
| 84 return 0; | |
| 85 } | |
| 86 | |
| 87 | |
| 88 int do_controller(uint8_t controller) { | |
| 89 // read controller X speed & encode controller data packet | |
| 90 uint16_t tmp; | |
| 91 switch (controller) { | |
| 92 case 0: | |
| 93 tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | |
| 94 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) tmp |= (1<<5); | |
| 95 break; | |
| 96 case 1: | |
| 97 tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | |
| 98 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) tmp |= (1<<5); | |
| 99 break; | |
| 100 case 2: | |
| 101 tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | |
| 102 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) tmp |= (1<<5); | |
| 103 break; | |
| 104 case 3: | |
| 105 tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | |
| 106 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) tmp |= (1<<5); | |
| 107 break; | |
| 108 case 4: tmp = (1<<5); break; // todo regler 5 | |
| 109 case 5: tmp = (1<<5); break; // todo regler 6 | |
| 110 } | |
| 111 tmp |= 0b1000000000 | (controller << 6); | |
| 112 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter | |
| 113 | |
| 114 return insert_queue(tmp, 9); | |
| 115 } | |
| 116 | |
| 117 uint8_t mirror( uint8_t n ) { | |
| 118 n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa); | |
| 119 n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc); | |
| 120 n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0); | |
| 121 return n; | |
| 122 } | |
| 123 | |
| 124 int do_program(uint8_t controller, uint8_t command, uint8_t parameter) { | |
| 125 // send program data packet | |
| 126 uint16_t tmp; | |
| 127 parameter = mirror(parameter); | |
| 128 controller = mirror(controller); | |
| 129 command = mirror(command); | |
| 130 tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5); | |
| 131 return insert_queue(tmp, 12); | |
| 132 } | |
| 133 | |
| 134 int do_active(void) { | |
| 135 // send controller active data packet | |
| 136 uint16_t tmp = 0b10000000; | |
| 137 if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001; | |
| 138 if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001; | |
| 139 if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001; | |
| 140 if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001; | |
| 141 // todo: regler 5 und 6 | |
| 142 // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word | |
| 143 | |
| 144 return insert_queue(tmp, 7); | |
| 145 } | |
| 146 | |
| 147 int do_pace_ghost(void) { | |
| 148 // send ghost and pacecar data packet | |
| 149 // todo: at the moment, both disabled! | |
| 150 uint16_t tmp = 0b1111100000; | |
| 151 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter | |
| 152 // todo: PC, NH, TK, (KFR, FR) | |
| 153 | |
| 154 return insert_queue(tmp, 9); | |
| 155 } | |
| 156 | |
| 157 ISR ( TIMER1_COMPA_vect ) { | |
| 158 // trigger packet transfer: | |
| 159 transmit_len = transmit_len_next; | |
| 160 LED(2,2); | |
| 161 | |
| 162 // here is some more time to do something else... | |
| 163 } | |
| 164 | |
| 72 ISR ( TIMER2_COMP_vect ) { | 165 ISR ( TIMER2_COMP_vect ) { |
| 73 //OCR2 = TIMER2_50US; // make sure that timer2 is 50µs !!! | 166 //OCR2 = TIMER2_50US; // make sure that timer2 is 50µs !!! |
| 74 // data packet timer 100µs pro bit... | 167 // data packet timer 100µs pro bit... |
| 75 if (transmit_len >= 0xFE) { | 168 if (transmit_len >= 0xFE) { |
| 76 if (transmit_len != 0xFF) { | 169 if (transmit_len != 0xFF) { |
| 77 RAIL_POWER_PORT |= _BV(RAIL_POWER); // end of transmission | 170 RAIL_POWER_PORT |= _BV(RAIL_POWER); // end of transmission |
| 78 transmit_len = 0xFF; | 171 transmit_len = 0xFF; |
| 79 transmit_buffer = transmit_buffer_queue; | 172 transmit_buffer = transmit_buffer_queue; |
| 80 transmit_buffer_queue = 0; | 173 transmit_buffer_queue = 0; |
| 81 transmit_len_next = transmit_len_queue; | 174 transmit_len_next = transmit_len_queue; |
| 175 | |
| 176 // start the response receiver timer | |
| 177 // TODO: only on 8 timeslots, not on every transmission | |
| 178 // TODO: give slot number to timer - then store the transmission to 8 slots array | |
| 179 TCNT0 = TIMER0_250US; | |
| 180 timer0_delay = TIMER0_2300NS; | |
| 181 response = 0; | |
| 182 TIMSK |= _BV(TOIE0); | |
| 183 | |
| 82 } | 184 } |
| 83 } else { | 185 } else { |
| 84 uint16_t bit = (1<<(transmit_len & 0b01111111)); | 186 uint16_t bit = (1<<(transmit_len & 0b01111111)); |
| 85 uint16_t clock; | 187 uint16_t clock; |
| 86 if ((transmit_len & 0b10000000) == 0) clock = 0; else clock = 0xffff; | 188 if ((transmit_len & 0b10000000) == 0) clock = 0; else clock = 0xffff; |
| 96 transmit_len &= 0b01111111; // reset clock | 198 transmit_len &= 0b01111111; // reset clock |
| 97 //if (transmit_len != 0) transmit_len--; // next bit | 199 //if (transmit_len != 0) transmit_len--; // next bit |
| 98 if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit | 200 if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit |
| 99 } | 201 } |
| 100 } | 202 } |
| 101 } | 203 |
| 102 | 204 LED(3,2); |
| 103 int insert_queue(uint16_t tmp, uint8_t len) { | 205 } |
| 104 if (transmit_buffer_queue == 0) { | 206 |
| 105 transmit_buffer_queue = tmp; | 207 |
| 106 transmit_len_queue = len; | 208 ISR ( TIMER0_OVF_vect ) { |
| 107 return 1; | 209 // TODO: last bit should be set by the sender, not from us! |
| 108 } | 210 TCNT0 = TIMER0_250US; |
| 109 return 0; | 211 LED(1,2); |
| 110 } | 212 if (timer0_delay == 0) { |
| 111 | 213 RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low |
| 112 | 214 _delay_us(25); // wait some cycles |
| 113 int do_controller(uint8_t controller) { | 215 if ((PIN(RAIL_POWER_PORT) & _BV(RAIL_POWER)) == 0) { // check for logic zero |
| 114 // read controller X speed & encode controller data packet | 216 if (response == 0) { |
| 115 uint16_t tmp; | 217 // there is no start bit, so stop the timer and cancel response receiving |
| 116 switch (controller) { | 218 TIMSK &= ~_BV(TOIE0); |
| 117 case 0: | 219 } else { |
| 118 tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | 220 // we received a logic low |
| 119 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) tmp |= (1<<5); | 221 response = response << 1; |
| 120 break; | 222 } |
| 121 case 1: | 223 } else { |
| 122 tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | 224 // okay, we have logic high |
| 123 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) tmp |= (1<<5); | 225 response = response << 1; |
| 124 break; | 226 response |= 1; |
| 125 case 2: | 227 } |
| 126 tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | 228 _delay_us(23); // wait some cycles |
| 127 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) tmp |= (1<<5); | 229 RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power |
| 128 break; | 230 } else timer0_delay--; // 2.3 ms delay not reached yet |
| 129 case 3: | |
| 130 tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1; | |
| 131 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) tmp |= (1<<5); | |
| 132 break; | |
| 133 case 4: tmp = (1<<5); break; // todo regler 5 | |
| 134 case 5: tmp = (1<<5); break; // todo regler 6 | |
| 135 } | |
| 136 tmp |= 0b1000000000 | (controller << 6); | |
| 137 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter | |
| 138 | |
| 139 return insert_queue(tmp, 9); | |
| 140 } | |
| 141 | |
| 142 uint8_t mirror( uint8_t n ) { | |
| 143 n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa); | |
| 144 n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc); | |
| 145 n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0); | |
| 146 return n; | |
| 147 } | |
| 148 | |
| 149 int do_program(uint8_t controller, uint8_t command, uint8_t parameter) { | |
| 150 // send program data packet | |
| 151 uint16_t tmp; | |
| 152 parameter = mirror(parameter); | |
| 153 controller = mirror(controller); | |
| 154 command = mirror(command); | |
| 155 tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5); | |
| 156 return insert_queue(tmp, 12); | |
| 157 } | |
| 158 | |
| 159 int do_active(void) { | |
| 160 // send controller active data packet | |
| 161 uint16_t tmp = 0b10000000; | |
| 162 if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001; | |
| 163 if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001; | |
| 164 if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001; | |
| 165 if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001; | |
| 166 // todo: regler 5 und 6 | |
| 167 // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word | |
| 168 | |
| 169 return insert_queue(tmp, 7); | |
| 170 } | |
| 171 | |
| 172 int do_pace_ghost(void) { | |
| 173 // send ghost and pacecar data packet | |
| 174 // todo: at the moment, both disabled! | |
| 175 uint16_t tmp = 0b1111100000; | |
| 176 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter | |
| 177 // todo: PC, NH, TK, (KFR, FR) | |
| 178 | |
| 179 return insert_queue(tmp, 9); | |
| 180 } | |
| 181 | |
| 182 ISR ( TIMER1_COMPA_vect ) { | |
| 183 //OCR2 = 0xFF; // make sure that timer2 is synced to timer1, give enough cycles to prepare | |
| 184 LED(4,2); | |
| 185 // trigger packet transfer: | |
| 186 transmit_len = transmit_len_next; | |
| 187 | |
| 188 // here is some more time to do something else... | |
| 189 } | 231 } |
| 190 | 232 |
| 191 | 233 |
| 192 int main(void) | 234 int main(void) |
| 193 { | 235 { |
| 214 packet_index++; | 256 packet_index++; |
| 215 program_count--; | 257 program_count--; |
| 216 } | 258 } |
| 217 } else { | 259 } else { |
| 218 // output idle command | 260 // output idle command |
| 219 if (do_program(7, 19, 0)) packet_index++; // reset | 261 //if (do_program(7, 19, 0)) packet_index++; // reset |
| 262 if (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect | |
| 220 } | 263 } |
| 221 break; | 264 break; |
| 222 case 2: | 265 case 2: |
| 223 if (do_pace_ghost()) packet_index++; | 266 if (do_pace_ghost()) packet_index++; |
| 224 break; | 267 break; |
