comparison: blackbox/main.c
blackbox/main.c
- changeset 4
- 58529e14c45c
- parent 3
- 1a0ef40ef458
- child 5
- 7319de27d44a
equal
deleted
inserted
replaced
| 3:1a0ef40ef458 | 4:58529e14c45c |
|---|---|
| 11 #include "driver/adc.h" | 11 #include "driver/adc.h" |
| 12 | 12 |
| 13 #include "main.h" | 13 #include "main.h" |
| 14 #include "lowlevel.h" | 14 #include "lowlevel.h" |
| 15 | 15 |
| 16 volatile uint8_t program_count = 0; | |
| 17 volatile uint8_t program_id; | |
| 18 volatile uint8_t program_command; | |
| 19 volatile uint8_t program_parameter; | |
| 20 | |
| 16 volatile uint8_t datalen = 0; | 21 volatile uint8_t datalen = 0; |
| 17 char data[10]; // 8 bytes data buffer + string termination | 22 char data[10]; // 8 bytes data buffer + string termination |
| 18 | 23 |
| 19 static char buffer[RS232_BUFSIZE+1]; | 24 static char buffer[RS232_BUFSIZE+1]; |
| 20 static uint8_t buffer_len; | 25 static uint8_t buffer_len; |
| 21 | |
| 22 | 26 |
| 23 // USART0 RX interrupt | 27 // USART0 RX interrupt |
| 24 ISR ( USART_RXC_vect ) { | 28 ISR ( USART_RXC_vect ) { |
| 25 char c = UDR; | 29 char c = UDR; |
| 26 | 30 |
| 27 // check for buffer overflow | 31 // check for buffer overflow |
| 28 if (buffer_len==sizeof(buffer)) { | 32 if (buffer_len==sizeof(buffer)) { |
| 29 buffer_len=0; | 33 buffer_len=0; |
| 30 if (c == 27) { | |
| 31 // escape sequence, store to empty buffer | |
| 32 buffer[buffer_len++] = c; | |
| 33 } | |
| 34 } else { | 34 } else { |
| 35 // collect characters until end of line | 35 // collect characters until end of line |
| 36 if (c == 27) { | 36 if ( (c==0x0A) ) { |
| 37 // escape sequence, clear buffer | |
| 38 buffer_len = 0; | |
| 39 buffer[buffer_len++] = c; | |
| 40 } else if ( (c==0xff) && (buffer_len > 3) ) { | |
| 41 buffer[buffer_len]=0; | 37 buffer[buffer_len]=0; |
| 42 | 38 |
| 43 // packet end received, parse the received packet | 39 // packet end received, parse the received packet |
| 40 switch (buffer[0]) { | |
| 41 case 'P': // inject a program data word to the rails | |
| 42 // TODO: at the moment only parameters 0..9 supported | |
| 43 // needs to build a "human" parser | |
| 44 program_id = buffer[3]-'0'; | |
| 45 program_command = buffer[1]-'0'; | |
| 46 program_parameter = buffer[2]-'0'; | |
| 47 program_count = 0x02; // send commands twice | |
| 48 RS232_puts_p(PSTR("Executing command: ")); | |
| 49 /* | |
| 50 RS232_putc(buffer[2]); | |
| 51 RS232_putc(','); | |
| 52 RS232_putc(buffer[3]); | |
| 53 RS232_puts_p(PSTR(" for slot ")); | |
| 54 RS232_putc(buffer[1]); | |
| 55 */ | |
| 56 RS232_putc('\n'); | |
| 57 | |
| 58 break; | |
| 59 | |
| 60 } | |
| 44 | 61 |
| 45 // wait for the next packet | 62 // wait for the next packet |
| 46 buffer_len=0; | 63 buffer_len=0; |
| 47 } else { | 64 } else { |
| 48 buffer[buffer_len++]=c; | 65 buffer[buffer_len++]=c; |
| 124 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter | 141 if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter |
| 125 | 142 |
| 126 return insert_queue(tmp, 9); | 143 return insert_queue(tmp, 9); |
| 127 } | 144 } |
| 128 | 145 |
| 129 unsigned char mirror( unsigned char n ) { | 146 uint8_t mirror( uint8_t n ) { |
| 130 // mirror all 8 bits | |
| 131 n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa); | 147 n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa); |
| 132 n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc); | 148 n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc); |
| 133 n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0); | 149 n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0); |
| 134 return n; | 150 return n; |
| 135 } | 151 } |
| 136 | 152 |
| 137 | 153 |
| 154 | |
| 138 int do_program(uint8_t controller, uint8_t command, uint8_t parameter) { | 155 int do_program(uint8_t controller, uint8_t command, uint8_t parameter) { |
| 139 // send program data packet | 156 // send program data packet |
| 140 uint16_t tmp; | 157 uint16_t tmp; |
| 141 tmp = 0b1000000000000 | (mirror(parameter) << 4) | mirror(command)| (mirror(controller) >> 5); | 158 parameter = mirror(parameter); |
| 142 | 159 controller = mirror(controller); |
| 160 command = mirror(command); | |
| 161 tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5); | |
| 143 return insert_queue(tmp, 12); | 162 return insert_queue(tmp, 12); |
| 144 } | 163 } |
| 145 | 164 |
| 146 int do_active(void) { | 165 int do_active(void) { |
| 147 // send controller active data packet | 166 // send controller active data packet |
| 149 if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001; | 168 if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001; |
| 150 if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001; | 169 if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001; |
| 151 if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001; | 170 if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001; |
| 152 if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001; | 171 if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001; |
| 153 // todo: regler 5 und 6 | 172 // todo: regler 5 und 6 |
| 173 // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word | |
| 154 | 174 |
| 155 return insert_queue(tmp, 7); | 175 return insert_queue(tmp, 7); |
| 156 } | 176 } |
| 157 | 177 |
| 158 int do_pace_ghost(void) { | 178 int do_pace_ghost(void) { |
| 183 uint8_t packet_index = 1; | 203 uint8_t packet_index = 1; |
| 184 | 204 |
| 185 | 205 |
| 186 init_hardware(); | 206 init_hardware(); |
| 187 | 207 |
| 188 itoa(TIMER2_50US, s, 10); | |
| 189 RS232_puts(s); | |
| 190 | |
| 191 // switch on rails power | 208 // switch on rails power |
| 192 RAIL_POWER_PORT |= _BV(RAIL_POWER); | 209 RAIL_POWER_PORT |= _BV(RAIL_POWER); |
| 193 | 210 |
| 194 while (1) { | 211 while (1) { |
| 195 // check for short circuit on the rails | 212 // check for short circuit on the rails |
| 196 check_rails_shortcut(); | 213 check_rails_shortcut(); |
| 197 | 214 |
| 198 switch (packet_index) { | 215 switch (packet_index) { |
| 199 case 1: | 216 case 1: |
| 200 if (do_program(7, 19, 0)) packet_index++; // reset | 217 if (program_count > 0) { |
| 201 //do_program(7, 16, 3); // led an startampel | 218 // command in queue |
| 202 //do_program(0, 4, 0); // | 219 if (do_program(program_id, program_command, program_parameter)) { |
| 220 packet_index++; | |
| 221 program_count--; | |
| 222 itoa(transmit_buffer_queue, s, 2); | |
| 223 RS232_puts(s); | |
| 224 RS232_putc('\n'); | |
| 225 } | |
| 226 } else { | |
| 227 // output idle command | |
| 228 if (do_program(7, 19, 0)) packet_index++; // reset | |
| 229 } | |
| 203 break; | 230 break; |
| 204 case 2: | 231 case 2: |
| 205 if (do_pace_ghost()) packet_index++; | 232 if (do_pace_ghost()) packet_index++; |
| 206 break; | 233 break; |
| 207 case 3: | 234 case 3: |
