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comparison: pitlane/main.c

pitlane/main.c

changeset 64
61f88f973eba
parent 63
ea1e8dcbec44
child 65
8960bfa02f63
equal deleted inserted replaced
63:ea1e8dcbec44 64:61f88f973eba
23 #define SOLENOID_B_PORT PORTB 23 #define SOLENOID_B_PORT PORTB
24 #define SOLENOID_A_PIN PB1 24 #define SOLENOID_A_PIN PB1
25 #define SOLENOID_B_PIN PB2 25 #define SOLENOID_B_PIN PB2
26 26
27 #define TRACKSWITCH_TYPE 2 // 1=double, 2=single, 3=pitlane 27 #define TRACKSWITCH_TYPE 2 // 1=double, 2=single, 3=pitlane
28 28 #define MAX_SENSORS 3
29 29
30 // internal analog comparator doesnt work well 30 // internal analog comparator doesnt work well
31 //#define ANALOG_COMPARATOR 1 31 //#define ANALOG_COMPARATOR 1
32
33 typedef struct {
34 unsigned speed:4;
35 unsigned trackswitch:1;
36 unsigned inside:1;
37 } cardata;
38
39 typedef struct {
40 unsigned car:4;
41 unsigned state:4;
42 uint16_t old, new;
43 } sensordata;
44
45 volatile cardata slot[MAX_SLOTS];
46 volatile sensordata sens[MAX_SENSORS];
32 47
33 volatile uint16_t data = 0; 48 volatile uint16_t data = 0;
34 volatile uint8_t data_len = 0; 49 volatile uint8_t data_len = 0;
35 volatile uint8_t bitbuf_len = 0; 50 volatile uint8_t bitbuf_len = 0;
36 volatile uint16_t bitbuf = 0; 51 volatile uint16_t bitbuf = 0;
37 volatile uint8_t car_speed[8];
38 volatile uint8_t car_switch[8];
39 volatile uint16_t car0, car1, car2;
40 volatile uint16_t car0_new, car0_old;
41 volatile uint16_t car1_new, car1_old;
42 volatile uint16_t car2_new, car2_old;
43 52
44 volatile uint8_t response = 0; 53 volatile uint8_t response = 0;
45 uint8_t self_id = 0b1111; // ONLY ONE pitlane 54 uint8_t self_id = 0b1111; // ONLY ONE pitlane
55
56 void solenoid_delay(void) {
57 _delay_ms(10);
58 }
46 59
47 void send_response(uint16_t data) { 60 void send_response(uint16_t data) {
48 /* frame format: 61 /* frame format:
49 1 startbit 62 1 startbit
50 2 car id 63 2 car id
114 127
115 //data = bitbuf; // output data 128 //data = bitbuf; // output data
116 // write data of controllers to array 129 // write data of controllers to array
117 if (data_len == 10) { // controller data packet 130 if (data_len == 10) { // controller data packet
118 clock = (bitbuf >> 6) & 0b00000111; 131 clock = (bitbuf >> 6) & 0b00000111;
119 car_speed[clock] = (bitbuf >> 1) & 0x0F; 132 slot[clock].speed = (bitbuf >> 1) & 0x0F;
120 car_switch[clock] = (bitbuf >> 5) & 1; 133 slot[clock].trackswitch = (bitbuf >> 5) & 1;
121 // current response for this car? 134 // current response for this car?
122 if (response != 0) { 135 if (response != 0) {
123 if ( ((response & 0b00001110) >> 1) == clock) { 136 if ( ((response & 0b00001110) >> 1) == clock) {
124 // add our ID to response: 137 // add our ID to response:
125 send_response(response | (self_id << 6)); 138 send_response(response | (self_id << 6));
145 } 158 }
146 } 159 }
147 160
148 161
149 ISR (TIMER1_OVF_vect) { 162 ISR (TIMER1_OVF_vect) {
150 // reset both car counters to overflow 163 // reset car counters to overflow
151 car0_old = 0xffff; 164 uint8_t i;
152 car1_old = 0xffff; 165 for (i=0;i<MAX_SENSORS;i++)
153 // pitlane exit sensor 166 sens[i].old = 0xffff;
154 car2_old = 0xffff; 167 }
168
169 void detect_car(uint8_t idx) {
170 uint16_t tmp = 0;
171 sens[idx].new = TCNT1; // get current counter
172 if (sens[idx].old < sens[idx].new) {
173 // calculate difference
174 if (sens[idx].car == 0) tmp = sens[idx].new-sens[idx].old;
175 if ( (tmp > 54) && (tmp < 74) ) tmp = 1;
176 else if ( (tmp > 118) && (tmp < 138) ) tmp = 2;
177 else if ( (tmp > 186) && (tmp < 206) ) tmp = 3;
178 else if ( (tmp > 246) && (tmp < 266) ) tmp = 4;
179 else if ( (tmp > 310) && (tmp < 330) ) tmp = 5;
180 else if ( (tmp > 374) && (tmp < 394) ) tmp = 6;
181 else tmp = 0;
182 sens[idx].car = tmp;
183 }
184 sens[idx].old = sens[idx].new;
155 } 185 }
156 186
157 ISR (INT1_vect) { 187 ISR (INT1_vect) {
158 // car0 detector 188 // car0 detector
159 uint16_t tmp = 0; 189 detect_car(0);
160 car0_new = TCNT1; // get current counter
161 if (car0_old < car0_new) {
162 // calculate difference
163 if (car0 == 0) tmp = car0_new-car0_old;
164 if ( (tmp > 54) && (tmp < 74) ) car0 = 1;
165 if ( (tmp > 118) && (tmp < 138) ) car0 = 2;
166 if ( (tmp > 186) && (tmp < 206) ) car0 = 3;
167 if ( (tmp > 246) && (tmp < 266) ) car0 = 4;
168 if ( (tmp > 310) && (tmp < 330) ) car0 = 5;
169 if ( (tmp > 374) && (tmp < 394) ) car0 = 6;
170 }
171 car0_old = car0_new;
172 } 190 }
173 191
174 // ISR (TIMER1_CAPT_vect) { 192 // ISR (TIMER1_CAPT_vect) {
175 #ifdef ANALOG_COMPARATOR 193 #ifdef ANALOG_COMPARATOR
176 ISR (ANA_COMP_vect) { 194 ISR (ANA_COMP_vect) {
177 // car1 detector 195 // car1 detector
178 uint16_t tmp = 0; 196 detect_car(1);
179 car1_new = TCNT1; // get current counter
180 if (car1_old < car1_new) {
181 // calculate difference
182 if (car1 == 0) tmp = car1_new-car1_old;
183 if ( (tmp > 50) && (tmp < 78) ) car1 = 1;
184 if ( (tmp > 114) && (tmp < 146) ) car1 = 2;
185 if ( (tmp > 183) && (tmp < 210) ) car1 = 3;
186 if ( (tmp > 242) && (tmp < 270) ) car1 = 4;
187 if ( (tmp > 310) && (tmp < 330) ) car1 = 5;
188 if ( (tmp > 374) && (tmp < 394) ) car1 = 6;
189 }
190 car1_old = car1_new;
191 } 197 }
192 #else 198 #else
193 // ALTERNATIV: 199 // ALTERNATIV:
194 ISR (TIMER1_CAPT_vect) { 200 ISR (TIMER1_CAPT_vect) {
195 // car1 detector 201 // car1 detector
196 uint16_t tmp = 0; 202 detect_car(1);
197 car1_new = TCNT1; // get current counter
198 if (car1_old < car1_new) {
199 // calculate difference
200 if (car1 == 0) tmp = car1_new-car1_old;
201 if ( (tmp > 50) && (tmp < 78) ) car1 = 1;
202 if ( (tmp > 114) && (tmp < 146) ) car1 = 2;
203 if ( (tmp > 183) && (tmp < 210) ) car1 = 3;
204 if ( (tmp > 242) && (tmp < 270) ) car1 = 4;
205 if ( (tmp > 310) && (tmp < 330) ) car1 = 5;
206 if ( (tmp > 374) && (tmp < 394) ) car1 = 6;
207 }
208 car1_old = car1_new;
209 } 203 }
210 #endif 204 #endif
211
212 void solenoid_delay(void) {
213 _delay_ms(10);
214 }
215
216
217 205
218 206
219 int main(void) 207 int main(void)
220 { 208 {
221 uint8_t car0_state, car1_state;
222
223 // setup data bit timer2 209 // setup data bit timer2
224 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match 210 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match
225 OCR2 = TIMER2_50US; 211 OCR2 = TIMER2_50US;
226 212
227 // initialize timer1 for IR signal detection 213 // initialize timer1 for IR signal detection
268 0 = AA 254 0 = AA
269 1 = AB 255 1 = AB
270 2 = BB 256 2 = BB
271 3 = BA 257 3 = BA
272 */ 258 */
273 if (car0 != car0_state) { 259 if (sens[0].car != sens[0].state) {
274 car0_state = car0; 260 sens[0].state = sens[0].car;
275 if ( (car0_state != 0) && (car_switch[car0_state-1] == 0) && (car_speed[car0_state-1]>0) ) { 261 if ( (sens[0].state != 0) && (slot[sens[0].state-1].trackswitch == 0) && (slot[sens[0].state-1].speed>0) ) {
276 response = (1 | ((car0_state-1)<<1) | (1 << 4)); 262 response = (1 | ((sens[0].state-1)<<1) | (1 << 4));
277 // trigger solenoid A 263 // trigger solenoid A
278 RS232_putc('A'); 264 RS232_putc('A');
279 RS232_putc('B'); 265 RS232_putc('B');
280 RS232_putc('0'+car0_state); 266 RS232_putc('0'+sens[0].state);
281 RS232_putc('\n'); 267 RS232_putc('\n');
282 268
283 SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN); 269 SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN);
284 solenoid_delay(); 270 solenoid_delay();
285 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN); 271 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN);
286 solenoid_delay(); 272 solenoid_delay();
287 } 273 }
288 if (car0_state != 0) { 274 if (sens[0].state != 0) {
289 response = (1 | ((car0_state-1)<<1)); 275 response = (1 | ((sens[0].state-1)<<1));
290 RS232_putc('A'); 276 RS232_putc('A');
291 RS232_putc('A'); 277 RS232_putc('A');
292 RS232_putc('0'+car0_state); 278 RS232_putc('0'+sens[0].state);
293 RS232_putc('\n'); 279 RS232_putc('\n');
294 } 280 }
295 } car0 = 0; 281 } sens[0].car = 0;
296 282
297 283
298 if (car1 != car1_state) { 284 if (sens[1].car != sens[1].state) {
299 car1_state = car1; 285 sens[1].state = sens[1].car;
300 if ( (car1_state != 0) && (car_switch[car1_state-1] == 0) && (car_speed[car1_state-1]>0) ) { 286 if ( (sens[1].state != 0) && (slot[sens[1].state-1].trackswitch == 0) && (slot[sens[1].state-1].speed>0) ) {
301 response = (1 | ((car1_state-1)<<1) | (3 << 4)); 287 response = (1 | ((sens[1].state-1)<<1) | (3 << 4));
302 // trigger solenoid B 288 // trigger solenoid B
303 RS232_putc('B'); 289 RS232_putc('B');
304 RS232_putc('A'); 290 RS232_putc('A');
305 RS232_putc('0'+car1_state); 291 RS232_putc('0'+sens[1].state);
306 RS232_putc('\n'); 292 RS232_putc('\n');
307 293
308 SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN); 294 SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN);
309 solenoid_delay(); 295 solenoid_delay();
310 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN); 296 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN);
311 solenoid_delay(); 297 solenoid_delay();
312 } 298 }
313 if (car1_state != 0) { 299 if (sens[1].state != 0) {
314 response = (1 | ((car1_state-1)<<1) | (2 << 4)); 300 response = (1 | ((sens[1].state)<<1) | (2 << 4));
315 RS232_putc('B'); 301 RS232_putc('B');
316 RS232_putc('B'); 302 RS232_putc('B');
317 RS232_putc('0'+car1_state); 303 RS232_putc('0'+sens[1].state);
318 RS232_putc('\n'); 304 RS232_putc('\n');
319 } 305 }
320 } car1 = 0; 306 } sens[0].car = 0;
321 307
322 308
323 } // main loop end 309 } // main loop end
324 }; 310 };
325 311

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