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comparison: blackbox/main.c

blackbox/main.c

changeset 2
6c59b4293fa9
parent 0
9b7de464f0ea
child 3
1a0ef40ef458
equal deleted inserted replaced
1:91246416e201 2:6c59b4293fa9
5 #include <stdlib.h> 5 #include <stdlib.h>
6 #include <stdint.h> 6 #include <stdint.h>
7 #include <avr/pgmspace.h> 7 #include <avr/pgmspace.h>
8 #include <util/delay.h> 8 #include <util/delay.h>
9 9
10 #include "main.h"
11
12 #include "driver/rs232.h" 10 #include "driver/rs232.h"
13 #include "driver/adc.h" 11 #include "driver/adc.h"
14 12
13 #include "main.h"
15 #include "lowlevel.h" 14 #include "lowlevel.h"
16
17 //#include "driver/manchester.h"
18
19 /*
20 // Hardware config
21 #define LAP_COUNTER_PORT PORTB
22 #define LAP_COUNTER PB2
23
24 #define MODUL_PORT PORTD
25 #define MODUL_ST4 PD5
26 #define MODUL_ST6 PD6
27
28 #define I2C_PORT PORTC
29 #define I2C_SDA PC0
30 #define I2C_SCL PC1
31
32
33 #define SW_PACECAR_PORT PORTC
34 #define SW_START_PORT PORTB
35 #define SW_TANK_PORT PORTB
36 #define SW_PACECAR PC6
37 #define SW_TANK PB0
38 #define SW_START PB1
39
40 #define SPEAKER_PORT PORTD
41 #define SPEAKER PD7
42
43 */
44
45 15
46 void init_hardware(void) { 16 void init_hardware(void) {
47 RS232_init(); // initialize RS485 interface 17 RS232_init(); // initialize RS485 interface
48 RS232_puts_p(PSTR("CARRERA beta loading\n")); 18 RS232_puts_p(PSTR("CARRERA beta loading\n"));
49 19
243 // todo: PC, NH, TK, (KFR, FR) 213 // todo: PC, NH, TK, (KFR, FR)
244 214
245 return insert_queue(tmp, 9); 215 return insert_queue(tmp, 9);
246 } 216 }
247 217
248 /*
249 TODO: DIE TIMER1 ISR DARF DIE ADC NICHT ABFRAGEN, NICHTMAL PAKETE BAUEN, NUR TRIGGERN
250 DIE PAKETE MÜSSEN IN DER MAIN UNIT GEBAUT WERDEN UND IN EINE QUEUE GESCHOBEN WERDEN
251 EINES VORBAUEN IN Q+1, DIE TIMER2 ISR MUSS DANN Q = Q+1 und Q+1 = 0 SETZEN, ERST DANN DARF
252 NEUES PAKET IN Q+1 EINGEFÜGT WERDEN
253 */
254
255
256 ISR ( TIMER1_COMPA_vect ) { 218 ISR ( TIMER1_COMPA_vect ) {
257 //OCR2 = 0xFF; // make sure that timer2 is synced to timer1, give enough cycles to prepare 219 //OCR2 = 0xFF; // make sure that timer2 is synced to timer1, give enough cycles to prepare
258 LED(4,2); 220 LED(4,2);
259 // trigger packet transfer: 221 // trigger packet transfer:
260 transmit_len = transmit_len_next; 222 transmit_len = transmit_len_next;
261 223
262 // here is some more time to do something else... 224 // here is some more time to do something else...
263 } 225 }
264 226
265 227
266 int main(void) 228 int main(void)
278 240
279 // switch on rails power 241 // switch on rails power
280 RAIL_POWER_PORT |= _BV(RAIL_POWER); 242 RAIL_POWER_PORT |= _BV(RAIL_POWER);
281 243
282 while (1) { 244 while (1) {
283 //RS232_putc(PIN(RAIL_DETECT_PORT));
284
285 // check for short circuit on the rails 245 // check for short circuit on the rails
286 if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) { 246 check_rails_shortcut();
287 _delay_ms(1); 247
288 if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) { 248 switch (packet_index) {
289 cli(); // disable ALL Interrupts 249 case 1:
290 RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power 250 if (do_program(7, 19, 0)) packet_index++; // reset
291 RS232_puts_p(PSTR("!!! SHORT CIRCUIT ON RAILS, POWERED OFF !!!\n")); 251 //do_program(7, 16, 3); // led an startampel
292 while (1) { 252 //do_program(0, 4, 0); //
293 LED(1, 0); 253 break;
294 _delay_ms(100); 254 case 2:
295 LED(1, 1); 255 if (do_pace_ghost()) packet_index++;
296 _delay_ms(100); 256 break;
297 } 257 case 3:
298 } 258 if (do_active()) packet_index++;
299 } 259 break;
300 260 case 4:
301 261 if (do_controller(0)) packet_index++;
302 262 break;
303 263 case 5:
304 switch (packet_index) { 264 if (do_controller(4)) packet_index++;
305 case 1: 265 break;
306 if (do_program(7, 19, 0)) packet_index++; // reset 266 case 6:
307 //do_program(7, 16, 3); // led an startampel 267 if (do_controller(1)) packet_index++;
308 //do_program(0, 4, 0); // 268 break;
309 break; 269 case 7:
310 case 2: 270 if (do_controller(5)) packet_index++;
311 if (do_pace_ghost()) packet_index++; 271 break;
312 break; 272 case 8:
313 case 3: 273 if (do_controller(2)) packet_index++;
314 if (do_active()) packet_index++; 274 break;
315 break; 275 case 9:
316 case 4: 276 if (do_active()) packet_index++;
317 if (do_controller(0)) packet_index++; 277 break;
318 break; 278 case 10:
319 case 5: 279 if (do_controller(3)) packet_index = 1;
320 if (do_controller(4)) packet_index++; 280 // last packet, so reset packet index
321 break; 281 break;
322 case 6: 282 }
323 if (do_controller(1)) packet_index++;
324 break;
325 case 7:
326 if (do_controller(5)) packet_index++;
327 break;
328 case 8:
329 if (do_controller(2)) packet_index++;
330 break;
331 case 9:
332 if (do_active()) packet_index++;
333 break;
334 case 10:
335 if (do_controller(3)) packet_index = 1;
336 // last packet, so reset packet index
337 break;
338 }
339
340
341
342
343 /*
344 do_controller(0);
345 itoa (transmit_len_queue, s, 10);
346 RS232_puts(s);
347 RS232_putc(' ');
348 itoa (transmit_buffer_queue, s, 2);
349 RS232_puts(s);
350
351 RS232_putc('\n');
352 */
353 /*
354 itoa (tmp, s, 2);
355 RS232_puts(s);
356 RS232_putc('\n');
357 */
358 283
359 284
360 } // main loop end 285 } // main loop end
361 }; 286 };
362 287

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