comparison: trackswitch/main.c
trackswitch/main.c
- changeset 22
- 9af54a45ae42
- parent 21
- 8b7cdb655e7b
- child 40
- c36bf33489f9
equal
deleted
inserted
replaced
| 21:8b7cdb655e7b | 22:9af54a45ae42 |
|---|---|
| 23 #define TRACKSWITCH_TYPE 2 // 1=double, 2=single | 23 #define TRACKSWITCH_TYPE 2 // 1=double, 2=single |
| 24 | 24 |
| 25 #define SOLENOID_A_PIN PB1 | 25 #define SOLENOID_A_PIN PB1 |
| 26 #define SOLENOID_B_PIN PB2 | 26 #define SOLENOID_B_PIN PB2 |
| 27 | 27 |
| 28 // internal analog comparator doesnt work well | |
| 29 //#define ANALOG_COMPARATOR 1 | |
| 28 | 30 |
| 29 volatile uint16_t data = 0; | 31 volatile uint16_t data = 0; |
| 30 volatile uint8_t data_len = 0; | 32 volatile uint8_t data_len = 0; |
| 31 volatile uint8_t bitbuf_len = 0; | 33 volatile uint8_t bitbuf_len = 0; |
| 32 volatile uint16_t bitbuf = 0; | 34 volatile uint16_t bitbuf = 0; |
| 110 } | 112 } |
| 111 car0_old = car0_new; | 113 car0_old = car0_new; |
| 112 } | 114 } |
| 113 | 115 |
| 114 // ISR (TIMER1_CAPT_vect) { | 116 // ISR (TIMER1_CAPT_vect) { |
| 117 #ifdef ANALOG_COMPARATOR | |
| 115 ISR (ANA_COMP_vect) { | 118 ISR (ANA_COMP_vect) { |
| 116 // car1 detector | 119 // car1 detector |
| 117 uint16_t tmp = 0; | 120 uint16_t tmp = 0; |
| 118 car1_new = TCNT1; // get current counter | 121 car1_new = TCNT1; // get current counter |
| 119 if (car1_old < car1_new) { | 122 if (car1_old < car1_new) { |
| 124 if ( (tmp > 183) && (tmp < 210) ) car1 = 3; | 127 if ( (tmp > 183) && (tmp < 210) ) car1 = 3; |
| 125 if ( (tmp > 242) && (tmp < 270) ) car1 = 4; | 128 if ( (tmp > 242) && (tmp < 270) ) car1 = 4; |
| 126 } | 129 } |
| 127 car1_old = car1_new; | 130 car1_old = car1_new; |
| 128 } | 131 } |
| 129 | 132 #else |
| 130 // ALTERNATIV: | 133 // ALTERNATIV: |
| 131 ISR (TIMER1_CAPT_vect) { | 134 ISR (TIMER1_CAPT_vect) { |
| 132 // car1 detector | 135 // car1 detector |
| 133 uint16_t tmp = 0; | 136 uint16_t tmp = 0; |
| 134 car1_new = TCNT1; // get current counter | 137 car1_new = TCNT1; // get current counter |
| 140 if ( (tmp > 183) && (tmp < 210) ) car1 = 3; | 143 if ( (tmp > 183) && (tmp < 210) ) car1 = 3; |
| 141 if ( (tmp > 242) && (tmp < 270) ) car1 = 4; | 144 if ( (tmp > 242) && (tmp < 270) ) car1 = 4; |
| 142 } | 145 } |
| 143 car1_old = car1_new; | 146 car1_old = car1_new; |
| 144 } | 147 } |
| 145 | 148 #endif |
| 146 | 149 |
| 147 void solenoid_delay(void) { | 150 void solenoid_delay(void) { |
| 148 _delay_ms(10); | 151 _delay_ms(10); |
| 149 } | 152 } |
| 150 | 153 |
| 151 | 154 |
| 152 //#define ANALOG_COMPARATOR 1 | |
| 153 | 155 |
| 154 int main(void) | 156 int main(void) |
| 155 { | 157 { |
| 156 uint8_t car0_state, car1_state; | 158 uint8_t car0_state, car1_state; |
| 157 | 159 |
| 196 while (1) { | 198 while (1) { |
| 197 // main loop | 199 // main loop |
| 198 | 200 |
| 199 if (car0 != car0_state) { | 201 if (car0 != car0_state) { |
| 200 car0_state = car0; | 202 car0_state = car0; |
| 201 if ( (car0_state != 0) && (car_switch[car0_state-1] == 0) ) { | 203 if ( (car0_state != 0) && (car_switch[car0_state-1] == 0) && (car_speed[car0_state-1]>0) ) { |
| 202 // trigger solenoid A | 204 // trigger solenoid A |
| 203 RS232_putc('A'); | 205 RS232_putc('A'); |
| 206 RS232_putc('B'); | |
| 204 RS232_putc('0'+car0_state); | 207 RS232_putc('0'+car0_state); |
| 205 RS232_putc('\n'); | 208 RS232_putc('\n'); |
| 206 | 209 |
| 207 SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN); | 210 SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN); |
| 208 solenoid_delay(); | 211 solenoid_delay(); |
| 209 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN); | 212 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN); |
| 210 solenoid_delay(); | 213 solenoid_delay(); |
| 214 } | |
| 215 if (car0_state != 0) { | |
| 216 RS232_putc('A'); | |
| 217 RS232_putc('A'); | |
| 218 RS232_putc('0'+car0_state); | |
| 219 RS232_putc('\n'); | |
| 211 } | 220 } |
| 212 } car0 = 0; | 221 } car0 = 0; |
| 213 | 222 |
| 214 | 223 |
| 215 if (car1 != car1_state) { | 224 if (car1 != car1_state) { |
| 216 car1_state = car1; | 225 car1_state = car1; |
| 217 if ( (car1_state != 0) && (car_switch[car1_state-1] == 0) ) { | 226 if ( (car1_state != 0) && (car_switch[car1_state-1] == 0) && (car_speed[car1_state-1]>0) ) { |
| 218 // trigger solenoid A | 227 // trigger solenoid A |
| 219 RS232_putc('B'); | 228 RS232_putc('B'); |
| 229 RS232_putc('A'); | |
| 220 RS232_putc('0'+car1_state); | 230 RS232_putc('0'+car1_state); |
| 221 RS232_putc('\n'); | 231 RS232_putc('\n'); |
| 222 | 232 |
| 223 SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN); | 233 SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN); |
| 224 solenoid_delay(); | 234 solenoid_delay(); |
| 225 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN); | 235 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN); |
| 226 solenoid_delay(); | 236 solenoid_delay(); |
| 237 } | |
| 238 if (car1_state != 0) { | |
| 239 RS232_putc('B'); | |
| 240 RS232_putc('B'); | |
| 241 RS232_putc('0'+car1_state); | |
| 242 RS232_putc('\n'); | |
| 227 } | 243 } |
| 228 } car1 = 0; | 244 } car1 = 0; |
| 229 | 245 |
| 230 | 246 |
| 231 } // main loop end | 247 } // main loop end |
