comparison: blackbox/main.c
blackbox/main.c
- changeset 36
- aea84f4f5a12
- parent 35
- 00166228a419
- child 37
- 136a79772098
equal
deleted
inserted
replaced
| 35:00166228a419 | 36:aea84f4f5a12 |
|---|---|
| 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 #define MAX_SLOTS 5 | |
| 17 uint8_t speedlimit[MAX_SLOTS]; | |
| 18 | |
| 16 volatile uint8_t program_count = 0; | 19 volatile uint8_t program_count = 0; |
| 17 volatile uint8_t program_id; | 20 volatile uint8_t program_id; |
| 18 volatile uint8_t program_command; | 21 volatile uint8_t program_command; |
| 19 volatile uint8_t program_parameter; | 22 volatile uint8_t program_parameter; |
| 20 | 23 |
| 43 return 1; | 46 return 1; |
| 44 } | 47 } |
| 45 return 0; | 48 return 0; |
| 46 } | 49 } |
| 47 | 50 |
| 51 char ok[] PROGMEM="OK\n"; | |
| 52 char busy[] PROGMEM="BUSY\n"; | |
| 53 | |
| 48 | 54 |
| 49 ISR ( USART_RXC_vect ) { | 55 ISR ( USART_RXC_vect ) { |
| 56 uint8_t tmp; | |
| 50 char c = UDR; | 57 char c = UDR; |
| 51 | 58 |
| 52 // check for buffer overflow | 59 // check for buffer overflow |
| 53 if (buffer_len==sizeof(buffer)) { | 60 if (buffer_len==sizeof(buffer)) { |
| 54 buffer_len=0; | 61 buffer_len=0; |
| 70 program_parameter = buffer[2]-'A'+10; | 77 program_parameter = buffer[2]-'A'+10; |
| 71 if (program_command < 4) | 78 if (program_command < 4) |
| 72 program_count = 0x02; // send commands twice (fuel, speed, brake) | 79 program_count = 0x02; // send commands twice (fuel, speed, brake) |
| 73 else | 80 else |
| 74 program_count = 0x01; | 81 program_count = 0x01; |
| 75 RS232_puts_p(PSTR("OK\n")); | 82 RS232_puts_p(ok); |
| 76 } else RS232_puts_p(PSTR("BUSY\n")); | 83 } else RS232_puts_p(busy); |
| 84 break; | |
| 85 | |
| 86 case 'L': // Limit maximum speed for a car | |
| 87 tmp = buffer[2]-'0'; | |
| 88 if (tmp > 9) | |
| 89 tmp = buffer[2]-'A'+10; | |
| 90 speedlimit[buffer[1]-'0'] = tmp; | |
| 91 RS232_puts_p(ok); | |
| 77 break; | 92 break; |
| 78 | 93 |
| 79 } | 94 } |
| 80 | 95 |
| 81 // wait for the next packet | 96 // wait for the next packet |
| 93 int do_controller(uint8_t controller) { | 108 int do_controller(uint8_t controller) { |
| 94 // read controller X speed & encode controller data packet | 109 // read controller X speed & encode controller data packet |
| 95 uint16_t tmp; | 110 uint16_t tmp; |
| 96 switch (controller) { | 111 switch (controller) { |
| 97 case 0: | 112 case 0: |
| 98 tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; | 113 tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
| 114 if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; | |
| 115 tmp = tmp << 1; | |
| 99 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) { | 116 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) { |
| 100 tmp |= (1<<5); | 117 tmp |= (1<<5); |
| 101 LED(1,0); | 118 LED(1,0); |
| 102 } else LED(1,1); | 119 } else LED(1,1); |
| 103 break; | 120 break; |
| 104 case 1: | 121 case 1: |
| 105 tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; | 122 tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
| 123 if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; | |
| 124 tmp = tmp << 1; | |
| 106 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) { | 125 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) { |
| 107 tmp |= (1<<5); | 126 tmp |= (1<<5); |
| 108 LED(2,0); | 127 LED(2,0); |
| 109 } else LED(2,1); | 128 } else LED(2,1); |
| 110 break; | 129 break; |
| 111 case 2: | 130 case 2: |
| 112 tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; | 131 tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
| 132 if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; | |
| 133 tmp = tmp << 1; | |
| 113 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) { | 134 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) { |
| 114 tmp |= (1<<5); | 135 tmp |= (1<<5); |
| 115 LED(3,0); | 136 LED(3,0); |
| 116 } else LED(3,1); | 137 } else LED(3,1); |
| 117 break; | 138 break; |
| 118 case 3: | 139 case 3: |
| 119 tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; | 140 tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F); |
| 141 if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; | |
| 142 tmp = tmp << 1; | |
| 120 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) { | 143 if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) { |
| 121 tmp |= (1<<5); | 144 tmp |= (1<<5); |
| 122 LED(4,0); | 145 LED(4,0); |
| 123 } else LED(4,1); | 146 } else LED(4,1); |
| 124 break; | 147 break; |
| 258 ISR (INT2_vect) { | 281 ISR (INT2_vect) { |
| 259 // Lap counter Interrupt | 282 // Lap counter Interrupt |
| 260 LED(5,2); | 283 LED(5,2); |
| 261 } | 284 } |
| 262 | 285 |
| 286 void reset_vars(void) { | |
| 287 uint8_t i; | |
| 288 for (i=0; i<MAX_SLOTS; i++) { | |
| 289 speedlimit[i] = 15; | |
| 290 } | |
| 291 } | |
| 292 | |
| 263 | 293 |
| 264 int main(void) | 294 int main(void) |
| 265 { | 295 { |
| 266 | 296 |
| 267 unsigned char s[30]; | 297 unsigned char s[30]; |
| 282 // 7: race start initiated (next mode will be zero = free drive) | 312 // 7: race start initiated (next mode will be zero = free drive) |
| 283 | 313 |
| 284 | 314 |
| 285 | 315 |
| 286 init_hardware(); | 316 init_hardware(); |
| 317 reset_vars(); | |
| 287 | 318 |
| 288 // switch on rails power | 319 // switch on rails power |
| 289 RAIL_POWER_PORT |= _BV(RAIL_POWER); | 320 RAIL_POWER_PORT |= _BV(RAIL_POWER); |
| 290 | 321 |
| 291 while (1) { | 322 while (1) { |
