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comparison: pitlane/main.c

pitlane/main.c

changeset 73
ec888cfa024e
parent 72
60c4b28fd773
child 104
95b2c23cb973
equal deleted inserted replaced
72:60c4b28fd773 73:ec888cfa024e
65 volatile uint8_t data_len = 0; 65 volatile uint8_t data_len = 0;
66 volatile uint8_t bitbuf_len = 0; 66 volatile uint8_t bitbuf_len = 0;
67 volatile uint16_t bitbuf = 0; 67 volatile uint16_t bitbuf = 0;
68 68
69 volatile uint8_t response = 0; 69 volatile uint8_t response = 0;
70 volatile uint8_t response_car = 0;
70 uint8_t self_id = 0b1111; // ONLY ONE pitlane 71 uint8_t self_id = 0b1111; // ONLY ONE pitlane
71 72
72 void solenoid_delay(void) { 73 void solenoid_delay(void) {
73 _delay_ms(2); 74 _delay_ms(2);
74 } 75 }
75 76
76 void send_response(uint16_t data) { 77 void send_response(uint8_t car, uint8_t status) {
77 /* frame format: 78 /* frame format:
78 1 startbit 79 1 startbit
79 2 car id 80 2 car id bit 1
80 3 car id 81 3 car id bit 2
81 4 car id 82 4 car id bit 3
82 5 track change status bit 1 83 5 track change status bit 1
83 6 track change status bit 2 84 6 track change status bit 2
84 7 sender id 85 7 track change status bit 3
85 8 sender id 86 8 track change status bit 4
86 9 sender id 87 9 sender id bit 1
87 9 sender id 88 10 sender id bit 2
88 10 device type 89 11 sender id bit 3
89 11 device type 90 12 sender id bit 4
90 12 device type 91 13 device type bit 1
91 13 device type 92 14 device type bit 2
92 14 reserved 93 15 device type bit 3
93 15 reserved
94 16 stopbit 94 16 stopbit
95 */ 95 */
96 uint16_t data;
97 // produce packet
98 data = ((car & 0b111) << 1) | ((status & 0b1111) << 4) | ((self_id & 0b1111) << 8) | (TRACKSWITCH_TYPE << 12);
99 data |= 0b100000000000001; // make sure start/stop bits are set
100
96 uint8_t index = 16; // bit count maximum 101 uint8_t index = 16; // bit count maximum
97 uint8_t enable = DDR(RESPONSE_PORT) | _BV(RESPONSE_PIN); 102 uint8_t enable = DDR(RESPONSE_PORT) | _BV(RESPONSE_PIN);
98 uint8_t disable = DDR(RESPONSE_PORT) & ~_BV(RESPONSE_PIN); 103 uint8_t disable = DDR(RESPONSE_PORT) & ~_BV(RESPONSE_PIN);
99 data |= 0b100000000000001; // make sure start/stop bits are set
100 while (index != 0) { 104 while (index != 0) {
101 if ((data & 1) != 0) { 105 if ((data & 1) != 0) {
102 DDR(RESPONSE_PORT) = enable; // enable response output 106 DDR(RESPONSE_PORT) = enable; // enable response output
103 } else { 107 } else {
104 DDR(RESPONSE_PORT) = disable; // disable response output 108 DDR(RESPONSE_PORT) = disable; // disable response output
146 clock = (bitbuf >> 6) & 0b00000111; 150 clock = (bitbuf >> 6) & 0b00000111;
147 slot[clock].speed = (bitbuf >> 1) & 0x0F; 151 slot[clock].speed = (bitbuf >> 1) & 0x0F;
148 slot[clock].trackswitch = (bitbuf >> 5) & 1; 152 slot[clock].trackswitch = (bitbuf >> 5) & 1;
149 // current response for this car? 153 // current response for this car?
150 if (response != 0) { 154 if (response != 0) {
151 if ( ((response & 0b00001110) >> 1) == clock) { 155 if ( response_car == clock) {
152 // add our ID to response: 156 // add our ID to response:
153 send_response(response | (self_id << 6)); 157 send_response(clock, response);
154 response = 0; 158 response = 0;
155 } 159 }
156 } 160 }
157 } 161 }
158 162
276 280
277 while (1) { 281 while (1) {
278 // main loop 282 // main loop
279 283
280 /* 284 /*
281 0 = AA 285 1 = AA
282 1 = AB 286 2 = AB
283 2 = BB 287 3 = BB
284 3 = BA 288 4 = BA
285 4 = ZZ -> pitlane exit
286 5 = BC 289 5 = BC
290 6 = ZZ -> pitlane exit
287 */ 291 */
288 if (sens[0].car != sens[0].state) { 292 if (sens[0].car != sens[0].state) {
289 sens[0].state = sens[0].car; 293 sens[0].state = sens[0].car;
290 #if (TRACKSWITCH_TYPE != TYPE_PITLANE) 294 #if (TRACKSWITCH_TYPE != TYPE_PITLANE)
291 if ( (sens[0].state != 0) && (slot[sens[0].state-1].trackswitch == 0) && (slot[sens[0].state-1].speed>0) ) { 295 if ( (sens[0].state != 0) && (slot[sens[0].state-1].trackswitch == 0) && (slot[sens[0].state-1].speed>0) ) {
292 response = (1 | ((sens[0].state-1)<<1) | (1 << 4)); 296 response = 2;
297 response_car = sens[0].state - 1;
293 298
294 // set inside status 299 // set inside status
295 slot[sens[0].state].inside = 1; 300 slot[sens[0].state].inside = 1;
296 301
297 // trigger solenoid A 302 // trigger solenoid A
305 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN); 310 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN);
306 solenoid_delay(); 311 solenoid_delay();
307 } else 312 } else
308 #endif 313 #endif
309 if (sens[0].state != 0) { 314 if (sens[0].state != 0) {
310 response = (1 | ((sens[0].state-1)<<1)); 315 response = 1;
316 response_car = sens[0].state - 1;
311 RS232_putc('A'); 317 RS232_putc('A');
312 RS232_putc('A'); 318 RS232_putc('A');
313 RS232_putc('0'+sens[0].state); 319 RS232_putc('0'+sens[0].state);
314 RS232_putc('\n'); 320 RS232_putc('\n');
315 } 321 }
317 323
318 324
319 if (sens[1].car != sens[1].state) { 325 if (sens[1].car != sens[1].state) {
320 sens[1].state = sens[1].car; 326 sens[1].state = sens[1].car;
321 if ( (sens[1].state != 0) && (slot[sens[1].state-1].trackswitch == 0) && (slot[sens[1].state-1].speed>0) ) { 327 if ( (sens[1].state != 0) && (slot[sens[1].state-1].trackswitch == 0) && (slot[sens[1].state-1].speed>0) ) {
322 response = (1 | ((sens[1].state-1)<<1) | (5 << 4)); 328 response = 5;
329 response_car = sens[1].state - 1;
323 330
324 // set inside status 331 // set inside status
325 slot[sens[1].state-1].inside = 1; 332 slot[sens[1].state-1].inside = 1;
326 333
327 // trigger solenoid B 334 // trigger solenoid B
334 solenoid_delay(); 341 solenoid_delay();
335 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN); 342 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN);
336 solenoid_delay(); 343 solenoid_delay();
337 } else 344 } else
338 if (sens[1].state != 0) { 345 if (sens[1].state != 0) {
339 response = (1 | ((sens[1].state)<<1) | (2 << 4)); 346 response = 3;
347 response_car = sens[1].state - 1;
340 RS232_putc('B'); 348 RS232_putc('B');
341 RS232_putc('B'); 349 RS232_putc('B');
342 RS232_putc('0'+sens[1].state); 350 RS232_putc('0'+sens[1].state);
343 RS232_putc('\n'); 351 RS232_putc('\n');
344 } 352 }
350 // set inside status 358 // set inside status
351 for (tmp=0; tmp<MAX_SLOTS; tmp++) 359 for (tmp=0; tmp<MAX_SLOTS; tmp++)
352 if (slot[tmp].inside) { 360 if (slot[tmp].inside) {
353 slot[tmp].inside = 0; 361 slot[tmp].inside = 0;
354 } 362 }
355 response = (1 | (0b111 <<1) | (4 << 4)); 363 response = 6;
364 response_car = 0;
356 RS232_puts_p(PSTR("PIT:EXIT\n")); 365 RS232_puts_p(PSTR("PIT:EXIT\n"));
357 } 366 }
358 367
359 if (sens[2].car != sens[2].state) { 368 if (sens[2].car != sens[2].state) {
360 sens[2].state = sens[2].car; 369 sens[2].state = sens[2].car;
361 if (sens[2].state != 0) { 370 if (sens[2].state != 0) {
362 response = (1 | ((sens[2].state-1)<<1) | (4 << 4)); 371 response = 6;
372 response_car = sens[2].state-1;
363 373
364 // set inside status 374 // set inside status
365 slot[sens[2].state-1].inside = 0; 375 slot[sens[2].state-1].inside = 0;
366 376
367 RS232_putc('Z'); 377 RS232_putc('Z');

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