comparison: car004f/main.c
car004f/main.c
- changeset 147
- f66c5b3b3ed2
- child 148
- 08cb88614d69
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| 146:a1eb2dc83819 | 147:f66c5b3b3ed2 |
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| 1 #include <avr/interrupt.h> | |
| 2 #include <avr/io.h> | |
| 3 #include <avr/wdt.h> | |
| 4 #include <avr/eeprom.h> | |
| 5 #include <stdlib.h> | |
| 6 #include <stdint.h> | |
| 7 #include <avr/pgmspace.h> | |
| 8 | |
| 9 #include "main.h" | |
| 10 #include "util/delay.h" | |
| 11 | |
| 12 | |
| 13 ISR ( USART_RXC_vect ) { | |
| 14 } | |
| 15 | |
| 16 #define PULSE_PORT PORTD | |
| 17 #define PULSE_BIT PD2 | |
| 18 | |
| 19 #define RESPONSE_PORT PORTC | |
| 20 #define RESPONSE_PIN PC1 | |
| 21 | |
| 22 volatile uint16_t data = 0; | |
| 23 volatile uint8_t data_len = 0; | |
| 24 volatile uint8_t bitbuf_len = 0; | |
| 25 volatile uint16_t bitbuf = 0; | |
| 26 volatile uint8_t car_speed[8]; | |
| 27 volatile uint8_t car_switch[8]; | |
| 28 volatile uint8_t my_id; // Die ID des Autos! | |
| 29 | |
| 30 uint8_t my_switch; | |
| 31 uint8_t my_speed; | |
| 32 uint8_t light_mode; | |
| 33 | |
| 34 ISR ( INT0_vect ) { | |
| 35 GICR &= ~_BV(INT0) ; // Disable INT0 | |
| 36 // Startsignal erkannt, ab hier den Timer2 starten, | |
| 37 // der liest dann alle 50µs den Zustand ein und schreibt das | |
| 38 // empfangene Bit in den Puffer | |
| 39 bitbuf = 0; // init | |
| 40 bitbuf_len = 0b10000000; // init 1 pulse received | |
| 41 TCNT2 = 0; | |
| 42 TIMSK |= _BV(OCIE2); //enable timer2 interrupt | |
| 43 } | |
| 44 | |
| 45 ISR ( TIMER2_COMP_vect ) { | |
| 46 uint8_t clock; | |
| 47 uint8_t state; | |
| 48 uint8_t state2; | |
| 49 if ((bitbuf_len & 0b10000000) == 0) clock = 0; else clock = 0xff; | |
| 50 if ((bitbuf_len & 0b01000000) == 0) state = 0; else state = 0xff; | |
| 51 if ((PIN(PULSE_PORT) & _BV(PULSE_BIT)) == 0) state2 = 0xff; else state2 = 0; | |
| 52 | |
| 53 if (clock) { | |
| 54 bitbuf_len &= ~_BV(7); // switch clock to low | |
| 55 // second pulse of bit | |
| 56 if ((state==state2) & state2) { | |
| 57 // two cycles high: packet end received | |
| 58 data_len = (bitbuf_len & 0b00111111); | |
| 59 TIMSK &= ~_BV(OCIE2); //disable timer2 interrupt | |
| 60 GICR |= _BV(INT0) ; // Enable INT0 | |
| 61 | |
| 62 //data = bitbuf; // output data | |
| 63 // write data of controllers to array | |
| 64 if (data_len == 10) { // controller data packet | |
| 65 clock = (bitbuf >> 6) & 0b00000111; | |
| 66 car_speed[clock] = (bitbuf >> 1) & 0x0F; | |
| 67 car_switch[clock] = (bitbuf >> 5) & 1; | |
| 68 // current response for this car? | |
| 69 /* | |
| 70 if (response != 0) { | |
| 71 if ( ((response & 0b00001110) >> 1) == clock) { | |
| 72 // add our ID to response: | |
| 73 send_response(response | self_id << 6); | |
| 74 response = 0; | |
| 75 } | |
| 76 } | |
| 77 */ | |
| 78 } | |
| 79 | |
| 80 | |
| 81 } else { | |
| 82 bitbuf_len++; // increment bit counter | |
| 83 bitbuf = bitbuf << 1; // shift bits | |
| 84 if (state2 == 0) bitbuf |= 1; // receive logic one | |
| 85 } | |
| 86 } else { | |
| 87 bitbuf_len |= _BV(7); // switch clock to high | |
| 88 // first pulse of bit | |
| 89 if (state2) { | |
| 90 bitbuf_len |= _BV(6); // store new state | |
| 91 } else { | |
| 92 bitbuf_len &= ~_BV(6); // store new state | |
| 93 } | |
| 94 } | |
| 95 } | |
| 96 | |
| 97 ISR (TIMER1_OVF_vect) { | |
| 98 } | |
| 99 | |
| 100 ISR (INT1_vect) { | |
| 101 } | |
| 102 | |
| 103 #define LIGHT_PORT PORTC | |
| 104 #define LIGHT_FRONT 2 | |
| 105 #define LIGHT_BRAKE 4 | |
| 106 | |
| 107 #define IR_PORT PORTB | |
| 108 #define IR_LED 3 | |
| 109 | |
| 110 | |
| 111 #define LIGHT_MODES 1 // anzahl der lichtmodi (ohne den modus "aus") | |
| 112 | |
| 113 | |
| 114 | |
| 115 int main(void) | |
| 116 { | |
| 117 uint8_t car0_state, car1_state; | |
| 118 | |
| 119 // setup data bit timer2 | |
| 120 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match | |
| 121 OCR2 = TIMER2_50US; | |
| 122 | |
| 123 | |
| 124 // enable both external interrupts | |
| 125 // int 0 = data RX | |
| 126 MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge | |
| 127 GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1 | |
| 128 | |
| 129 // oscillator calibration | |
| 130 // atmega8@1mhz = 0xac | |
| 131 // @4mhz = ca 0xa0 | |
| 132 //OSCCAL = 0xa0; | |
| 133 //OSCCAL = 0x9A; | |
| 134 //OSCCAL = 0xa0; // internal oscillator @ 4 mhz.... doesnt work accurate! | |
| 135 sei(); | |
| 136 | |
| 137 DDR(LIGHT_PORT) |= (_BV(LIGHT_FRONT) | _BV(LIGHT_BRAKE)); | |
| 138 | |
| 139 //defaults (from eeprom!) | |
| 140 my_id = 1; | |
| 141 light_mode = 0; | |
| 142 | |
| 143 while (1) { | |
| 144 // main loop | |
| 145 | |
| 146 // Light cycle if switch pressed without speed | |
| 147 if (my_speed == 0) { | |
| 148 if (my_switch != car_switch[my_id]) { | |
| 149 my_switch = car_switch[my_id]; | |
| 150 if (my_switch != 0) { | |
| 151 // cycle light | |
| 152 if (light_mode == LIGHT_MODES) light_mode = 0; else light_mode++; | |
| 153 } | |
| 154 } | |
| 155 } | |
| 156 | |
| 157 switch (light_mode) { | |
| 158 case 0: | |
| 159 LIGHT_PORT &= ~_BV(LIGHT_FRONT); // switch lights off | |
| 160 break; | |
| 161 case 1: | |
| 162 LIGHT_PORT |= _BV(LIGHT_FRONT); // switch lights on | |
| 163 break; | |
| 164 } | |
| 165 | |
| 166 _delay_ms(100); | |
| 167 LIGHT_PORT |= _BV(LIGHT_BRAKE); // brake light on | |
| 168 _delay_ms(100); | |
| 169 LIGHT_PORT &= ~_BV(LIGHT_BRAKE); // brake light off | |
| 170 | |
| 171 | |
| 172 | |
| 173 | |
| 174 } // main loop end | |
| 175 }; | |
| 176 |
