--- a/blackbox/main.c Sat Dec 03 14:25:06 2011 +0100
+++ b/blackbox/main.c Sat Dec 03 16:42:53 2011 +0100
@@ -13,8 +13,28 @@
#include "main.h"
#include "lowlevel.h"
-#define MAX_SLOTS 5
-uint8_t speedlimit[MAX_SLOTS];
+char ok[] PROGMEM="OK\n";
+char busy[] PROGMEM="BUSY\n";
+char prepare[] PROGMEM="!RACE PREPARE\n";
+char countdownstart[] PROGMEM="!COUNTDOWN\n";
+char racestart[] PROGMEM="!RACE START\n";
+
+
+static uint8_t countdown, countdown_loops;
+uint8_t mode = 0;
+// valid race modes:
+// 0: free drive / idle
+// 1: waiting for countdown start
+// 2: race countdown initiated
+// 3: Race start condition
+
+
+#define MAX_SLOTS 6
+volatile uint8_t speedlimit[MAX_SLOTS];
+volatile uint8_t fuel[MAX_SLOTS];
+volatile uint8_t jumpstart_time[MAX_SLOTS];
+
+
volatile uint8_t program_count = 0;
volatile uint8_t program_id;
@@ -48,8 +68,6 @@
return 0;
}
-char ok[] PROGMEM="OK\n";
-char busy[] PROGMEM="BUSY\n";
ISR ( USART_RXC_vect ) {
@@ -91,6 +109,18 @@
RS232_puts_p(ok);
break;
+ case 'I': // get Information data (incl. important global parameter dump)
+ RS232_puts(VERSION);
+ RS232_putc(':');
+ for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(speedlimit[tmp]); // output speed limits
+ RS232_putc(':');
+ for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(fuel[tmp]); // output fuel levels (0=empty, 100=full, 0xff=no fuel option)
+ RS232_putc(':');
+ for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(jumpstart_time[tmp]); // output jumpstart times
+ RS232_putc(':');
+ RS232_putc('\n');
+ break;
+
}
// wait for the next packet
@@ -102,48 +132,61 @@
}
+void jumpstart(uint8_t controller) {
+ if (jumpstart_time[controller] == 0) {
+ jumpstart_time[controller] = 1;
+ // todo: later the timestamp should written instead of just "1"
+ RS232_putc('~');
+ RS232_putc('0'-controller);
+ RS232_putc('\n');
+ }
+}
int do_controller(uint8_t controller) {
// read controller X speed & encode controller data packet
- uint16_t tmp;
+ uint16_t tmp = 0;
switch (controller) {
case 0:
- tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if (mode!=1) tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
if (tmp > speedlimit[controller]) tmp = speedlimit[controller];
tmp = tmp << 1;
if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) {
tmp |= (1<<5);
- LED(1,0);
- } else LED(1,1);
+ if (mode == 0) LED(1,0);
+ } else if (mode == 0) LED(1,1);
break;
case 1:
- tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if (mode!=1) tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
if (tmp > speedlimit[controller]) tmp = speedlimit[controller];
tmp = tmp << 1;
if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) {
tmp |= (1<<5);
- LED(2,0);
- } else LED(2,1);
+ if (mode == 0) LED(2,0);
+ } else if (mode == 0) LED(2,1);
break;
case 2:
- tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if (mode!=1) tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
if (tmp > speedlimit[controller]) tmp = speedlimit[controller];
tmp = tmp << 1;
if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) {
tmp |= (1<<5);
- LED(3,0);
- } else LED(3,1);
+ if (mode == 0) LED(4,0);
+ } else if (mode == 0) LED(4,1);
break;
case 3:
- tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if (mode!=1) tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F);
+ if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; }
if (tmp > speedlimit[controller]) tmp = speedlimit[controller];
tmp = tmp << 1;
if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) {
tmp |= (1<<5);
- LED(4,0);
- } else LED(4,1);
+ if (mode == 0) LED(5,0);
+ } else if (mode == 0) LED(5,1);
break;
case 4: tmp = (1<<5); break; // todo regler 5
case 5: tmp = (1<<5); break; // todo regler 6
@@ -197,8 +240,6 @@
ISR ( TIMER1_COMPA_vect ) {
// trigger packet transfer:
transmit_len = transmit_len_next;
- //LED(2,2);
-
// here is some more time to do something else...
}
@@ -241,15 +282,12 @@
if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit
}
}
-
- //LED(3,2);
}
ISR ( TIMER0_OVF_vect ) {
// TODO: last bit should be set by the sender, not from us!
TCNT0 = TIMER0_250US;
- //LED(1,2);
if (timer0_delay == 0) {
RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low
_delay_us(28); // wait some cycles
@@ -280,13 +318,37 @@
ISR (INT2_vect) {
// Lap counter Interrupt
- LED(5,2);
+ // do not know if this ever occurs ?! this is normally an output pin to trigger the counter start
}
void reset_vars(void) {
uint8_t i;
for (i=0; i<MAX_SLOTS; i++) {
speedlimit[i] = 15;
+ fuel[i] = 100;
+ jumpstart_time[i] = 0;
+ }
+}
+
+void countdown_progress(void) {
+ // decrement COUNTDOWN_LOOPS
+ if (countdown_loops>0) {
+ countdown_loops--;
+ } else {
+ countdown--;
+ countdown_loops = COUNTDOWN_DELAY;
+ }
+ switch (countdown) {
+ case 5: LED(1, 1); break;
+ case 4: LED(2, 1); break;
+ case 3: LED(3, 1); break;
+ case 2: LED(4, 1); break;
+ case 1: LED(5, 1); break;
+ case 0: { // RACE START!
+ LEDS_OFF();
+ LED(3, 1);
+ mode = 3;
+ } break;
}
}
@@ -294,27 +356,15 @@
int main(void)
{
- unsigned char s[30];
- uint16_t tmp;
+ unsigned char s[10];
uint8_t packet_index = 1;
uint8_t btn_start = _BV(SW_START);
uint8_t old_start = btn_start;
- uint8_t mode = 0;
- // valid race modes:
- // 0: free drive
- // 1: race countdown initiated
- // 2: countdown 5
- // 3: countdown 4
- // 4: countdown 3
- // 5: countdown 2
- // 6: countdown 1
- // 7: race start initiated (next mode will be zero = free drive)
-
-
init_hardware();
reset_vars();
+ LED(3, 1); // enable middle led == idle mode
// switch on rails power
RAIL_POWER_PORT |= _BV(RAIL_POWER);
@@ -339,28 +389,45 @@
if (btn_start == 0) {
// start button press active
if (mode == 0) {
+ mode = 1; // set wait for race start mode
+ reset_vars();
+ LED(1, 1);
+ LED(2, 1);
+ LED(3, 1);
+ LED(4, 1);
+ LED(5, 1);
+ RS232_puts_p(prepare);
+ } else if (mode == 1) {
// Initiate race countdown
- mode = 0; // todo: set to 1
- // issue reset command to lap counter
- program_command = 6;
- program_parameter = 9;
- program_id = 0;
- program_count = 1;
- LAP_COUNTER_PORT |= _BV(LAP_COUNTER);
- } else {
- // do a reset, switch back to free drive mode 0
- mode = 0;
- // issue reset command
- program_command = 19;
- program_parameter = 0;
- program_id = 7;
- program_count = 1;
- LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
+ countdown = 5;
+ countdown_loops = COUNTDOWN_DELAY;
+ mode = 2;
+ LED(1, 0);
+ LED(2, 0);
+ LED(3, 0);
+ LED(4, 0);
+ LED(5, 0);
+ RS232_puts_p(countdownstart);
}
}
- //LAP_COUNTER_PORT |= _BV(LAP_COUNTER);
- } else old_start = btn_start;
- // LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
+ old_start = btn_start;
+ }
+
+ if (mode==3) {
+ // RACE START!
+ // issue reset command to lap counter
+ mode = 0;
+ RS232_puts_p(racestart);
+ program_command = 6;
+ program_parameter = 9;
+ program_id = 0;
+ program_count = 1;
+ LAP_COUNTER_PORT |= _BV(LAP_COUNTER);
+ // TODO: beep long
+ _delay_us(50);
+ LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
+ }
+
switch (packet_index) {
case 1:
@@ -376,6 +443,9 @@
//if (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect
//if (insert_queue(0, 0)) packet_index++; // null command
}
+
+ if ( (packet_index>1) && (mode == 2) ) countdown_progress();
+
break;
case 2:
if (do_pace_ghost()) packet_index++;