--- a/blackbox/main.c Mon Nov 14 21:38:00 2011 +0100
+++ b/blackbox/main.c Tue Nov 15 10:22:13 2011 +0100
@@ -13,13 +13,17 @@
#include "main.h"
#include "lowlevel.h"
+volatile uint8_t program_count = 0;
+volatile uint8_t program_id;
+volatile uint8_t program_command;
+volatile uint8_t program_parameter;
+
volatile uint8_t datalen = 0;
char data[10]; // 8 bytes data buffer + string termination
static char buffer[RS232_BUFSIZE+1];
static uint8_t buffer_len;
-
// USART0 RX interrupt
ISR ( USART_RXC_vect ) {
char c = UDR;
@@ -27,20 +31,33 @@
// check for buffer overflow
if (buffer_len==sizeof(buffer)) {
buffer_len=0;
- if (c == 27) {
- // escape sequence, store to empty buffer
- buffer[buffer_len++] = c;
- }
} else {
// collect characters until end of line
- if (c == 27) {
- // escape sequence, clear buffer
- buffer_len = 0;
- buffer[buffer_len++] = c;
- } else if ( (c==0xff) && (buffer_len > 3) ) {
+ if ( (c==0x0A) ) {
buffer[buffer_len]=0;
// packet end received, parse the received packet
+ switch (buffer[0]) {
+ case 'P': // inject a program data word to the rails
+ // TODO: at the moment only parameters 0..9 supported
+ // needs to build a "human" parser
+ program_id = buffer[3]-'0';
+ program_command = buffer[1]-'0';
+ program_parameter = buffer[2]-'0';
+ program_count = 0x02; // send commands twice
+ RS232_puts_p(PSTR("Executing command: "));
+/*
+ RS232_putc(buffer[2]);
+ RS232_putc(',');
+ RS232_putc(buffer[3]);
+ RS232_puts_p(PSTR(" for slot "));
+ RS232_putc(buffer[1]);
+*/
+ RS232_putc('\n');
+
+ break;
+
+ }
// wait for the next packet
buffer_len=0;
@@ -126,8 +143,7 @@
return insert_queue(tmp, 9);
}
-unsigned char mirror( unsigned char n ) {
- // mirror all 8 bits
+uint8_t mirror( uint8_t n ) {
n = ((n >> 1) & 0x55) | ((n << 1) & 0xaa);
n = ((n >> 2) & 0x33) | ((n << 2) & 0xcc);
n = ((n >> 4) & 0x0f) | ((n << 4) & 0xf0);
@@ -135,11 +151,14 @@
}
+
int do_program(uint8_t controller, uint8_t command, uint8_t parameter) {
// send program data packet
uint16_t tmp;
- tmp = 0b1000000000000 | (mirror(parameter) << 4) | mirror(command)| (mirror(controller) >> 5);
-
+ parameter = mirror(parameter);
+ controller = mirror(controller);
+ command = mirror(command);
+ tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5);
return insert_queue(tmp, 12);
}
@@ -151,6 +170,7 @@
if ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10010001;
if ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10001001;
// todo: regler 5 und 6
+ // todo: wenn Daten enpfangen wurden hier eine Quittierung senden anstatt dem Active Word
return insert_queue(tmp, 7);
}
@@ -185,9 +205,6 @@
init_hardware();
- itoa(TIMER2_50US, s, 10);
- RS232_puts(s);
-
// switch on rails power
RAIL_POWER_PORT |= _BV(RAIL_POWER);
@@ -197,9 +214,19 @@
switch (packet_index) {
case 1:
- if (do_program(7, 19, 0)) packet_index++; // reset
- //do_program(7, 16, 3); // led an startampel
- //do_program(0, 4, 0); //
+ if (program_count > 0) {
+ // command in queue
+ if (do_program(program_id, program_command, program_parameter)) {
+ packet_index++;
+ program_count--;
+itoa(transmit_buffer_queue, s, 2);
+RS232_puts(s);
+RS232_putc('\n');
+ }
+ } else {
+ // output idle command
+ if (do_program(7, 19, 0)) packet_index++; // reset
+ }
break;
case 2:
if (do_pace_ghost()) packet_index++;