--- a/blackbox/main.c Mon Nov 14 20:32:30 2011 +0100
+++ b/blackbox/main.c Mon Nov 14 21:15:11 2011 +0100
@@ -7,42 +7,12 @@
#include <avr/pgmspace.h>
#include <util/delay.h>
-#include "main.h"
-
#include "driver/rs232.h"
#include "driver/adc.h"
+#include "main.h"
#include "lowlevel.h"
-//#include "driver/manchester.h"
-
-/*
-// Hardware config
-#define LAP_COUNTER_PORT PORTB
-#define LAP_COUNTER PB2
-
-#define MODUL_PORT PORTD
-#define MODUL_ST4 PD5
-#define MODUL_ST6 PD6
-
-#define I2C_PORT PORTC
-#define I2C_SDA PC0
-#define I2C_SCL PC1
-
-
-#define SW_PACECAR_PORT PORTC
-#define SW_START_PORT PORTB
-#define SW_TANK_PORT PORTB
-#define SW_PACECAR PC6
-#define SW_TANK PB0
-#define SW_START PB1
-
-#define SPEAKER_PORT PORTD
-#define SPEAKER PD7
-
-*/
-
-
void init_hardware(void) {
RS232_init(); // initialize RS485 interface
RS232_puts_p(PSTR("CARRERA beta loading\n"));
@@ -245,20 +215,12 @@
return insert_queue(tmp, 9);
}
-/*
-TODO: DIE TIMER1 ISR DARF DIE ADC NICHT ABFRAGEN, NICHTMAL PAKETE BAUEN, NUR TRIGGERN
-DIE PAKETE MÜSSEN IN DER MAIN UNIT GEBAUT WERDEN UND IN EINE QUEUE GESCHOBEN WERDEN
-EINES VORBAUEN IN Q+1, DIE TIMER2 ISR MUSS DANN Q = Q+1 und Q+1 = 0 SETZEN, ERST DANN DARF
-NEUES PAKET IN Q+1 EINGEFÜGT WERDEN
-*/
-
-
ISR ( TIMER1_COMPA_vect ) {
//OCR2 = 0xFF; // make sure that timer2 is synced to timer1, give enough cycles to prepare
LED(4,2);
// trigger packet transfer:
transmit_len = transmit_len_next;
-
+
// here is some more time to do something else...
}
@@ -280,81 +242,44 @@
RAIL_POWER_PORT |= _BV(RAIL_POWER);
while (1) {
- //RS232_putc(PIN(RAIL_DETECT_PORT));
-
// check for short circuit on the rails
- if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) {
- _delay_ms(1);
- if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) {
- cli(); // disable ALL Interrupts
- RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power
- RS232_puts_p(PSTR("!!! SHORT CIRCUIT ON RAILS, POWERED OFF !!!\n"));
- while (1) {
- LED(1, 0);
- _delay_ms(100);
- LED(1, 1);
- _delay_ms(100);
- }
- }
- }
-
-
-
+ check_rails_shortcut();
- 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); //
- break;
- case 2:
- if (do_pace_ghost()) packet_index++;
- break;
- case 3:
- if (do_active()) packet_index++;
- break;
- case 4:
- if (do_controller(0)) packet_index++;
- break;
- case 5:
- if (do_controller(4)) packet_index++;
- break;
- case 6:
- if (do_controller(1)) packet_index++;
- break;
- case 7:
- if (do_controller(5)) packet_index++;
- break;
- case 8:
- if (do_controller(2)) packet_index++;
- break;
- case 9:
- if (do_active()) packet_index++;
- break;
- case 10:
- if (do_controller(3)) packet_index = 1;
- // last packet, so reset packet index
- break;
- }
-
-
-
-
-/*
- do_controller(0);
- itoa (transmit_len_queue, s, 10);
- RS232_puts(s);
- RS232_putc(' ');
- itoa (transmit_buffer_queue, s, 2);
- RS232_puts(s);
-
- RS232_putc('\n');
-*/
-/*
- itoa (tmp, s, 2);
- RS232_puts(s);
- RS232_putc('\n');
-*/
+ 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); //
+ break;
+ case 2:
+ if (do_pace_ghost()) packet_index++;
+ break;
+ case 3:
+ if (do_active()) packet_index++;
+ break;
+ case 4:
+ if (do_controller(0)) packet_index++;
+ break;
+ case 5:
+ if (do_controller(4)) packet_index++;
+ break;
+ case 6:
+ if (do_controller(1)) packet_index++;
+ break;
+ case 7:
+ if (do_controller(5)) packet_index++;
+ break;
+ case 8:
+ if (do_controller(2)) packet_index++;
+ break;
+ case 9:
+ if (do_active()) packet_index++;
+ break;
+ case 10:
+ if (do_controller(3)) packet_index = 1;
+ // last packet, so reset packet index
+ break;
+ }
} // main loop end