--- a/blackbox/main.c Thu Dec 08 17:46:21 2011 +0100
+++ b/blackbox/main.c Fri Dec 09 09:40:15 2011 +0100
@@ -177,7 +177,6 @@
}
-
int do_controller(uint8_t controller) {
// read controller X speed & encode controller data packet
uint16_t tmp = 0;
@@ -292,131 +291,7 @@
return insert_queue(tmp, 9);
}
-ISR ( TIMER1_COMPA_vect ) {
- //PORTC ^= _BV(PC0); // DEBUG OUTPUT SYSTEM CLOCK
-
- // trigger packet transfer:
- if (sysclk_packettimer == 14) { // 15*500 = 7500 NS
- transmit_len = transmit_len_next;
- sysclk_packettimer = 0;
- } else sysclk_packettimer++;
- // here is some more time to do something else...
-
- // reset both car counters to overflow
- car0_old = TIMER1_500NS;
- car1_old = TIMER1_500NS;
-
- sysclk.value++; // increment 500ns timer
-}
-
-ISR ( TIMER2_COMP_vect ) {
- //OCR2 = TIMER2_50US; // make sure that timer2 is 50µs !!!
- // data packet timer 100µs pro bit...
- if (transmit_len >= 0xFE) {
- if (transmit_len != 0xFF) {
- RAIL_POWER_PORT |= _BV(RAIL_POWER); // end of transmission
- transmit_len = 0xFF;
- transmit_buffer = transmit_buffer_queue;
- transmit_buffer_queue = 0;
- transmit_len_next = transmit_len_queue;
-
- // start the response receiver timer
- // TODO: only on 8 timeslots, not on every transmission
- // TODO: give slot number to timer - then store the transmission to 8 slots array
- TCNT0 = TIMER0_250US;
- timer0_delay = TIMER0_2300NS;
- response = 0;
- response_len = 0;
- TIMSK |= _BV(TOIE0);
-
- }
- } else {
- uint16_t bit = (1<<(transmit_len & 0b01111111));
- uint16_t clock;
- if ((transmit_len & 0b10000000) == 0) clock = 0; else clock = 0xffff;
- if ( ((transmit_buffer ^ clock) & bit) != 0 )
- RAIL_POWER_PORT |= _BV(RAIL_POWER); else
- RAIL_POWER_PORT &= ~_BV(RAIL_POWER);
- if ( (transmit_len & 0b10000000) == 0 ) {
- // block 0
- //if (transmit_len == 0) transmit_len = 0xFF; else transmit_len |= 0b10000000; // set clock
- transmit_len |= 0b10000000; // set clock
- } else {
- // block 1, output the current bit
- transmit_len &= 0b01111111; // reset clock
- //if (transmit_len != 0) transmit_len--; // next bit
- if (transmit_len == 0) transmit_len = 0xFE; else transmit_len--; // next bit
- }
- }
-}
-
-
-ISR ( TIMER0_OVF_vect ) {
-// TODO: last bit should be set by the sender, not from us!
- TCNT0 = TIMER0_250US;
- if (timer0_delay == 0) {
- RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low
- _delay_us(28); // wait some cycles
- if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) != 0) { // check for logic zero
- if (response == 0) {
- // there is no start bit, so stop the timer and cancel response receiving
- TIMSK &= ~_BV(TOIE0);
- } else {
- // we received a bit (logic low)
- response = response << 1;
- response_len++;
- }
- } else {
- // okay, we have logic high
- response = response << 1;
- response |= 1;
- response_len++;
- }
- if (response_len == 15) { // maximum response length reached
- RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power
- TIMSK &= ~_BV(TOIE0);
- } else {
- _delay_us(20); // wait some cycles
- RAIL_POWER_PORT |= _BV(RAIL_POWER); // restore rails power
- }
- } else timer0_delay--; // 2.3 ms delay not reached yet
-}
-
-ISR (INT0_vect) {
- // car0 detector
- uint16_t tmp = 0;
- car0_new = TCNT1; // get current counter
- if (car0_old < car0_new) {
- // calculate difference
- if (car0 == 0) tmp = car0_new-car0_old;
- if ( (tmp > 54) && (tmp < 74) ) car0 = 1;
- if ( (tmp > 118) && (tmp < 138) ) car0 = 2;
- if ( (tmp > 186) && (tmp < 206) ) car0 = 3;
- if ( (tmp > 246) && (tmp < 266) ) car0 = 4;
- }
- car0_old = car0_new;
-}
-
-ISR (INT1_vect) {
- // car1 detector
- uint16_t tmp = 0;
- car1_new = TCNT1; // get current counter
- if (car1_old < car1_new) {
- // calculate difference
- if (car1 == 0) tmp = car1_new-car1_old;
- if ( (tmp > 54) && (tmp < 74) ) car1 = 1;
- if ( (tmp > 118) && (tmp < 138) ) car1 = 2;
- if ( (tmp > 186) && (tmp < 206) ) car1 = 3;
- if ( (tmp > 246) && (tmp < 266) ) car1 = 4;
- }
- car1_old = car1_new;
-}
-
-
-ISR (INT2_vect) {
- // Lap counter Interrupt
- // do not know if this ever occurs ?! this is normally an output pin to trigger the counter start
-}
+#include "interrupts.c"
void reset_vars(void) {
uint8_t i;