--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/car004f/main.c Sat Dec 21 21:01:55 2013 +0100
@@ -0,0 +1,176 @@
+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include <avr/wdt.h>
+#include <avr/eeprom.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <avr/pgmspace.h>
+
+#include "main.h"
+#include "util/delay.h"
+
+
+ISR ( USART_RXC_vect ) {
+}
+
+#define PULSE_PORT PORTD
+#define PULSE_BIT PD2
+
+#define RESPONSE_PORT PORTC
+#define RESPONSE_PIN PC1
+
+volatile uint16_t data = 0;
+volatile uint8_t data_len = 0;
+volatile uint8_t bitbuf_len = 0;
+volatile uint16_t bitbuf = 0;
+volatile uint8_t car_speed[8];
+volatile uint8_t car_switch[8];
+volatile uint8_t my_id; // Die ID des Autos!
+
+uint8_t my_switch;
+uint8_t my_speed;
+uint8_t light_mode;
+
+ISR ( INT0_vect ) {
+ GICR &= ~_BV(INT0) ; // Disable INT0
+ // Startsignal erkannt, ab hier den Timer2 starten,
+ // der liest dann alle 50µs den Zustand ein und schreibt das
+ // empfangene Bit in den Puffer
+ bitbuf = 0; // init
+ bitbuf_len = 0b10000000; // init 1 pulse received
+ TCNT2 = 0;
+ TIMSK |= _BV(OCIE2); //enable timer2 interrupt
+}
+
+ISR ( TIMER2_COMP_vect ) {
+ uint8_t clock;
+ uint8_t state;
+ uint8_t state2;
+ if ((bitbuf_len & 0b10000000) == 0) clock = 0; else clock = 0xff;
+ if ((bitbuf_len & 0b01000000) == 0) state = 0; else state = 0xff;
+ if ((PIN(PULSE_PORT) & _BV(PULSE_BIT)) == 0) state2 = 0xff; else state2 = 0;
+
+ if (clock) {
+ bitbuf_len &= ~_BV(7); // switch clock to low
+ // second pulse of bit
+ if ((state==state2) & state2) {
+ // two cycles high: packet end received
+ data_len = (bitbuf_len & 0b00111111);
+ TIMSK &= ~_BV(OCIE2); //disable timer2 interrupt
+ GICR |= _BV(INT0) ; // Enable INT0
+
+ //data = bitbuf; // output data
+ // write data of controllers to array
+ if (data_len == 10) { // controller data packet
+ clock = (bitbuf >> 6) & 0b00000111;
+ car_speed[clock] = (bitbuf >> 1) & 0x0F;
+ car_switch[clock] = (bitbuf >> 5) & 1;
+ // current response for this car?
+ /*
+ if (response != 0) {
+ if ( ((response & 0b00001110) >> 1) == clock) {
+ // add our ID to response:
+ send_response(response | self_id << 6);
+ response = 0;
+ }
+ }
+ */
+ }
+
+
+ } else {
+ bitbuf_len++; // increment bit counter
+ bitbuf = bitbuf << 1; // shift bits
+ if (state2 == 0) bitbuf |= 1; // receive logic one
+ }
+ } else {
+ bitbuf_len |= _BV(7); // switch clock to high
+ // first pulse of bit
+ if (state2) {
+ bitbuf_len |= _BV(6); // store new state
+ } else {
+ bitbuf_len &= ~_BV(6); // store new state
+ }
+ }
+}
+
+ISR (TIMER1_OVF_vect) {
+}
+
+ISR (INT1_vect) {
+}
+
+#define LIGHT_PORT PORTC
+#define LIGHT_FRONT 2
+#define LIGHT_BRAKE 4
+
+#define IR_PORT PORTB
+#define IR_LED 3
+
+
+#define LIGHT_MODES 1 // anzahl der lichtmodi (ohne den modus "aus")
+
+
+
+int main(void)
+{
+ uint8_t car0_state, car1_state;
+
+ // setup data bit timer2
+ TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match
+ OCR2 = TIMER2_50US;
+
+
+ // enable both external interrupts
+ // int 0 = data RX
+ MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge
+ GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1
+
+ // oscillator calibration
+ // atmega8@1mhz = 0xac
+ // @4mhz = ca 0xa0
+ //OSCCAL = 0xa0;
+ //OSCCAL = 0x9A;
+ //OSCCAL = 0xa0; // internal oscillator @ 4 mhz.... doesnt work accurate!
+ sei();
+
+ DDR(LIGHT_PORT) |= (_BV(LIGHT_FRONT) | _BV(LIGHT_BRAKE));
+
+ //defaults (from eeprom!)
+ my_id = 1;
+ light_mode = 0;
+
+ while (1) {
+ // main loop
+
+ // Light cycle if switch pressed without speed
+ if (my_speed == 0) {
+ if (my_switch != car_switch[my_id]) {
+ my_switch = car_switch[my_id];
+ if (my_switch != 0) {
+ // cycle light
+ if (light_mode == LIGHT_MODES) light_mode = 0; else light_mode++;
+ }
+ }
+ }
+
+ switch (light_mode) {
+ case 0:
+ LIGHT_PORT &= ~_BV(LIGHT_FRONT); // switch lights off
+ break;
+ case 1:
+ LIGHT_PORT |= _BV(LIGHT_FRONT); // switch lights on
+ break;
+ }
+
+ _delay_ms(100);
+ LIGHT_PORT |= _BV(LIGHT_BRAKE); // brake light on
+ _delay_ms(100);
+ LIGHT_PORT &= ~_BV(LIGHT_BRAKE); // brake light off
+
+
+
+
+ } // main loop end
+};
+