Sun, 28 Oct 2012 10:53:19 +0100
changed --slot parameter to 1..6 instead of 0..5
#include <avr/interrupt.h> #include <avr/pgmspace.h> #include <util/delay.h> #include "stdint.h" #include "main.h" #include "driver/adc.h" #include "driver/rs232.h" #include "lowlevel.h" void blinkdelay(void) { _delay_ms(50); } void LED(uint8_t num, uint8_t state) { switch (num) { case 1: switch (state) { case 0: LED1_PORT &= ~_BV(LED1); break; case 1: LED1_PORT |= _BV(LED1); break; case 2: LED1_PORT ^= _BV(LED1); break; } break; case 2: switch (state) { case 0: LED2_PORT &= ~_BV(LED2); break; case 1: LED2_PORT |= _BV(LED2); break; case 2: LED2_PORT ^= _BV(LED2); break; } break; case 3: switch (state) { case 0: LED3_PORT &= ~_BV(LED3); break; case 1: LED3_PORT |= _BV(LED3); break; case 2: LED3_PORT ^= _BV(LED3); break; } break; case 4: switch (state) { case 0: LED4_PORT &= ~_BV(LED4); break; case 1: LED4_PORT |= _BV(LED4); break; case 2: LED4_PORT ^= _BV(LED4); break; } break; case 5: switch (state) { case 0: LED5_PORT &= ~_BV(LED5); break; case 1: LED5_PORT |= _BV(LED5); break; case 2: LED5_PORT ^= _BV(LED5); break; } break; } } void LEDS_OFF(void) { LED1_PORT &= ~_BV(LED1); LED2_PORT &= ~_BV(LED1); LED3_PORT &= ~_BV(LED1); LED4_PORT &= ~_BV(LED1); LED5_PORT &= ~_BV(LED1); } void init_hardware(void) { // reset all ports to input, no pullup DDRA = 0; PORTA = 0; DDRB = 0; PORTB = 0; DDRC = 0; PORTC = 0; DDRD = 0; PORTD = 0; RS232_init(); // initialize RS232 interface initADC(); SFIOR = 0; // set LED output DDR(LED1_PORT) |= _BV(LED1); DDR(LED2_PORT) |= _BV(LED2); DDR(LED3_PORT) |= _BV(LED3); DDR(LED4_PORT) |= _BV(LED4); DDR(LED5_PORT) |= _BV(LED5); // set Controller Input Pull-UPs CONTROLLER_PORT |= (_BV(CONTROLLER1_SW) | _BV(CONTROLLER2_SW) | _BV(CONTROLLER3_SW) | _BV(CONTROLLER4_SW)); // switch pull-ups SW_FUEL_PORT |= _BV(SW_FUEL); SW_START_PORT |= _BV(SW_START); //SW_PACECAR_PORT |= _BV(SW_PACECAR); // control outputs DDR(LAP_COUNTER_PORT) |= _BV(LAP_COUNTER); // setup rail control //RAIL_DETECT_PORT |= _BV(RAIL_DETECT); // enable internal pull-up DDR(RAIL_POWER_PORT) |= _BV(RAIL_POWER); // setup debut output on i2c pins DDR(PORTC) |= _BV(PC0) | _BV(PC1); // display init sequence on LEDs LED(1, 1); blinkdelay(); LED(2, 1); blinkdelay(); LED(3, 1); blinkdelay(); LED(4, 1); blinkdelay(); LED(5, 1); blinkdelay(); LED(1, 0); blinkdelay(); LED(2, 0); blinkdelay(); LED(3, 0); blinkdelay(); LED(4, 0); blinkdelay(); LED(5, 0); // setup response receiver timer TCCR0 = (1<<CS01); //divide by 8 // interrupt enable + tcnt0 set in timer2 // setup data bit + carid timer TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match OCR2 = TIMER2_50US; TIMSK |= _BV(OCIE2); //enable timer2 interrupt // enable carid interrupts MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1 // setup data packet timer TCCR1B = (1<<CS11) | (1<<WGM12); //divide by 8, set compare match (1mhz clock) OCR1A = TIMER1_500NS; //OCR1A = TIMER1_7500NS; TIMSK |= _BV(OCIE1A); //enable timer1 interrupt RS232_puts_p(PSTR("FreeSlot Blackbox v")); RS232_puts(VERSION); RS232_putc('\n'); } void panic_mode(void) { RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power LEDS_OFF(); LED(1, 2); blinkdelay(); LED(1, 2); LED(2, 2); blinkdelay(); LED(2, 2); LED(3, 2); blinkdelay(); LED(3, 2); LED(4, 2); blinkdelay(); LED(4, 2); LED(5, 2); } uint8_t check_rails_shortcut(void) { // check for short circuit on the rails uint8_t i = 100; if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) { while (i>0) { if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) != 0) return 0; _delay_us(20); i--; } if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) { // set panic mode mode = 0xff; RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power // wait a little to all interrupts complete //cli(); // disable ALL Interrupts _delay_ms(2); RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // disable rails power RS232_puts_p(SHORTCUT); LED(1, 1); LED(2, 1); LED(3, 0); LED(4, 0); LED(5, 0); while (mode == 0xff) { LED(1, 2); LED(2, 2); LED(4, 2); LED(5, 2); blinkdelay(); LED(3, 2); blinkdelay(); LED(3, 2); blinkdelay(); LED(3, 2); blinkdelay(); LED(3, 2); btn_start = (PIN(SW_START_PORT) & _BV(SW_START)); if (old_start != btn_start) { // start button changed if (btn_start == 0) { mode = 0; RS232_puts_p(RESUME); } old_start = btn_start; } } LEDS_OFF(); LED(3, 1); } } return 0; }