blackbox/main.c@ba4f69250592
blackbox/main.c
Thu, 01 Dec 2011 14:41:19 +0100
- author
- Malte Bayer <mbayer@neo-soft.org>
- date
- Thu, 01 Dec 2011 14:41:19 +0100
- changeset 29
- ba4f69250592
- parent 11
- 69c2a1408619
- child 33
- c261350bb394
- permissions
- -rw-r--r--
shark: fixed uart bug
#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 <util/delay.h> #include "driver/rs232.h" #include "driver/adc.h" #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; volatile uint16_t transmit_buffer; volatile uint16_t transmit_buffer_queue; volatile uint8_t transmit_len; volatile uint8_t transmit_len_next; volatile uint8_t transmit_len_queue; volatile uint16_t response; volatile uint8_t timer0_delay; ISR ( USART_RXC_vect ) { char c = UDR; // check for buffer overflow if (buffer_len==sizeof(buffer)) { buffer_len=0; } else { // collect characters until end of line 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 if (program_count == 0) { program_id = buffer[3]-'0'; program_command = buffer[1]-'0'; if (program_command > 9) program_command = buffer[1]-'A'+10; program_parameter = buffer[2]-'0'; if (program_parameter > 9) program_parameter = buffer[2]-'A'+10; if (program_command < 4) program_count = 0x02; // send commands twice (fuel, speed, brake) else program_count = 0x01; RS232_puts_p(PSTR("OK\n")); } else RS232_puts_p(PSTR("BUSY\n")); break; } // wait for the next packet buffer_len=0; } else { buffer[buffer_len++]=c; } } } int insert_queue(uint16_t tmp, uint8_t len) { if (transmit_buffer_queue == 0) { transmit_buffer_queue = tmp; transmit_len_queue = len; return 1; } return 0; } int do_controller(uint8_t controller) { // read controller X speed & encode controller data packet uint16_t tmp; switch (controller) { case 0: tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) { tmp |= (1<<5); LED(1,0); } else LED(1,1); break; case 1: tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) { tmp |= (1<<5); LED(2,0); } else LED(2,1); break; case 2: tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) { tmp |= (1<<5); LED(3,0); } else LED(3,1); break; case 3: tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) { tmp |= (1<<5); LED(4,0); } else LED(4,1); break; case 4: tmp = (1<<5); break; // todo regler 5 case 5: tmp = (1<<5); break; // todo regler 6 } tmp |= 0b1000000000 | (controller << 6); if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter return insert_queue(tmp, 9); } 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); return n; } int do_program(uint8_t controller, uint8_t command, uint8_t parameter) { // send program data packet uint16_t tmp; parameter = mirror(parameter); controller = mirror(controller); command = mirror(command); tmp = 0b1000000000000 | (parameter << 4) | command | (controller >> 5); return insert_queue(tmp, 12); } int do_active(void) { // send controller active data packet uint16_t tmp = 0b10000000; if ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b11000001; if ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) > 0) tmp |= 0b10100001; 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); } int do_pace_ghost(void) { // send ghost and pacecar data packet // todo: at the moment, both disabled! uint16_t tmp = 0b1111100000; if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter // todo: PC, NH, TK, (KFR, FR) return insert_queue(tmp, 9); } ISR ( TIMER1_COMPA_vect ) { // trigger packet transfer: transmit_len = transmit_len_next; //LED(2,2); // here is some more time to do something else... } 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; 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 } } //LED(3,2); } ISR ( TIMER0_OVF_vect ) { // TODO: last bit should be set by the sender, not from us! TCNT0 = TIMER0_250US; //LED(1,2); 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; } } else { // okay, we have logic high response = response << 1; response |= 1; //debug: RS232_puts("ANSWER RX\n"); } _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 (INT2_vect) { // Lap counter Interrupt LED(5,2); } int main(void) { unsigned char s[30]; uint16_t tmp; uint8_t packet_index = 1; uint8_t btn_start = _BV(SW_START); uint8_t old_start = btn_start; uint8_t mode = 0; // valid race modes: // 0: free drive // 1: race countdown initiated // 2: countdown 5 // 3: countdown 4 // 4: countdown 3 // 5: countdown 2 // 6: countdown 1 // 7: race start initiated (next mode will be zero = free drive) init_hardware(); // switch on rails power RAIL_POWER_PORT |= _BV(RAIL_POWER); while (1) { // check for short circuit on the rails check_rails_shortcut(); // read in button presses btn_start = (PIN(SW_START_PORT) & _BV(SW_START)); if (old_start != btn_start) { // start button changed if (btn_start == 0) { // start button press active if (mode == 0) { // Initiate race countdown mode = 0; // todo: set to 1 // issue reset command to lap counter program_command = 6; program_parameter = 9; program_id = 0; program_count = 1; LAP_COUNTER_PORT |= _BV(LAP_COUNTER); } else { // do a reset, switch back to free drive mode 0 mode = 0; // issue reset command program_command = 19; program_parameter = 0; program_id = 7; program_count = 1; LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER); } } //LAP_COUNTER_PORT |= _BV(LAP_COUNTER); } else old_start = btn_start; // LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER); switch (packet_index) { case 1: if (program_count > 0) { // command in queue if (do_program(program_id, program_command, program_parameter)) { packet_index++; program_count--; } } else { // output idle command if (do_program(7, 19, 0)) packet_index++; // reset //if (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect //if (insert_queue(0, 0)) packet_index++; // null command } 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 };
