# HG changeset patch
# User Malte Bayer <mbayer@neo-soft.org>
# Date 1387656115 -3600
# Node ID f66c5b3b3ed22c65028b07a8ea8595b8e29b16cc
# Parent  a1eb2dc83819c1e902fcdaaf870efc2e808ca880
started firmware for car004f hardware

diff -r a1eb2dc83819 -r f66c5b3b3ed2 car004f/Makefile
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/car004f/Makefile	Sat Dec 21 21:01:55 2013 +0100
@@ -0,0 +1,109 @@
+PRG=main
+
+MCU=atmega8
+FUSES=-U lfuse:w:0xAE:m -U hfuse:w:0xd9:m
+#FUSES=-U lfuse:w:0x83:m -U hfuse:w:0xd9:m
+# original fuses: 83 / d8
+BOOTFUSES=-U lfuse:w:0xff:m -U hfuse:w:0xce:m
+
+#F_CPU=4185600
+#F_CPU = 14318000
+
+F_CPU = 4000000
+BAUD=38400
+
+ISP_BAUD = 115200
+ifdef USB
+PORT=/dev/ttyUSB$(USB)
+else
+PORT=/dev/ttyS0
+endif
+
+PROGRAMMER=-P $(PORT) -c stk500v2
+ifdef IF
+PROGRAMMER=-c $(IF)
+endif
+
+
+#SRC = main.c seriald.c driver/ADC.c driver/clock.c driver/timer.c
+#SRC = main.c driver/rs232.c driver/manchester.c
+#SRC = main.c driver/rs232.c
+SRC = main.c
+
+###################################################################
+# You possibly do not need to change settings below this marker
+###################################################################
+
+# Binaries to be used
+# You may add the path to them if they are not in the PATH variable.
+CC      = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+AVRDUDE = avrdude
+PERL    = perl
+
+# Optional library search path
+LIBS =
+
+# Compiler options for all c source files
+CFLAGS += -g -Wall -mmcu=$(MCU) -DBAUD=$(BAUD) -DF_CPU=$(F_CPU)UL -std=gnu99 
+CFLAGS += -funsigned-char
+CFLAGS += -funsigned-bitfields
+CFLAGS += -fpack-struct
+CFLAGS += -fshort-enums
+CFLAGS += -Wstrict-prototypes
+CFLAGS += -Wundef
+#CFLAGS += -save-temps
+
+# optimize for size
+CFLAGS += -Os
+# dont optimize
+#CFLAGS += -O0
+
+# Linker options
+LDFLAGS = -Wl,-Map,$(PRG).map
+
+# Enable floating-point support in printf
+#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt -lm
+
+###################################################################
+# TARGET DEFINITIONS:
+
+
+all: code
+
+code: $(PRG).hex
+
+$(PRG).elf: $(SRC:.c=.o)
+	$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
+
+%.lst: %.elf
+	$(OBJDUMP) -h -S $< > $@
+
+%.hex: %.elf
+	$(OBJCOPY) -j .text -j .data -O ihex $< $@
+	rm $(PRG).elf
+	rm $(PRG).map
+
+program: code
+	$(AVRDUDE) $(PROGRAMMER) -i 1 -p $(MCU) -V -U flash:w:$(PRG).hex:i
+
+backup:
+	$(AVRDUDE) -P $(PORT) -c stk500v2 -b $(ISP_BAUD) -i 1 -p $(MCU) -V -U flash:r:$(PRG)_backup.hex:i
+
+fuse:
+	$(AVRDUDE) -c stk500 -p $(MCU) -V $(FUSES)
+
+clean:
+	rm -rf *.o *.elf *.elf.src *.s *.i
+	rm -rf driver/*.o
+
+upgrade: code
+	$(RESETCOMMAND)
+	./bootloader -d $(NETDEV) -b $(UPGRADE_BAUD) -p $(PRG).hex
+
+bootloader: bootload.hex
+	$(AVRDUDE) -p $(MCU) -c stk500 -V -U flash:w:bootload.hex:i
+
+bootfuses:
+	$(AVRDUDE) -p $(MCU) -c stk500 $(BOOTFUSES)
diff -r a1eb2dc83819 -r f66c5b3b3ed2 car004f/main.c
--- /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
+};
+
diff -r a1eb2dc83819 -r f66c5b3b3ed2 car004f/main.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/car004f/main.h	Sat Dec 21 21:01:55 2013 +0100
@@ -0,0 +1,1 @@
+../blackbox/main.h
\ No newline at end of file
diff -r a1eb2dc83819 -r f66c5b3b3ed2 car004f/reverse.engineer
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/car004f/reverse.engineer	Sat Dec 21 21:01:55 2013 +0100
@@ -0,0 +1,7 @@
+Originale Fuse settings:
+avrdude: Device signature = 0x1e9307
+avrdude: safemode: lfuse reads as 83
+avrdude: safemode: hfuse reads as D8
+
+Interner Oszillator 4 MHZ
+CKOPT aus