Mercurial > hg-public > freeslot / changeset

--- a/blackbox/lowlevel.c	Mon Nov 14 21:15:11 2011 +0100
+++ b/blackbox/lowlevel.c	Mon Nov 14 21:38:00 2011 +0100
@@ -3,7 +3,9 @@
 #include <util/delay.h>
 #include "stdint.h"
 #include "main.h"
+#include "driver/adc.h"
 #include "driver/rs232.h"
+#include "lowlevel.h"
 
 void LED(uint8_t num, uint8_t state) {
     switch (num) {
@@ -39,6 +41,64 @@
     }
 }
 
+void init_hardware(void) {
+    RS232_init(); // initialize RS485 interface
+    RS232_puts_p(PSTR("CARRERA beta loading\n"));
+
+    initADC();
+
+    // 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);
+
+    //RAIL_DETECT_PORT |= _BV(RAIL_DETECT); // enable internal pull-up
+    DDR(RAIL_POWER_PORT) |= _BV(RAIL_POWER);
+
+
+    LED(1, 1); _delay_ms(50);
+    LED(2, 1); _delay_ms(50);
+    LED(3, 1); _delay_ms(50);
+    LED(4, 1); _delay_ms(50);
+    LED(5, 1); _delay_ms(50);
+    LED(1, 0); _delay_ms(50);
+    LED(2, 0); _delay_ms(50);
+    LED(3, 0); _delay_ms(50);
+    LED(4, 0); _delay_ms(50);
+    LED(5, 0); _delay_ms(50);
+
+    //TCCR0 = (1<<CS01); //divide by 8
+
+
+    // setup data bit timer
+    TCCR2 = (1<<CS21); //divide by 8
+    TCCR2 |= (1<<WGM21); // set compare match
+    OCR2 = TIMER2_50US;
+    TIMSK |= 1<<OCIE2; //enable timer2 interrupt
+
+    // setup data packet timer
+    //TCCR1A = (1<<COM1A1);
+    TCCR1B = (1<<CS11); //divide by 8
+    TCCR1B |= (1<<WGM12); // set compare match
+    //TCCR1B = (1<<CS11) | (1<<CS10); //divide by 64
+    //TCNT1 = TIMER_7500NS;
+    OCR1A = TIMER1_7500NS;
+    TIMSK |= 1<<OCIE1A; //enable timer1 interrupt
+
+    RS232_puts_p(PSTR("INIT OK\n"));
+
+}
+
+
+
 void check_rails_shortcut(void) {
     // check for short circuit on the rails
     if ((PIN(RAIL_DETECT_PORT) & _BV(RAIL_DETECT)) == 0) {

--- a/blackbox/lowlevel.h	Mon Nov 14 21:15:11 2011 +0100
+++ b/blackbox/lowlevel.h	Mon Nov 14 21:38:00 2011 +0100
@@ -3,6 +3,7 @@
 #include "main.h"
 
 void LED(uint8_t num, uint8_t state);
+void init_hardware(void);
 void check_rails_shortcut(void);
 
 #endif

--- a/blackbox/main.c	Mon Nov 14 21:15:11 2011 +0100
+++ b/blackbox/main.c	Mon Nov 14 21:38:00 2011 +0100
@@ -13,64 +13,6 @@
 #include "main.h"
 #include "lowlevel.h"
 
-void init_hardware(void) {
-    RS232_init(); // initialize RS485 interface
-    RS232_puts_p(PSTR("CARRERA beta loading\n"));
-
-    initADC();
-
-    // 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);
-
-    //RAIL_DETECT_PORT |= _BV(RAIL_DETECT); // enable internal pull-up
-    DDR(RAIL_POWER_PORT) |= _BV(RAIL_POWER);
-
-
-    LED(1, 1); _delay_ms(50);
-    LED(2, 1); _delay_ms(50);
-    LED(3, 1); _delay_ms(50);
-    LED(4, 1); _delay_ms(50);
-    LED(5, 1); _delay_ms(50);
-    LED(1, 0); _delay_ms(50);
-    LED(2, 0); _delay_ms(50);
-    LED(3, 0); _delay_ms(50);
-    LED(4, 0); _delay_ms(50);
-    LED(5, 0); _delay_ms(50);
-
-    //TCCR0 = (1<<CS01); //divide by 8
-
-
-    // setup data bit timer
-    TCCR2 = (1<<CS21); //divide by 8
-    TCCR2 |= (1<<WGM21); // set compare match
-    OCR2 = TIMER2_50US;
-    TIMSK |= 1<<OCIE2; //enable timer2 interrupt
-
-    // setup data packet timer
-    //TCCR1A = (1<<COM1A1);
-    TCCR1B = (1<<CS11); //divide by 8
-    TCCR1B |= (1<<WGM12); // set compare match
-    //TCCR1B = (1<<CS11) | (1<<CS10); //divide by 64
-    //TCNT1 = TIMER_7500NS;
-    OCR1A = TIMER1_7500NS;
-    TIMSK |= 1<<OCIE1A; //enable timer1 interrupt
-
-    RS232_puts_p(PSTR("INIT OK\n"));
-
-}
-
-
-
 volatile uint8_t datalen = 0;
 char data[10]; // 8 bytes data buffer + string termination
 
@@ -159,19 +101,27 @@
     // read controller X speed & encode controller data packet
     uint16_t tmp;
     switch (controller) {
-        case 0: tmp = getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR; break;
-        case 1: tmp = getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR; break;
-        case 2: tmp = getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR; break;
-        case 3: tmp = getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR; break;
-        case 4: tmp = 0; break; // todo regler 5
-        case 5: tmp = 0; break; // todo regler 6
+        case 0:
+            tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) tmp |= (1<<5);
+            break;
+        case 1:
+            tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) tmp |= (1<<5);
+            break;
+        case 2:
+            tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) tmp |= (1<<5);
+            break;
+        case 3:
+            tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) tmp |= (1<<5);
+            break;
+        case 4: tmp = (1<<5); break; // todo regler 5
+        case 5: tmp = (1<<5); break; // todo regler 6
     }
-    tmp =  0b1000000000 | (controller << 6) | ((tmp & 0xF) << 1);
+    tmp |=  0b1000000000 | (controller << 6);
     if ( (PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) tmp |= 1; // benzinstand aktiv - tankmodusschalter
-    if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) {
-        tmp |= (1<<5);
-        LED(controller+1, 0);
-    } else LED(controller+1, 1);
 
     return insert_queue(tmp, 9);
 }