Mercurial > hg-public > freeslot / changeset

--- a/blackbox/main.c	Fri Dec 09 20:02:17 2011 +0100
+++ b/blackbox/main.c	Fri Dec 09 21:17:36 2011 +0100
@@ -25,7 +25,6 @@
     uint8_t  byte[4]; // all four bytes
 } u32;
 
-#define MAX_SLOTS       6
 #define FUEL_FULL       10000
 #define FUEL_DIVISOR    25
 //#define FUEL_DIVISOR    10

--- a/blackbox/main.h	Fri Dec 09 20:02:17 2011 +0100
+++ b/blackbox/main.h	Fri Dec 09 21:17:36 2011 +0100
@@ -90,6 +90,9 @@
 #define PIN(x) (*(&x - 2))      // address of input register of port x
 
 
+// constants
+#define MAX_SLOTS       6
+
 
 // MAYBE USELESS STUFF:
 

--- a/pitlane/main.c	Fri Dec 09 20:02:17 2011 +0100
+++ b/pitlane/main.c	Fri Dec 09 21:17:36 2011 +0100
@@ -25,25 +25,38 @@
 #define SOLENOID_B_PIN  PB2
 
 #define TRACKSWITCH_TYPE 2 // 1=double, 2=single, 3=pitlane
-
+#define MAX_SENSORS 3
 
 // internal analog comparator doesnt work well
 //#define ANALOG_COMPARATOR       1
 
+typedef struct {
+    unsigned speed:4;
+    unsigned trackswitch:1;
+    unsigned inside:1;
+} cardata;
+
+typedef struct {
+    unsigned car:4;
+    unsigned state:4;
+    uint16_t old, new;
+} sensordata;
+
+volatile cardata slot[MAX_SLOTS];
+volatile sensordata sens[MAX_SENSORS];
+
 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 uint16_t car0, car1, car2;
-volatile uint16_t car0_new, car0_old;
-volatile uint16_t car1_new, car1_old;
-volatile uint16_t car2_new, car2_old;
 
 volatile uint8_t response = 0;
 uint8_t self_id = 0b1111; // ONLY ONE pitlane
 
+void solenoid_delay(void) {
+    _delay_ms(10);
+}
+
 void send_response(uint16_t data) {
     /* frame format:
         1 startbit
@@ -116,8 +129,8 @@
             // 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;
+                slot[clock].speed = (bitbuf >> 1) & 0x0F;
+                slot[clock].trackswitch = (bitbuf >> 5) & 1;
                 // current response for this car?
                 if (response != 0) {
                     if ( ((response & 0b00001110) >> 1) == clock) {
@@ -147,79 +160,52 @@
 
 
 ISR (TIMER1_OVF_vect) {
-    // reset both car counters to overflow
-    car0_old = 0xffff;
-    car1_old = 0xffff;
-    // pitlane exit sensor
-    car2_old = 0xffff;
+    // reset car counters to overflow
+    uint8_t i;
+    for (i=0;i<MAX_SENSORS;i++)
+        sens[i].old = 0xffff;
+}
+
+void detect_car(uint8_t idx) {
+    uint16_t tmp = 0;
+    sens[idx].new = TCNT1; // get current counter
+    if (sens[idx].old < sens[idx].new) {
+        // calculate difference
+        if (sens[idx].car == 0) tmp = sens[idx].new-sens[idx].old;
+        if ( (tmp > 54) && (tmp < 74) ) tmp = 1;
+        else if ( (tmp > 118) && (tmp < 138) ) tmp = 2;
+        else if ( (tmp > 186) && (tmp < 206) ) tmp = 3;
+        else if ( (tmp > 246) && (tmp < 266) ) tmp = 4;
+        else if ( (tmp > 310) && (tmp < 330) ) tmp = 5;
+        else if ( (tmp > 374) && (tmp < 394) ) tmp = 6;
+        else tmp = 0;
+        sens[idx].car = tmp;
+    }
+    sens[idx].old = sens[idx].new;
 }
 
 ISR (INT1_vect) {
     // car0 detector
-    uint16_t tmp = 0;
-    car0_new = TCNT1; // get current counter
-    if (car0_old < car0_new) {
-        // calculate difference
-        if (car0 == 0) tmp = car0_new-car0_old;
-        if ( (tmp > 54) && (tmp < 74) ) car0 = 1;
-        if ( (tmp > 118) && (tmp < 138) ) car0 = 2;
-        if ( (tmp > 186) && (tmp < 206) ) car0 = 3;
-        if ( (tmp > 246) && (tmp < 266) ) car0 = 4;
-        if ( (tmp > 310) && (tmp < 330) ) car0 = 5;
-        if ( (tmp > 374) && (tmp < 394) ) car0 = 6;
-    }
-    car0_old = car0_new;
+    detect_car(0);
 }
 
 // ISR (TIMER1_CAPT_vect) {
 #ifdef ANALOG_COMPARATOR
 ISR (ANA_COMP_vect) {
     // car1 detector
-    uint16_t tmp = 0;
-    car1_new = TCNT1; // get current counter
-    if (car1_old < car1_new) {
-        // calculate difference
-        if (car1 == 0) tmp = car1_new-car1_old;
-        if ( (tmp > 50) && (tmp < 78) ) car1 = 1;
-        if ( (tmp > 114) && (tmp < 146) ) car1 = 2;
-        if ( (tmp > 183) && (tmp < 210) ) car1 = 3;
-        if ( (tmp > 242) && (tmp < 270) ) car1 = 4;
-        if ( (tmp > 310) && (tmp < 330) ) car1 = 5;
-        if ( (tmp > 374) && (tmp < 394) ) car1 = 6;
-    }
-    car1_old = car1_new;
+    detect_car(1);
 }
 #else
 // ALTERNATIV:
 ISR (TIMER1_CAPT_vect) {
     // car1 detector
-    uint16_t tmp = 0;
-    car1_new = TCNT1; // get current counter
-    if (car1_old < car1_new) {
-        // calculate difference
-        if (car1 == 0) tmp = car1_new-car1_old;
-        if ( (tmp > 50) && (tmp < 78) ) car1 = 1;
-        if ( (tmp > 114) && (tmp < 146) ) car1 = 2;
-        if ( (tmp > 183) && (tmp < 210) ) car1 = 3;
-        if ( (tmp > 242) && (tmp < 270) ) car1 = 4;
-        if ( (tmp > 310) && (tmp < 330) ) car1 = 5;
-        if ( (tmp > 374) && (tmp < 394) ) car1 = 6;
-    }
-    car1_old = car1_new;
+    detect_car(1);
 }
 #endif
 
-void solenoid_delay(void) {
-    _delay_ms(10);
-}
-
-
-
 
 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;
@@ -270,14 +256,14 @@
         2 = BB
         3 = BA
     */
-        if (car0 != car0_state) {
-            car0_state = car0;
-            if ( (car0_state != 0) && (car_switch[car0_state-1] == 0) && (car_speed[car0_state-1]>0) ) {
-                response = (1 | ((car0_state-1)<<1) | (1 << 4));
+        if (sens[0].car != sens[0].state) {
+            sens[0].state = sens[0].car;
+            if ( (sens[0].state != 0) && (slot[sens[0].state-1].trackswitch == 0) && (slot[sens[0].state-1].speed>0) ) {
+                response = (1 | ((sens[0].state-1)<<1) | (1 << 4));
                 // trigger solenoid A
                 RS232_putc('A');
                 RS232_putc('B');
-                RS232_putc('0'+car0_state);
+                RS232_putc('0'+sens[0].state);
                 RS232_putc('\n');
 
                 SOLENOID_A_PORT |= _BV(SOLENOID_A_PIN);
@@ -285,24 +271,24 @@
                 SOLENOID_A_PORT &= ~_BV(SOLENOID_A_PIN);
                 solenoid_delay();
             }
-            if (car0_state != 0) {
-                response = (1 | ((car0_state-1)<<1));
+            if (sens[0].state != 0) {
+                response = (1 | ((sens[0].state-1)<<1));
                 RS232_putc('A');
                 RS232_putc('A');
-                RS232_putc('0'+car0_state);
+                RS232_putc('0'+sens[0].state);
                 RS232_putc('\n');
             }
-        } car0 = 0;
+        } sens[0].car = 0;
 
 
-        if (car1 != car1_state) {
-            car1_state = car1;
-            if ( (car1_state != 0) && (car_switch[car1_state-1] == 0) && (car_speed[car1_state-1]>0) ) {
-                response = (1 | ((car1_state-1)<<1) | (3 << 4));
+        if (sens[1].car != sens[1].state) {
+            sens[1].state = sens[1].car;
+            if ( (sens[1].state != 0) && (slot[sens[1].state-1].trackswitch == 0) && (slot[sens[1].state-1].speed>0) ) {
+                response = (1 | ((sens[1].state-1)<<1) | (3 << 4));
                 // trigger solenoid B
                 RS232_putc('B');
                 RS232_putc('A');
-                RS232_putc('0'+car1_state);
+                RS232_putc('0'+sens[1].state);
                 RS232_putc('\n');
 
                 SOLENOID_B_PORT |= _BV(SOLENOID_B_PIN);
@@ -310,14 +296,14 @@
                 SOLENOID_B_PORT &= ~_BV(SOLENOID_B_PIN);
                 solenoid_delay();
             }
-            if (car1_state != 0) {
-                response = (1 | ((car1_state-1)<<1) | (2 << 4));
+            if (sens[1].state != 0) {
+                response = (1 | ((sens[1].state)<<1) | (2 << 4));
                 RS232_putc('B');
                 RS232_putc('B');
-                RS232_putc('0'+car1_state);
+                RS232_putc('0'+sens[1].state);
                 RS232_putc('\n');
             }
-        } car1 = 0;
+        } sens[0].car = 0;
 
 
     } // main loop end