Mercurial > hg-public > freeslot / changeset

--- a/blackbox/main.c	Wed Nov 16 12:29:09 2011 +0100
+++ b/blackbox/main.c	Wed Nov 16 13:38:03 2011 +0100
@@ -211,21 +211,23 @@
     LED(1,2);
     if (timer0_delay == 0) {
         RAIL_POWER_PORT &= ~_BV(RAIL_POWER); // pull rails low
-        _delay_us(25); // wait some cycles
-        if ((PIN(RAIL_POWER_PORT) & _BV(RAIL_POWER)) == 0) { // check for logic zero
+        _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 logic low
+                // 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(23); // wait some cycles
+        _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
 }
@@ -243,6 +245,20 @@
     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();
 
@@ -254,10 +270,32 @@
         check_rails_shortcut();
 
         // read in button presses
-        if ( (PIN(SW_START_PORT) & _BV(SW_START)) == 0 ) {
-            // start button press active
-            LAP_COUNTER_PORT |= _BV(LAP_COUNTER);
-        } else LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
+        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;
+                } 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);
+        } else old_start = btn_start;
+        // LAP_COUNTER_PORT &= ~_BV(LAP_COUNTER);
 
         switch (packet_index) {
             case 1:
@@ -270,7 +308,8 @@
                 } 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 (do_program(7, 20, 15)) packet_index++; // reset / pitstop detect
+                    if (insert_queue(0, 0)) packet_index++; // null command
                 }
                 break;
             case 2: