changeset
corrected lap times, packed data struct for each slotcar
Thu, 08 Dec 2011 15:44:43 +0100
- author
- Malte Bayer <mbayer@neo-soft.org>
- date
- Thu, 08 Dec 2011 15:44:43 +0100
- changeset 46
- d200e3d8a550
- parent 45
- da820f138498
- child 47
- 34ac9f92bc1e
corrected lap times, packed data struct for each slotcar
| blackbox/main.c | file | annotate | diff | comparison | revisions |
--- a/blackbox/main.c Thu Dec 08 14:33:40 2011 +0100 +++ b/blackbox/main.c Thu Dec 08 15:44:43 2011 +0100 @@ -20,11 +20,18 @@ char racestart[] PROGMEM="!RACE START\n"; typedef union { - uint32_t u32; + uint32_t value; uint16_t word[2]; // high, low word uint8_t byte[4]; // all four bytes } u32; +#define MAX_SLOTS 6 +typedef struct { + uint8_t speedlimit, fuel, laps; + uint16_t jumpstart_time; + u32 lap_time_start, lap_time; +} cardata; + static unsigned char s[10]; static uint8_t countdown, countdown_loops; uint8_t mode = 0; @@ -34,19 +41,9 @@ // 2: race countdown initiated // 3: Race start condition - -#define MAX_SLOTS 6 volatile u32 sysclk; volatile uint8_t sysclk_packettimer = 0; - -volatile uint8_t speedlimit[MAX_SLOTS]; -volatile uint8_t fuel[MAX_SLOTS]; -volatile uint16_t jumpstart_time[MAX_SLOTS]; - -volatile uint16_t lap_time_start_low[MAX_SLOTS]; -volatile uint16_t lap_time_start_high[MAX_SLOTS]; -volatile uint16_t lap_time_low[MAX_SLOTS]; -volatile uint16_t lap_time_high[MAX_SLOTS]; +volatile cardata slot[MAX_SLOTS]; volatile uint16_t car0, car1; volatile uint16_t car0_new, car0_old; @@ -119,23 +116,23 @@ tmp = buffer[2]-'0'; if (tmp > 9) tmp = buffer[2]-'A'+10; - speedlimit[buffer[1]-'0'] = tmp; + slot[buffer[1]-'0'].speedlimit = tmp; RS232_puts_p(ok); break; case 'I': // get Information data (incl. important global parameter dump) RS232_puts(VERSION); RS232_putc(':'); - for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(speedlimit[tmp]); // output speed limits + for (tmp=0;tmp<MAX_SLOTS;tmp++) RS232_putc(slot[tmp].speedlimit); // output speed limits RS232_putc(':'); for (tmp=0;tmp<MAX_SLOTS;tmp++) { - itoa(fuel[tmp], s, 16); + itoa(slot[tmp].fuel, s, 16); RS232_putc(s); // output fuel levels (0=empty, 100=full, 0xff=no fuel option) RS232_putc(','); } RS232_putc(':'); for (tmp=0;tmp<MAX_SLOTS;tmp++) { - itoa(jumpstart_time[tmp], s, 16); + itoa(slot[tmp].jumpstart_time, s, 16); RS232_puts(s); // output jumpstart times RS232_putc(','); } @@ -155,12 +152,12 @@ void jumpstart(uint8_t controller) { - if (jumpstart_time[controller] == 0) { - jumpstart_time[controller] = sysclk.word[1]; // low word + if (slot[controller].jumpstart_time == 0) { + slot[controller].jumpstart_time = sysclk.word[0]; // low word RS232_putc('~'); RS232_putc('0'-controller); - RS232_putc(','); - itoa(jumpstart_time[controller], s, 16); + RS232_putc(':'); + itoa(slot[controller].jumpstart_time, s, 16); RS232_puts(s); RS232_putc('\n'); } @@ -175,7 +172,7 @@ case 0: if (mode!=1) tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F); if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } - if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; + if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit; tmp = tmp << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) { tmp |= (1<<5); @@ -185,7 +182,7 @@ case 1: if (mode!=1) tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F); if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } - if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; + if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit; tmp = tmp << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) { tmp |= (1<<5); @@ -195,7 +192,7 @@ case 2: if (mode!=1) tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F); if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } - if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; + if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit; tmp = tmp << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) { tmp |= (1<<5); @@ -205,7 +202,7 @@ case 3: if (mode!=1) tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F); if ((mode == 2) && (tmp != 0)) { jumpstart(controller); tmp = 0; } - if (tmp > speedlimit[controller]) tmp = speedlimit[controller]; + if (tmp > slot[controller].speedlimit) tmp = slot[controller].speedlimit; tmp = tmp << 1; if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) { tmp |= (1<<5); @@ -275,8 +272,7 @@ car0_old = TIMER1_500NS; car1_old = TIMER1_500NS; - sysclk.word[1]++; // increment 500ns timer low word - if (sysclk.word[1] == 0) sysclk.word[0]++; // increment upper 16bits + sysclk.value++; // increment 500ns timer } ISR ( TIMER2_COMP_vect ) { @@ -391,12 +387,11 @@ void reset_vars(void) { uint8_t i; for (i=0; i<MAX_SLOTS; i++) { - if (i<4) speedlimit[i] = 15; else speedlimit[i] = 0; - fuel[i] = 100; - jumpstart_time[i] = 0; + if (i<4) slot[i].speedlimit = 15; else slot[i].speedlimit = 0; + slot[i].fuel = 100; + slot[i].jumpstart_time = 0; } - sysclk.word[1] = 0; - sysclk.word[0] = 0; + sysclk.value = 0; } void countdown_progress(void) { @@ -414,8 +409,7 @@ case 2: LED(4, 1); break; case 1: LED(5, 1); break; case 0: { // RACE START! - sysclk.word[1] = 1; - sysclk.word[0] = 0; + sysclk.value = 0; LEDS_OFF(); LED(3, 1); mode = 3; @@ -424,26 +418,21 @@ } void check_cars(void) { - uint16_t diff_low, diff_high; + u32 clk, diff; + clk.value = sysclk.value; // freeze system clock time if (car0 != car0_state) { car0_state = car0; if (car0_state != 0) { - diff_high = sysclk.word[0] - lap_time_start_high[car0-1]; - diff_low = sysclk.word[1] - lap_time_start_low[car0-1]; // this could be a bug ;) - if ( (diff_high > 0) || (diff_low>2000) ) { // minimum 1 second for 1 lap! - lap_time_start_low[car0-1] = sysclk.word[1]; - lap_time_start_high[car0-1] = sysclk.word[0]; - lap_time_low[car0-1] = diff_low; - lap_time_high[car0-1] = diff_high; + diff.value = clk.value - slot[car0-1].lap_time_start.value; + if ( diff.value > 3000 ) { // minimum 1.5 second for 1 lap! + slot[car0-1].lap_time_start.value = clk.value; + slot[car0-1].lap_time.value = diff.value; RS232_putc('L'); RS232_putc('A'); RS232_putc('0'+car0_state); RS232_putc(':'); - itoa(diff_high, s, 16); - RS232_puts(s); - RS232_putc(','); - itoa(diff_low, s, 16); + ultoa(diff.value, s, 16); RS232_puts(s); RS232_putc('\n'); } @@ -453,21 +442,15 @@ if (car1 != car1_state) { car1_state = car1; if (car1_state != 0) { - diff_high = sysclk.word[0] - lap_time_start_high[car1-1]; - diff_low = sysclk.word[1] - lap_time_start_low[car1-1]; // this could be a bug ;) - if ( (diff_high > 0) || (diff_low>2000) ) { // minimum 1 second for 1 lap! - lap_time_start_low[car1-1] = sysclk.word[1]; - lap_time_start_high[car1-1] = sysclk.word[0]; - lap_time_low[car1-1] = diff_low; - lap_time_high[car1-1] = diff_high; + diff.value = clk.value - slot[car1-1].lap_time_start.value; + if ( diff.value > 3000 ) { // minimum 1.5 second for 1 lap! + slot[car1-1].lap_time_start.value = clk.value; + slot[car1-1].lap_time.value = diff.value; RS232_putc('L'); RS232_putc('B'); RS232_putc('0'+car1_state); RS232_putc(':'); - itoa(diff_high, s, 16); - RS232_puts(s); - RS232_putc(','); - itoa(diff_low, s, 16); + ultoa(diff.value, s, 16); RS232_puts(s); RS232_putc('\n'); } @@ -523,8 +506,7 @@ RS232_puts_p(prepare); } else if (mode == 1) { // Initiate race countdown - sysclk.word[1] = 1; - sysclk.word[0] = 0; + sysclk.value = 0; countdown = 5; countdown_loops = COUNTDOWN_DELAY; mode = 2;
