Mercurial > hg-public > freeslot / changeset

--- a/blackbox/main.c	Wed Dec 07 17:22:58 2011 +0100
+++ b/blackbox/main.c	Thu Dec 08 14:33:40 2011 +0100
@@ -19,6 +19,11 @@
 char countdownstart[]   PROGMEM="!COUNTDOWN\n";
 char racestart[]        PROGMEM="!RACE START\n";
 
+typedef union {
+    uint32_t u32;
+    uint16_t word[2]; // high, low word
+    uint8_t  byte[4]; // all four bytes
+} u32;
 
 static unsigned char s[10];
 static uint8_t  countdown, countdown_loops;
@@ -31,8 +36,7 @@
 
 
 #define MAX_SLOTS       6
-volatile uint16_t sysclk_ms_low = 0;
-volatile uint16_t sysclk_ms_high = 0;
+volatile u32 sysclk;
 volatile uint8_t sysclk_packettimer = 0;
 
 volatile uint8_t speedlimit[MAX_SLOTS];
@@ -152,7 +156,7 @@
 
 void jumpstart(uint8_t controller) {
     if (jumpstart_time[controller] == 0) {
-        jumpstart_time[controller] = sysclk_ms_low;
+        jumpstart_time[controller] = sysclk.word[1]; // low word
         RS232_putc('~');
         RS232_putc('0'-controller);
         RS232_putc(',');
@@ -271,8 +275,8 @@
     car0_old = TIMER1_500NS;
     car1_old = TIMER1_500NS;
 
-    sysclk_ms_low++; // increment 500ns timer
-    if (sysclk_ms_low == 0) sysclk_ms_high++; // increment upper 16bits
+    sysclk.word[1]++; // increment 500ns timer low word
+    if (sysclk.word[1] == 0) sysclk.word[0]++; // increment upper 16bits
 }
 
 ISR ( TIMER2_COMP_vect ) {
@@ -391,6 +395,8 @@
         fuel[i] = 100;
         jumpstart_time[i] = 0;
     }
+    sysclk.word[1] = 0;
+    sysclk.word[0] = 0;
 }
 
 void countdown_progress(void) {
@@ -408,8 +414,8 @@
         case 2: LED(4, 1); break;
         case 1: LED(5, 1); break;
         case 0: { // RACE START!
-            sysclk_ms_low = 1;
-            sysclk_ms_high = 0;
+            sysclk.word[1] = 1;
+            sysclk.word[0] = 0;
             LEDS_OFF();
             LED(3, 1);
             mode = 3;
@@ -423,11 +429,11 @@
     if (car0 != car0_state) {
         car0_state = car0;
         if (car0_state != 0) {
-            diff_high = sysclk_ms_high - lap_time_start_high[car0-1];
-            diff_low = sysclk_ms_low - lap_time_start_low[car0-1]; // this could be a bug ;)
+            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_ms_low;
-                lap_time_start_high[car0-1] = sysclk_ms_high;
+                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;
                 RS232_putc('L');
@@ -447,11 +453,11 @@
     if (car1 != car1_state) {
         car1_state = car1;
         if (car1_state != 0) {
-            diff_high = sysclk_ms_high - lap_time_start_high[car1-1];
-            diff_low = sysclk_ms_low - lap_time_start_low[car1-1]; // this could be a bug ;)
+            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_ms_low;
-                lap_time_start_high[car1-1] = sysclk_ms_high;
+                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;
                 RS232_putc('L');
@@ -517,8 +523,8 @@
                     RS232_puts_p(prepare);
                 } else if (mode == 1) {
                     // Initiate race countdown
-                    sysclk_ms_low = 1;
-                    sysclk_ms_high = 0;
+                    sysclk.word[1] = 1;
+                    sysclk.word[0] = 0;
                     countdown = 5;
                     countdown_loops = COUNTDOWN_DELAY;
                     mode = 2;