changeset
bugfix: responsewire bitmap, todo: trackswitch response
Sat, 10 Dec 2011 16:29:31 +0100
- author
- Malte Bayer <mbayer@neo-soft.org>
- date
- Sat, 10 Dec 2011 16:29:31 +0100
- changeset 73
- ec888cfa024e
- parent 72
- 60c4b28fd773
- child 74
- 173d0863a804
bugfix: responsewire bitmap, todo: trackswitch response
| blackbox/interrupts.c | file | annotate | diff | comparison | revisions | |
| blackbox/main.c | file | annotate | diff | comparison | revisions | |
| blackbox/main.h | file | annotate | diff | comparison | revisions | |
| pitlane/main.c | file | annotate | diff | comparison | revisions |
--- a/blackbox/interrupts.c Sat Dec 10 14:56:27 2011 +0100 +++ b/blackbox/interrupts.c Sat Dec 10 16:29:31 2011 +0100 @@ -1,6 +1,4 @@ ISR ( TIMER1_COMPA_vect ) { - PORTC ^= _BV(PC0); // DEBUG OUTPUT SYSTEM CLOCK - // trigger packet transfer: if (sysclk_packettimer == 14) { // 15*500 = 7500 NS transmit_len = transmit_len_next; @@ -49,17 +47,14 @@ // response incoming! // start feew µs later _delay_us(5); - for (i=16; i>0; i--) { // start receiving all 16 bits - PORTC ^= _BV(PC1); // DEBUG - responsewire_data = (responsewire_data << 1); // shift bits + for (i=16; i>0; i--) { // start receiving all 16 bits -> shift them in same direction as they're shifted out + responsewire_data = (responsewire_data >> 1); // shift bits right, first received = bit0 if ((PIN(RESPONSEWIRE_PORT) & _BV(RESPONSEWIRE_PIN)) == 0) // phsyical low == logic 1 - responsewire_data |= 1; + responsewire_data |= 0b1000000000000000; _delay_us(48); // get to next bit } - itoa(responsewire_data, s, 16); - RS232_puts("RW:"); - RS232_puts(s); - RS232_putc('\n'); + // we have some little time here to decode the response and do some action for refueling state of cars + decode_responsewire(); } TIMSK |= _BV(OCIE2); //enable timer2 interrupt // end reading response wire
--- a/blackbox/main.c Sat Dec 10 14:56:27 2011 +0100 +++ b/blackbox/main.c Sat Dec 10 16:29:31 2011 +0100 @@ -47,6 +47,8 @@ // 1: waiting for countdown start // 2: race countdown initiated // 3: Race start condition +uint8_t liveinfo = 0; +uint8_t fuel_enabled = 1; volatile u32 sysclk; volatile uint8_t sysclk_packettimer = 0; @@ -80,6 +82,70 @@ volatile uint8_t timer0_delay; + /* RESPONSEWIRE frame format: + 1 startbit + 2 car id bit 1 + 3 car id bit 2 + 4 car id bit 3 + 5 track change status bit 1 + 6 track change status bit 2 + 7 track change status bit 3 + 8 track change status bit 4 + 9 sender id bit 1 + 10 sender id bit 2 + 11 sender id bit 3 + 12 sender id bit 4 + 13 device type bit 1 + 14 device type bit 2 + 15 device type bit 3 + 16 stopbit + */ + + /* PITLANE STATUS DEFINITION + 1 = AA + 2 = AB + 3 = BB + 4 = BA + 5 = BC + 6 = ZZ -> pitlane exit + */ + +#define STARTSTOP 0b1000000000000001 +void decode_responsewire(void) { + uint16_t data = responsewire_data; + // first check if start + stopbit are set + // todo future: unsure but last bit doesnt get set?! +/* + if ((data & STARTSTOP) != STARTSTOP) { + RS232_puts("RW BAD\n"); + return; // incomplete response + } +*/ + // now extract the car id, track change status + uint8_t car = ((data >> 1) & 0b111); + uint8_t status = ((data >> 4) & 0b1111); + uint8_t sender = ((data >> 8) & 0b1111); + uint8_t type = ((data >> 12) & 0b111); + if (type == 4) { + // pitlane response + if (status == 5) slot[car].canrefuel = 1; + if (status == 6) for (data=0; data<MAX_SLOTS; data++) slot[data].canrefuel = 0; + } + RS232_puts("RW:"); + itoa(car, s, 16); + RS232_puts(s); + RS232_putc(':'); + itoa(type, s, 16); + RS232_puts(s); + RS232_putc(':'); + itoa(sender, s, 16); + RS232_puts(s); + RS232_putc(':'); + itoa(status, s, 16); + RS232_puts(s); + RS232_putc('\n'); +} + int insert_queue(uint16_t tmp, uint8_t len) { if (transmit_buffer_queue == 0) { transmit_buffer_queue = tmp; @@ -136,6 +202,17 @@ RS232_puts_p(ok); break; + case 'F': // set fuel enabled + fuel_enabled = buffer[1]-'0'; + RS232_puts_p(ok); + break; + + case '*': // set live information + liveinfo = buffer[1]-'0'; + RS232_puts_p(ok); + break; + + case 'I': // get Information data (incl. important global parameter dump) RS232_puts(VERSION); RS232_putc(':'); @@ -254,22 +331,24 @@ // THIS REQUIRES PHYSICAL CAR FUEL LEVEL SET TO ZERO BEFORE! if ( ((PIN(SW_FUEL_PORT) & _BV(SW_FUEL)) != 0) | (slot[controller].fuel == 0)) tmp |= 1; // benzinstand aktiv - tankmodusschalter if (insert_queue(tmp, 9)) { - if (speed != 0) { - // do the fuel calculation, regardless if fuel logic active or not - tmp = (uint8_t)(((slot[controller].accel * speed) + 1) / FUEL_DIVISOR); - if (tmp == 0) tmp = 1; - if (slot[controller].fuel > 0) { - // enough fuel left to decrement? - if (slot[controller].fuel > tmp) { - slot[controller].fuel -= tmp; // decrement fuel level - } else slot[controller].fuel = 0; + if (fuel_enabled) { + if (speed != 0) { + // do the fuel calculation, regardless if fuel logic active or not + tmp = (uint8_t)(((slot[controller].accel * speed) + 1) / FUEL_DIVISOR); + if (tmp == 0) tmp = 1; + if (slot[controller].fuel > 0) { + // enough fuel left to decrement? + if (slot[controller].fuel > tmp) { + slot[controller].fuel -= tmp; // decrement fuel level + } else slot[controller].fuel = 0; + } + } else if (slot[controller].canrefuel) { + // increase fuel by 5%/sec, this equals by adding 50 to the counter + slot[controller].fuel += 50; + if (slot[controller].fuel > FUEL_FULL) slot[controller].fuel = FUEL_FULL; } - } else if (slot[controller].canrefuel) { - // increase fuel by 5%/sec, this equals by adding 50 to the counter - slot[controller].fuel += 50; - if (slot[controller].fuel > FUEL_FULL) slot[controller].fuel = FUEL_FULL; + return 1; } - return 1; } else return 0; } @@ -333,7 +412,7 @@ slot[i].laps = 0; slot[i].seccnt = 0; slot[i].accel = 15; // full acceleration per default - TODO - slot[i].canrefuel = 1; // TODO: only set to 1 when on a pitlane + slot[i].canrefuel = 0; } sysclk.value = 0; } @@ -375,7 +454,7 @@ slot[car0-1].laps++; RS232_putc('L'); RS232_putc(':'); - RS232_putc('A'); + RS232_putc('B'); RS232_putc(':'); itoa(slot[car0-1].laps, s, 16); RS232_puts(s); @@ -401,7 +480,7 @@ slot[car1-1].laps++; RS232_putc('L'); RS232_putc(':'); - RS232_putc('B'); + RS232_putc('A'); RS232_putc(':'); itoa(slot[car1-1].laps, s, 16); RS232_puts(s); @@ -419,6 +498,7 @@ } void slot_liveinfo(uint8_t idx) { + if (liveinfo == 0) return; // increment packet counter, if == 10 output some live info if (slot[idx].seccnt == 10) { // output current fuel status
--- a/blackbox/main.h Sat Dec 10 14:56:27 2011 +0100 +++ b/blackbox/main.h Sat Dec 10 16:29:31 2011 +0100 @@ -4,7 +4,7 @@ #include <avr/wdt.h> #include <stdint.h> -#define VERSION "1.4" +#define VERSION "1.5" #define COUNTDOWN_DELAY 10 // x/10 seconds
--- a/pitlane/main.c Sat Dec 10 14:56:27 2011 +0100 +++ b/pitlane/main.c Sat Dec 10 16:29:31 2011 +0100 @@ -67,36 +67,40 @@ volatile uint16_t bitbuf = 0; volatile uint8_t response = 0; +volatile uint8_t response_car = 0; uint8_t self_id = 0b1111; // ONLY ONE pitlane void solenoid_delay(void) { _delay_ms(2); } -void send_response(uint16_t data) { +void send_response(uint8_t car, uint8_t status) { /* frame format: 1 startbit - 2 car id - 3 car id - 4 car id + 2 car id bit 1 + 3 car id bit 2 + 4 car id bit 3 5 track change status bit 1 6 track change status bit 2 - 7 sender id - 8 sender id - 9 sender id - 9 sender id - 10 device type - 11 device type - 12 device type - 13 device type - 14 reserved - 15 reserved + 7 track change status bit 3 + 8 track change status bit 4 + 9 sender id bit 1 + 10 sender id bit 2 + 11 sender id bit 3 + 12 sender id bit 4 + 13 device type bit 1 + 14 device type bit 2 + 15 device type bit 3 16 stopbit */ + uint16_t data; + // produce packet + data = ((car & 0b111) << 1) | ((status & 0b1111) << 4) | ((self_id & 0b1111) << 8) | (TRACKSWITCH_TYPE << 12); + data |= 0b100000000000001; // make sure start/stop bits are set + uint8_t index = 16; // bit count maximum uint8_t enable = DDR(RESPONSE_PORT) | _BV(RESPONSE_PIN); uint8_t disable = DDR(RESPONSE_PORT) & ~_BV(RESPONSE_PIN); - data |= 0b100000000000001; // make sure start/stop bits are set while (index != 0) { if ((data & 1) != 0) { DDR(RESPONSE_PORT) = enable; // enable response output @@ -148,9 +152,9 @@ slot[clock].trackswitch = (bitbuf >> 5) & 1; // current response for this car? if (response != 0) { - if ( ((response & 0b00001110) >> 1) == clock) { + if ( response_car == clock) { // add our ID to response: - send_response(response | (self_id << 6)); + send_response(clock, response); response = 0; } } @@ -278,18 +282,19 @@ // main loop /* - 0 = AA - 1 = AB - 2 = BB - 3 = BA - 4 = ZZ -> pitlane exit + 1 = AA + 2 = AB + 3 = BB + 4 = BA 5 = BC + 6 = ZZ -> pitlane exit */ if (sens[0].car != sens[0].state) { sens[0].state = sens[0].car; #if (TRACKSWITCH_TYPE != TYPE_PITLANE) 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)); + response = 2; + response_car = sens[0].state - 1; // set inside status slot[sens[0].state].inside = 1; @@ -307,7 +312,8 @@ } else #endif if (sens[0].state != 0) { - response = (1 | ((sens[0].state-1)<<1)); + response = 1; + response_car = sens[0].state - 1; RS232_putc('A'); RS232_putc('A'); RS232_putc('0'+sens[0].state); @@ -319,7 +325,8 @@ 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) | (5 << 4)); + response = 5; + response_car = sens[1].state - 1; // set inside status slot[sens[1].state-1].inside = 1; @@ -336,7 +343,8 @@ solenoid_delay(); } else if (sens[1].state != 0) { - response = (1 | ((sens[1].state)<<1) | (2 << 4)); + response = 3; + response_car = sens[1].state - 1; RS232_putc('B'); RS232_putc('B'); RS232_putc('0'+sens[1].state); @@ -352,14 +360,16 @@ if (slot[tmp].inside) { slot[tmp].inside = 0; } - response = (1 | (0b111 <<1) | (4 << 4)); + response = 6; + response_car = 0; RS232_puts_p(PSTR("PIT:EXIT\n")); } if (sens[2].car != sens[2].state) { sens[2].state = sens[2].car; if (sens[2].state != 0) { - response = (1 | ((sens[2].state-1)<<1) | (4 << 4)); + response = 6; + response_car = sens[2].state-1; // set inside status slot[sens[2].state-1].inside = 0;
