Mercurial > hg-public > freeslot / changeset

--- a/blackbox/driver/adc.c	Tue Nov 15 12:51:04 2011 +0100
+++ b/blackbox/driver/adc.c	Wed Nov 16 12:29:09 2011 +0100
@@ -12,11 +12,11 @@
 // get a sample from ADC chip.
 // chanell must be in range 0-7.
 uint16_t getADC(int channel) {
-    if (channel == 0)
+//    if (channel == 0)
         adcReference = ((1<<REFS1) | (1<<REFS0)); // switch to 2.56V (~2x
         //adcReference = (1<<REFS1); // switch to 1.1v (~4.5x) - not on ATMEGA16
-    else
-        adcReference = (1<<REFS0); // switch to 5v (1x)
+//    else
+//        adcReference = (1<<REFS0); // switch to 5v (1x)
     ADMUX = adcReference + channel;
     // start one sample
     ADCSRA |= (1<<ADSC);

--- a/blackbox/lowlevel.c	Tue Nov 15 12:51:04 2011 +0100
+++ b/blackbox/lowlevel.c	Wed Nov 16 12:29:09 2011 +0100
@@ -42,10 +42,18 @@
 }
 
 void init_hardware(void) {
+    // reset all ports to input, no pullup
+    DDRA = 0; PORTA = 0;
+    DDRB = 0; PORTB = 0;
+    DDRC = 0; PORTC = 0;
+    DDRD = 0; PORTD = 0;
+
+
     RS232_init(); // initialize RS485 interface
     RS232_puts_p(PSTR("CARRERA beta loading\n"));
 
     initADC();
+    SFIOR = 0;
 
     // set LED output
     DDR(LED1_PORT) |= _BV(LED1);
@@ -59,11 +67,17 @@
 
     // switch pull-ups
     SW_FUEL_PORT |= _BV(SW_FUEL);
+    SW_START_PORT |= _BV(SW_START);
+    SW_PACECAR_PORT |= _BV(SW_PACECAR);
 
+    // control outputs
+    DDR(LAP_COUNTER_PORT) |= _BV(LAP_COUNTER);
+
+    // setup rail control
     //RAIL_DETECT_PORT |= _BV(RAIL_DETECT); // enable internal pull-up
     DDR(RAIL_POWER_PORT) |= _BV(RAIL_POWER);
 
-
+    // display init sequence on LEDs
     LED(1, 1); _delay_ms(50);
     LED(2, 1); _delay_ms(50);
     LED(3, 1); _delay_ms(50);
@@ -82,15 +96,13 @@
 
 
     // setup data bit timer
-    TCCR2 = (1<<CS21); //divide by 8
-    TCCR2 |= (1<<WGM21); // set compare match
+    TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match
     OCR2 = TIMER2_50US;
     TIMSK |= 1<<OCIE2; //enable timer2 interrupt
 
     // setup data packet timer
     //TCCR1A = (1<<COM1A1);
-    TCCR1B = (1<<CS11); //divide by 8
-    TCCR1B |= (1<<WGM12); // set compare match
+    TCCR1B = (1<<CS11) | (1<<WGM12); //divide by 8, set compare match
     //TCCR1B = (1<<CS11) | (1<<CS10); //divide by 64
     //TCNT1 = TIMER_7500NS;
     OCR1A = TIMER1_7500NS;

--- a/blackbox/main.c	Tue Nov 15 12:51:04 2011 +0100
+++ b/blackbox/main.c	Wed Nov 16 12:29:09 2011 +0100
@@ -90,19 +90,19 @@
     uint16_t tmp;
     switch (controller) {
         case 0:
-            tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            tmp = ((getADC(CONTROLLER1_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
             if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER1_SW)) != 0) tmp |= (1<<5);
             break;
         case 1:
-            tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            tmp = ((getADC(CONTROLLER2_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
             if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER2_SW)) != 0) tmp |= (1<<5);
             break;
         case 2:
-            tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            tmp = ((getADC(CONTROLLER3_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
             if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER3_SW)) != 0) tmp |= (1<<5);
             break;
         case 3:
-            tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0xF) << 1;
+            tmp = ((getADC(CONTROLLER4_SPEED) / CONTROLLER_DIVISOR) & 0x0F) << 1;
             if ( (PIN(CONTROLLER_PORT) & _BV(CONTROLLER4_SW)) != 0) tmp |= (1<<5);
             break;
         case 4: tmp = (1<<5); break; // todo regler 5
@@ -230,6 +230,11 @@
     } else timer0_delay--; // 2.3 ms delay not reached yet
 }
 
+ISR (INT2_vect) {
+    // Lap counter Interrupt
+    LED(5,2);
+}
+
 
 int main(void)
 {
@@ -248,6 +253,12 @@
         // check for short circuit on the rails
         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);
+
         switch (packet_index) {
             case 1:
                 if (program_count > 0) {

--- a/blackbox/main.h	Tue Nov 15 12:51:04 2011 +0100
+++ b/blackbox/main.h	Wed Nov 16 12:29:09 2011 +0100
@@ -13,8 +13,8 @@
 #define MODUL_ST6               PD6
 
 #define I2C_PORT                PORTC
-#define I2C_SDA                 PC0
-#define I2C_SCL                 PC1
+#define I2C_SCL                 PC0
+#define I2C_SDA                 PC1
 
 #define LED1_PORT               PORTA
 #define LED2_PORT               PORTA
@@ -45,10 +45,10 @@
 #define CONTROLLER_PORT         PORTB
 #define CONTROLLER_MAX          360 // full throttle ADC value
 #define CONTROLLER_DIVISOR      (uint8_t)(CONTROLLER_MAX/15)
-#define CONTROLLER1_SW          4
-#define CONTROLLER2_SW          5
-#define CONTROLLER3_SW          6
-#define CONTROLLER4_SW          7
+#define CONTROLLER1_SW          PB4
+#define CONTROLLER2_SW          PB5
+#define CONTROLLER3_SW          PB6
+#define CONTROLLER4_SW          PB7
 #define CONTROLLER1_SPEED       0 // ADC channel #
 #define CONTROLLER2_SPEED       1 // ADC channel #
 #define CONTROLLER3_SPEED       2 // ADC channel #