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comparison: car004f/main.c

car004f/main.c

changeset 148
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parent 147
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child 149
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equal deleted inserted replaced
147:f66c5b3b3ed2 148:08cb88614d69
14 } 14 }
15 15
16 #define PULSE_PORT PORTD 16 #define PULSE_PORT PORTD
17 #define PULSE_BIT PD2 17 #define PULSE_BIT PD2
18 18
19 #define RESPONSE_PORT PORTC 19 typedef struct {
20 #define RESPONSE_PIN PC1 20 uint8_t slot;
21 uint8_t light;
22 unsigned program:1; // programming mode active
23 } config_t;
24
21 25
22 volatile uint16_t data = 0; 26 volatile uint16_t data = 0;
23 volatile uint8_t data_len = 0; 27 volatile uint8_t data_len = 0;
24 volatile uint8_t bitbuf_len = 0; 28 volatile uint8_t bitbuf_len = 0;
25 volatile uint16_t bitbuf = 0; 29 volatile uint16_t bitbuf = 0;
26 volatile uint8_t car_speed[8]; 30 volatile uint8_t car_speed[8];
27 volatile uint8_t car_switch[8]; 31 volatile uint8_t car_switch[8];
28 volatile uint8_t my_id; // Die ID des Autos! 32
33 volatile uint8_t timeout = 0;
34 volatile uint8_t brake_timeout = 0;
35
29 36
30 uint8_t my_switch; 37 uint8_t my_switch;
31 uint8_t my_speed; 38 uint8_t my_speed;
32 uint8_t light_mode; 39 config_t config;
33 40
34 ISR ( INT0_vect ) { 41 ISR ( INT0_vect ) {
35 GICR &= ~_BV(INT0) ; // Disable INT0 42 GICR &= ~_BV(INT0) ; // Disable INT0
36 // Startsignal erkannt, ab hier den Timer2 starten, 43 // Startsignal erkannt, ab hier den Timer2 starten,
37 // der liest dann alle 50µs den Zustand ein und schreibt das 44 // der liest dann alle 50µs den Zustand ein und schreibt das
92 bitbuf_len &= ~_BV(6); // store new state 99 bitbuf_len &= ~_BV(6); // store new state
93 } 100 }
94 } 101 }
95 } 102 }
96 103
97 ISR (TIMER1_OVF_vect) {
98 }
99
100 ISR (INT1_vect) { 104 ISR (INT1_vect) {
105 }
106
107 ISR (TIMER0_OVF_vect) {
108 TCNT0 = 100; // TIMER0 vorladen mit 100
109 if (brake_timeout > 1) brake_timeout--;
110 if (timeout > 1) timeout--;
101 } 111 }
102 112
103 #define LIGHT_PORT PORTC 113 #define LIGHT_PORT PORTC
104 #define LIGHT_FRONT 2 114 #define LIGHT_FRONT 2
105 #define LIGHT_BRAKE 4 115 #define LIGHT_BRAKE 4
106 116
107 #define IR_PORT PORTB 117 #define IR_PORT PORTB
108 #define IR_LED 3 118 #define IR_LED 3
109 119
120 #define BRAKE_PORT PORTB
121 #define BRAKE 0
110 122
111 #define LIGHT_MODES 1 // anzahl der lichtmodi (ohne den modus "aus") 123 #define LIGHT_MODES 1 // anzahl der lichtmodi (ohne den modus "aus")
112 124
113 125
126 void config_save(void) {
127 eeprom_write_block( (void*)&config, 0, sizeof(config) );
128 }
129
130
131 void brake_on(void) {
132 LIGHT_PORT |= _BV(LIGHT_BRAKE); // brake light on
133 BRAKE_PORT |= _BV(BRAKE); // brake on
134 brake_timeout = 50;
135 }
136
137 void brake_off(void) {
138 LIGHT_PORT &= ~_BV(LIGHT_BRAKE); // brake light off
139 BRAKE_PORT &= ~_BV(BRAKE); // brake off
140 brake_timeout = 0;
141 }
114 142
115 int main(void) 143 int main(void)
116 { 144 {
117 uint8_t car0_state, car1_state;
118
119 // setup data bit timer2 145 // setup data bit timer2
120 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match 146 TCCR2 = (1<<CS21) | (1<<WGM21); //divide by 8, set compare match
121 OCR2 = TIMER2_50US; 147 OCR2 = TIMER2_50US;
122 148
123 149
124 // enable both external interrupts 150 // enable both external interrupts
125 // int 0 = data RX 151 // int 0 = data RX
126 MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge 152 MCUCR = _BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11); // INT0/1 rising edge
127 GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1 153 GICR = _BV(INT0) | _BV(INT1) ; // Enable INT0 + INT1
128 154
129 // oscillator calibration 155
130 // atmega8@1mhz = 0xac 156 DDR(LIGHT_PORT) |= _BV(LIGHT_FRONT) | _BV(LIGHT_BRAKE);
131 // @4mhz = ca 0xa0 157 DDR(BRAKE_PORT) |= _BV(BRAKE);
132 //OSCCAL = 0xa0; 158
133 //OSCCAL = 0x9A; 159 // config (from eeprom!)
134 //OSCCAL = 0xa0; // internal oscillator @ 4 mhz.... doesnt work accurate! 160 eeprom_read_block( (void*)&config, (const void*)0, sizeof(config) );
161
162
163 TCCR1A = (1<<WGM10)|(1<<COM1A1) // Set up the two Control registers of Timer1.
164 |(1<<COM1B1); // Wave Form Generation is Fast PWM 8 Bit,
165
166 TCCR1B = (1<<WGM12)|(1<<CS10); // OC1A and OC1B are cleared on compare match
167 // and set at BOTTOM. Clock Prescaler is 1.
168
169
170 //OCR1A = 63; // Dutycycle of OC1A = 25%
171 //OCR1B = 127; // Dutycycle of OC1B = 50%
172 OCR1A = 0;
173 OCR1B = 0;
174
175 // configure TIMER0 to overflow every 10ms at 4 MHz
176 TIMSK = _BV(TOIE0); // Timer0 Overflow INT erlauben
177 TCNT0 = 100; // TIMER0 vorladen mit 100
178 TCCR0 = _BV(CS02) ; // Vorteiler auf 256, ab hier läuft der TIMER0
179
135 sei(); 180 sei();
136 181
137 DDR(LIGHT_PORT) |= (_BV(LIGHT_FRONT) | _BV(LIGHT_BRAKE)); 182
138 183 config.slot = 1;
139 //defaults (from eeprom!)
140 my_id = 1;
141 light_mode = 0;
142 184
143 while (1) { 185 while (1) {
144 // main loop 186 // main loop
145 187
188 if (brake_timeout == 1) {
189 DDRB &= ~_BV(2); // PB2 PWM Output disable
190 brake_off();
191 }
192
193 if (my_speed != car_speed[config.slot]) {
194 my_speed = car_speed[config.slot];
195 OCR1B = (int) ((float)0xff * (float)((float)my_speed / (float)15));
196 if (my_speed == 0) {
197 DDRB &= ~_BV(2); // PB2 PWM Output disable
198 brake_on();
199 } else {
200 brake_off();
201 DDRB |= _BV(2); // PB2 PWM Output enable
202 }
203 }
204
146 // Light cycle if switch pressed without speed 205 // Light cycle if switch pressed without speed
147 if (my_speed == 0) { 206 if (car_speed[config.slot] == 0) {
148 if (my_switch != car_switch[my_id]) { 207 if (my_switch != car_switch[config.slot]) {
149 my_switch = car_switch[my_id]; 208 my_switch = car_switch[config.slot];
150 if (my_switch != 0) { 209 if (my_switch != 0) {
151 // cycle light 210 // cycle light
152 if (light_mode == LIGHT_MODES) light_mode = 0; else light_mode++; 211 if (config.light == LIGHT_MODES) config.light = 0; else config.light++;
153 } 212 }
154 } 213 }
155 } 214 }
156 215
157 switch (light_mode) { 216 switch (config.light) {
158 case 0: 217 case 0:
159 LIGHT_PORT &= ~_BV(LIGHT_FRONT); // switch lights off 218 LIGHT_PORT &= ~_BV(LIGHT_FRONT); // switch lights off
160 break; 219 break;
161 case 1: 220 case 1:
162 LIGHT_PORT |= _BV(LIGHT_FRONT); // switch lights on 221 LIGHT_PORT |= _BV(LIGHT_FRONT); // switch lights on
163 break; 222 break;
164 } 223 }
165 224
225
226 /*
166 _delay_ms(100); 227 _delay_ms(100);
167 LIGHT_PORT |= _BV(LIGHT_BRAKE); // brake light on
168 _delay_ms(100); 228 _delay_ms(100);
169 LIGHT_PORT &= ~_BV(LIGHT_BRAKE); // brake light off 229 */
170
171 230
172 231
173 232
174 } // main loop end 233 } // main loop end
175 }; 234 };

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