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comparison: car004f/main.c

car004f/main.c

changeset 153
80d869ac365b
parent 152
e787f47c084b
child 154
46822de910ff
equal deleted inserted replaced
152:e787f47c084b 153:80d869ac365b
19 typedef struct { 19 typedef struct {
20 uint8_t calibration; // AVR Chip calibration byte written by avrdude 20 uint8_t calibration; // AVR Chip calibration byte written by avrdude
21 uint8_t initialized; // if 0xff, reset config to defaults on first boot 21 uint8_t initialized; // if 0xff, reset config to defaults on first boot
22 uint8_t slot; 22 uint8_t slot;
23 uint8_t light; 23 uint8_t light;
24 uint8_t brake;
25 uint8_t accel;
24 uint8_t program; // 0xff = inactive ; programming mode active on slot X 26 uint8_t program; // 0xff = inactive ; programming mode active on slot X
25 } config_t; 27 } config_t;
26 config_t EEMEM eeconfig = {0,0,0,0xff,0}; 28 config_t EEMEM eeconfig = {0,0xff,0,0,15,15,0};
27 config_t config; 29 config_t config;
28 30
29 volatile uint16_t data = 0; 31 volatile uint16_t data = 0;
30 volatile uint8_t data_len = 0; 32 volatile uint8_t data_len = 0;
31 volatile uint8_t bitbuf_len = 0; 33 volatile uint8_t bitbuf_len = 0;
32 volatile uint16_t bitbuf = 0; 34 volatile uint16_t bitbuf = 0;
33 volatile uint8_t car_speed[MAX_SLOTS]; 35 volatile uint8_t car_speed[MAX_SLOTS];
34 volatile uint8_t car_switch[MAX_SLOTS]; 36 volatile uint8_t car_switch[MAX_SLOTS];
37 volatile uint8_t car_act[MAX_SLOTS];
35 38
36 volatile uint8_t car_timeout[MAX_SLOTS]; 39 volatile uint8_t car_timeout[MAX_SLOTS];
37 volatile uint8_t timeout = 0; 40 volatile uint8_t timeout = 0;
38 volatile uint8_t brake_timeout = 0; 41 volatile uint8_t brake_timeout = 0;
39 42
48 // der liest dann alle 50µs den Zustand ein und schreibt das 51 // der liest dann alle 50µs den Zustand ein und schreibt das
49 // empfangene Bit in den Puffer 52 // empfangene Bit in den Puffer
50 bitbuf = 0; // init 53 bitbuf = 0; // init
51 bitbuf_len = 0b10000000; // init 1 pulse received 54 bitbuf_len = 0b10000000; // init 1 pulse received
52 55
53 TCNT2 = 10; 56 //TCNT2 = 10;
57 TCNT2 = 9;
54 TIMSK |= _BV(OCIE2); //enable timer2 interrupt 58 TIMSK |= _BV(OCIE2); //enable timer2 interrupt
55 } 59 }
56 60
57 ISR ( TIMER2_COMP_vect ) { 61 ISR ( TIMER2_COMP_vect ) {
62 // TCNT2 = 0;
58 uint8_t clock; 63 uint8_t clock;
59 uint8_t state; 64 uint8_t state;
60 uint8_t state2; 65 uint8_t state2;
61 if ((bitbuf_len & 0b10000000) == 0) clock = 0; else clock = 0xff; 66 if ((bitbuf_len & 0b10000000) == 0) clock = 0; else clock = 0xff;
62 if ((bitbuf_len & 0b01000000) == 0) state = 0; else state = 0xff; 67 if ((bitbuf_len & 0b01000000) == 0) state = 0; else state = 0xff;
87 } 92 }
88 } 93 }
89 */ 94 */
90 } 95 }
91 96
92 // bugfix 20131223: timing errors, CLEAR timer2 flag before enable
93 // if this works, apply to track switches and pitlane too!
94 //GIFR = _BV(INTF0);
95
96 GICR |= _BV(INT0) ; // Enable INT0 97 GICR |= _BV(INT0) ; // Enable INT0
97 98
98 } else { 99 } else {
99 bitbuf_len++; // increment bit counter 100 bitbuf_len++; // increment bit counter
100 bitbuf = bitbuf << 1; // shift bits 101 bitbuf = bitbuf << 1; // shift bits
140 eeprom_write_block( &config, &eeconfig, sizeof(config_t) ); 141 eeprom_write_block( &config, &eeconfig, sizeof(config_t) );
141 } 142 }
142 143
143 144
144 void brake_on(void) { 145 void brake_on(void) {
146 OCR1A = (int) ((float)0xff * (float)((float)config.brake / (float)15));
145 LIGHT_PORT |= _BV(LIGHT_BRAKE); // brake light on 147 LIGHT_PORT |= _BV(LIGHT_BRAKE); // brake light on
146 DDRB |= _BV(1); // PB1 PWM Output enable 148 DDRB |= _BV(1); // PB1 PWM Output enable
147 brake_timeout = BRAKE_OFF_TIMEOUT; 149 brake_timeout = BRAKE_OFF_TIMEOUT;
148 } 150 }
149 151
150 void brake_off(void) { 152 void brake_off(void) {
153 OCR1A = 0;
151 LIGHT_PORT &= ~_BV(LIGHT_BRAKE); // brake light off 154 LIGHT_PORT &= ~_BV(LIGHT_BRAKE); // brake light off
152 DDRB &= ~_BV(1); // PB1 PWM Output disable 155 DDRB &= ~_BV(1); // PB1 PWM Output disable
153 brake_timeout = 0; 156 brake_timeout = 0;
154 } 157 }
155 158
202 // Das Calibration byte scheint nicht zu stimmen 205 // Das Calibration byte scheint nicht zu stimmen
203 206
204 if (config.initialized == 0xff) { 207 if (config.initialized == 0xff) {
205 config.slot = 0; 208 config.slot = 0;
206 config.light = 0; 209 config.light = 0;
210 config.brake = 15;
211 config.accel = 15;
207 config.program = 0xff; 212 config.program = 0xff;
208 config.initialized = 0; 213 config.initialized = 0;
209 config_save(); 214 config_save();
210 } 215 }
211 216
231 // and set at BOTTOM. Clock Prescaler is 1. 236 // and set at BOTTOM. Clock Prescaler is 1.
232 237
233 238
234 //OCR1A = 63; // Dutycycle of OC1A = 25% 239 //OCR1A = 63; // Dutycycle of OC1A = 25%
235 //OCR1B = 127; // Dutycycle of OC1B = 50% 240 //OCR1B = 127; // Dutycycle of OC1B = 50%
236 OCR1A = 0xff; // brake PWM! 241 OCR1A = 0; // brake PWM!
237 OCR1B = 0; // Motor drive PWM 242 OCR1B = 0; // Motor drive PWM
238 DDRB &= ~_BV(2); // PB2 PWM Output disable 243 DDRB &= ~_BV(2); // PB2 PWM Output disable
239 DDRB &= ~_BV(1); // PB1 PWM Output disable 244 DDRB &= ~_BV(1); // PB1 PWM Output disable
240 245
241 // configure TIMER0 to overflow every 10ms at 4 MHz 246 // configure TIMER0 to overflow every 10ms at 4 MHz
264 } 269 }
265 timeout = 0; 270 timeout = 0;
266 } 271 }
267 272
268 273
274 float my_accel;
269 my_switch = car_switch[config.slot]; // initialize 275 my_switch = car_switch[config.slot]; // initialize
270 my_speed = car_speed[config.slot]; // initialize 276 my_speed = car_speed[config.slot]; // initialize
277 my_accel = (float)config.accel / (float)15;
271 278
272 while (1) { 279 while (1) {
273 // main loop 280 // main loop
274 281
275 if (brake_timeout == 1) brake_off(); 282 if (brake_timeout == 1) brake_off();
276 283
277 if (my_speed != car_speed[config.slot]) { 284 if (my_speed != car_speed[config.slot]) {
278 my_speed = car_speed[config.slot]; 285 my_speed = car_speed[config.slot];
279 OCR1B = (int) ((float)0xff * (float)((float)my_speed / (float)15)); 286 OCR1B = (int) ((float)0xff * (float)((float)my_speed / (float)15) * my_accel );
280 if (my_speed == 0) { 287 if (my_speed == 0) {
281 DDRB &= ~_BV(2); // PB2 PWM Output disable 288 DDRB &= ~_BV(2); // PB2 PWM Output disable
282 brake_on(); 289 brake_on();
283 } else { 290 } else {
284 brake_off(); 291 brake_off();

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