1

#include <avr/interrupt.h>

     2

#include <avr/io.h>

     3

     4

#include "stdlib.h"

     5

     6

#define DEBUG_DDR DDRB

     7

#define DEBUG_PIN 5

     8

#define DEBUG_PORT PORTB

     9

    10

/* Relay outputs */

    11

#define RELAY_DDR DDRC

    12

#define RELAY_PORT PORTC

    13

#define RELAY_PIN PINC

    14

#define RELAY_PINS 4

    15

    16

#define RELAY_DOWN1 0

    17

#define RELAY_DOWN2 1

    18

#define RELAY_LEFT  2

    19

#define RELAY_RIGHT 3

    20

    21

/* Switch inputs */

    22

static ioport_t *const SWITCH_DDR = &DDRD;

    23

static ioport_t *const SWITCH_PORT = &PORTD;

    24

static ioport_t *const SWITCH_PIN = &PIND;

    25

static ioport_t *const SWITCH_PCMSK = &PCMSK2;

    26

static const byte SWITCH_PCIE = PCIE2;

    27

static const byte SWITCH_PCIF = PCIF2;

    28

    29

enum switch_bits {

    30

    SWITCH_LEFT         = 0b00000100,

    31

    SWITCH_RIGHT        = 0b00001000,

    32

    SWITCH_HORN1        = 0b00010000,

    33

    SWITCH_HORN2        = 0b00100000,

    34

    35

    SWITCH_MASK         = 0b00111100,

    36

};

    37

    39

#include "debug.h"

    40

#include "relay.h"

    41

#include "serial.h"

    43

#include "switch.h"

    44

#include "timer.h"

    45

    46

int main (void)

    47

{

    49

    debug_init();

    50

    relay_init(RELAY_PINS);

    51

    serial_init(SERIAL_BAUD_9600, SERIAL_PARITY_N, SERIAL_STOPBITS_1);

    53

    switch_init();

    54

    timer_init();

    55

    56

    // init

    58

    byte s;

    59

    unsigned short timeout = 8000;

    61

    62

    debug_set();

    63

    sei();

    64

    67

    // start

    68

    while (true) {

    69

        c = s = 0;

    71

    72

        if (timer_sleep(timeout)) {

    74

        } else if ((c = serial_read())) {

    75

            switch (c) {

    76

                case 'L':       relay_open(RELAY_LEFT); break;

    77

                case 'R':       relay_open(RELAY_RIGHT); break;

    78

                case 'B':

    79

                                relay_open(RELAY_DOWN1);

    80

                                relay_open(RELAY_DOWN2);

    81

                                break;

    82

    83

                case 'l':       relay_toggle(RELAY_LEFT); break;

    84

                case 'r':       relay_toggle(RELAY_RIGHT); break;

    85

                case 'b':

    86

                                relay_close(RELAY_DOWN1);

    87

                                relay_close(RELAY_DOWN2);

    88

                                break;

    89

    95

                default:

    96

                    c = '!';

    97

                    break;

    98

            }

    99

        } else if (switch_read(&s)) {

   100

            c = '*';

   101

   102

            if (s & SWITCH_LEFT)

   103

                c = 'l';

   104

   105

            if (s & SWITCH_RIGHT)

   106

                c = 'r';

   107

   108

            if (s & SWITCH_HORN1)

   109

                c = 'h';

   110

   111

            if (s & SWITCH_HORN2)

   112

                c = 'h';

   113

   114

        } else {

   115

            // XXX: for some reason this occasionally gets stuck in an interrupt loop here after some switch events..

   116

            c = '?';

   117

        }

   118

   119

        // out

   120

        debug_toggle();

   121

   137

    }

   138

}