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 

    38 #include "debug.h"

    39 #include "relay.h"

    40 #include "serial.h"

    41 #include "switch.h"

    42 #include "timer.h"

    43 

    44 int main (void)

    45 {

    46     debug_init();

    47     relay_init(RELAY_PINS);

    48     serial_init(SERIAL_BAUD_9600, SERIAL_PARITY_N, SERIAL_STOPBITS_1);

    49     switch_init();

    50     timer_init();

    51 

    52     // init

    53     char c = '.';

    54     byte s;

    55     unsigned short timeout = 8000;

    56 

    57     debug_set();

    58     sei();

    59 

    60     // start

    61     while (true) {

    62         c = s = 0;

    63 

    64         if (timer_sleep(timeout)) {

    65             c = '.';

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

    67             switch (c) {

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

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

    70                 case 'B':

    71                                 relay_open(RELAY_DOWN1);

    72                                 relay_open(RELAY_DOWN2);

    73                                 break;

    74 

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

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

    77                 case 'b':

    78                                 relay_close(RELAY_DOWN1);

    79                                 relay_close(RELAY_DOWN2);

    80                                 break;

    81 

    82                 default:

    83                     c = '!';

    84                     break;

    85             }

    86         } else if (switch_read(&s)) {

    87             c = '*';

    88 

    89             if (s & SWITCH_LEFT)

    90                 c = 'l';

    91 

    92             if (s & SWITCH_RIGHT)

    93                 c = 'r';

    94 

    95             if (s & SWITCH_HORN1)

    96                 c = 'h';

    97 

    98             if (s & SWITCH_HORN2)

    99                 c = 'h';

   100 

   101         } else {

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

   103             c = '?';

   104         }

   105 

   106         // out

   107         debug_toggle();

   108 

   109         serial_write(c);

   110     }

   111 }