--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/carboard.c	Thu Sep 25 01:00:08 2014 +0300
@@ -0,0 +1,111 @@
+#include <avr/interrupt.h>
+#include <avr/io.h>
+
+#include "stdlib.h"
+
+#define DEBUG_DDR DDRB
+#define DEBUG_PIN 5
+#define DEBUG_PORT PORTB
+
+/* Relay outputs */
+#define RELAY_DDR DDRC
+#define RELAY_PORT PORTC
+#define RELAY_PIN PINC
+#define RELAY_PINS 4
+
+#define RELAY_DOWN1 0
+#define RELAY_DOWN2 1
+#define RELAY_LEFT  2
+#define RELAY_RIGHT 3
+
+/* Switch inputs */
+static ioport_t *const SWITCH_DDR = &DDRD;
+static ioport_t *const SWITCH_PORT = &PORTD;
+static ioport_t *const SWITCH_PIN = &PIND;
+static ioport_t *const SWITCH_PCMSK = &PCMSK2;
+static const byte SWITCH_PCIE = PCIE2;
+static const byte SWITCH_PCIF = PCIF2;
+
+enum switch_bits {
+    SWITCH_LEFT         = 0b00000100,
+    SWITCH_RIGHT        = 0b00001000,
+    SWITCH_HORN1        = 0b00010000,
+    SWITCH_HORN2        = 0b00100000,
+
+    SWITCH_MASK         = 0b00111100,
+};
+
+#include "debug.h"
+#include "relay.h"
+#include "serial.h"
+#include "switch.h"
+#include "timer.h"
+
+int main (void)
+{
+    debug_init();
+    relay_init(RELAY_PINS);
+    serial_init(SERIAL_BAUD_9600, SERIAL_PARITY_N, SERIAL_STOPBITS_1);
+    switch_init();
+    timer_init();
+
+    // init
+    char c = '.';
+    byte s;
+    unsigned short timeout = 8000;
+
+    debug_set();
+    sei();
+
+    // start
+    while (true) {
+        c = s = 0;
+
+        if (timer_sleep(timeout)) {
+            c = '.';
+        } else if ((c = serial_read())) {
+            switch (c) {
+                case 'L':       relay_open(RELAY_LEFT); break;
+                case 'R':       relay_open(RELAY_RIGHT); break;
+                case 'B':
+                                relay_open(RELAY_DOWN1);
+                                relay_open(RELAY_DOWN2);
+                                break;
+
+                case 'l':       relay_toggle(RELAY_LEFT); break;
+                case 'r':       relay_toggle(RELAY_RIGHT); break;
+                case 'b':
+                                relay_close(RELAY_DOWN1);
+                                relay_close(RELAY_DOWN2);
+                                break;
+
+                default:
+                    c = '!';
+                    break;
+            }
+        } else if (switch_read(&s)) {
+            c = '*';
+
+            if (s & SWITCH_LEFT)
+                c = 'l';
+
+            if (s & SWITCH_RIGHT)
+                c = 'r';
+
+            if (s & SWITCH_HORN1)
+                c = 'h';
+
+            if (s & SWITCH_HORN2)
+                c = 'h';
+
+        } else {
+            // XXX: for some reason this occasionally gets stuck in an interrupt loop here after some switch events..
+            c = '?';
+        }
+
+        // out
+        debug_toggle();
+
+        serial_write(c);
+    }
+}