terom@0: #include <avr/interrupt.h>
terom@0: #include <avr/io.h>
terom@0: 
terom@3: #include "stdlib.h"
terom@3: 
terom@0: #define DEBUG_DDR DDRB
terom@0: #define DEBUG_PIN 5
terom@0: #define DEBUG_PORT PORTB
terom@0: 
terom@3: /* Relay outputs */
terom@2: #define RELAY_DDR DDRC
terom@2: #define RELAY_PORT PORTC
terom@2: #define RELAY_PIN PINC
terom@2: #define RELAY_PINS 4
terom@2: 
terom@2: #define RELAY_DOWN1 0
terom@2: #define RELAY_DOWN2 1
terom@2: #define RELAY_LEFT  2
terom@2: #define RELAY_RIGHT 3
terom@2: 
terom@3: /* Switch inputs */
terom@3: static ioport_t *const SWITCH_DDR = &DDRD;
terom@3: static ioport_t *const SWITCH_PORT = &PORTD;
terom@3: static ioport_t *const SWITCH_PIN = &PIND;
terom@3: static ioport_t *const SWITCH_PCMSK = &PCMSK2;
terom@3: static const byte SWITCH_PCIE = PCIE2;
terom@3: static const byte SWITCH_PCIF = PCIF2;
terom@3: 
terom@3: enum switch_bits {
terom@3:     SWITCH_LEFT         = 0b00000100,
terom@3:     SWITCH_RIGHT        = 0b00001000,
terom@3:     SWITCH_HORN1        = 0b00010000,
terom@3:     SWITCH_HORN2        = 0b00100000,
terom@3: 
terom@3:     SWITCH_MASK         = 0b00111100,
terom@3: };
terom@3: 
terom@5: #include "adxl345.h"
terom@0: #include "debug.h"
terom@2: #include "relay.h"
terom@1: #include "serial.h"
terom@5: #include "spi.h"
terom@3: #include "switch.h"
terom@0: #include "timer.h"
terom@0: 
terom@0: int main (void)
terom@0: {
terom@5:     adxl345_init();
terom@0:     debug_init();
terom@2:     relay_init(RELAY_PINS);
terom@1:     serial_init(SERIAL_BAUD_9600, SERIAL_PARITY_N, SERIAL_STOPBITS_1);
terom@5:     spi_init();
terom@3:     switch_init();
terom@0:     timer_init();
terom@0: 
terom@0:     // init
terom@5:     unsigned char c = '.';
terom@3:     byte s;
terom@1:     unsigned short timeout = 8000;
terom@5:     int16_t adxl;
terom@1: 
terom@0:     debug_set();
terom@0:     sei();
terom@0: 
terom@5:     adxl345_setup();
terom@5: 
terom@0:     // start
terom@0:     while (true) {
terom@3:         c = s = 0;
terom@5:         adxl = 0;
terom@3: 
terom@1:         if (timer_sleep(timeout)) {
terom@5:             c = 0;
terom@1:         } else if ((c = serial_read())) {
terom@3:             switch (c) {
terom@3:                 case 'L':       relay_open(RELAY_LEFT); break;
terom@3:                 case 'R':       relay_open(RELAY_RIGHT); break;
terom@3:                 case 'B':
terom@3:                                 relay_open(RELAY_DOWN1);
terom@3:                                 relay_open(RELAY_DOWN2);
terom@3:                                 break;
terom@3: 
terom@3:                 case 'l':       relay_toggle(RELAY_LEFT); break;
terom@3:                 case 'r':       relay_toggle(RELAY_RIGHT); break;
terom@3:                 case 'b':
terom@3:                                 relay_close(RELAY_DOWN1);
terom@3:                                 relay_close(RELAY_DOWN2);
terom@3:                                 break;
terom@3: 
terom@5:                 case 'd':       c = adxl345_read_devid(); break;
terom@5:                 case 'x':       adxl = adxl345_read_x(); break;
terom@5:                 case 'y':       adxl = adxl345_read_y(); break;
terom@5:                 case 'z':       adxl = adxl345_read_z(); break;
terom@5: 
terom@3:                 default:
terom@3:                     c = '!';
terom@3:                     break;
terom@3:             }
terom@3:         } else if (switch_read(&s)) {
terom@3:             c = '*';
terom@3: 
terom@3:             if (s & SWITCH_LEFT)
terom@3:                 c = 'l';
terom@3: 
terom@3:             if (s & SWITCH_RIGHT)
terom@3:                 c = 'r';
terom@3: 
terom@3:             if (s & SWITCH_HORN1)
terom@3:                 c = 'h';
terom@3: 
terom@3:             if (s & SWITCH_HORN2)
terom@3:                 c = 'h';
terom@1: 
terom@1:         } else {
terom@3:             // XXX: for some reason this occasionally gets stuck in an interrupt loop here after some switch events..
terom@1:             c = '?';
terom@1:         }
terom@1: 
terom@3:         // out
terom@0:         debug_toggle();
terom@1: 
terom@5:         if (c == 'x' || c == 'y' || c == 'z') {
terom@5:             int8_t v = adxl / 255;
terom@5: 
terom@5:             /*
terom@5:             if (adxl > 0)
terom@5:                 serial_write('+');
terom@5:             else if (adxl < 0)
terom@5:                 serial_write('-');
terom@5:             else
terom@5:                 serial_write(' ');
terom@5:             */
terom@5:             serial_write(v);
terom@5:         } else if (c) {
terom@5:             serial_write(c);
terom@5:         }
terom@0:     }
terom@0: }