static void
OBD_reset( void )
{
Log_errorf( "Resetting CAN controller\n", NULL );
g_OBD_dataRequestErrors = 0;
CAN_reset();
/* Enable loopback mode for testing */
CAN_setOperatingMode( CAN_OPMODE_LOOPBACK );
}
int main(void){
//Initialization of UART module
UART_init();
//Enable interrupts
DDRE &= ~(1 << PE4);
EIMSK |= (1 << INT4);
EICRB |= (1 << ISC41);
sei();
//Initialization of CAN module
SPI_MasterInit();
CANInit_normal();
//Initialization of PWM module
PWM_init();
//Initialization of ADC module
ADC_init();
//Initialization of Solenoid module
solenoid_init();
//Initialization of Motor module
motor_init();
//Variables
uint8_t ready = 0;
uint8_t game_over = 0;
uint8_t some_counter = 0; // Used for delay on IR, so that not a single low read causes game to end
uint8_t some_other_counter = 0; //Solenoid should not spam. It kills everything. Mad solenoid
//This is where new received joystick values are stored
joystick_position joy_pos;
//Message is passed back to node 1 upon game over
message.length = 1;
message.ID = 0x01;
while(1){
/* PHASE 0: INITIALIZATION */
ready = 0;
game_over = 0;
joy_pos.x = 128;
joy_pos.y = 128;
joy_pos.button_pressed = 0;
//Set to some start value
PWM_set_value(joy_pos);
motor_send(joy_pos);
/* PHASE 1: PRE-GAME */
/* Wait for node 1 to make contact */
printf("Waiting for node 1 to initiate game\n");
while(!ready){
cli();
if(CAN_received){
received = CAN_read();
CAN_received = 0;
if(received.data[3] == 1){ //If this is set, node 1 wants to start a game
received.data[3] = 0;
ready = 1;
}
}
sei();
_delay_ms(5);
}
printf("Node 1 is ready to go!\n");
printf("Starting game\n");
/* PHASE 2: IN-GAME */
/* Follow input over CAN and return a message when we have a game over. It is not a matter of if, only when! */
while(!game_over){
cli(); //Interrupts are disabled while we read from the CAN bus. Bad values were sometimes introduced otherwise
if(CAN_received){ //If updated controller info is ready, read it into our struct
received = CAN_read();
CAN_received = 0;
joy_pos.y = received.data[0]; //first spot contains y value
joy_pos.x = received.data[1]; //second spot contains x value
joy_pos.button_pressed = received.data[2]; //third spot contains button value
}
if(joy_pos.y > 128 - margin && joy_pos.y < 128 + margin){
joy_pos.y = 128; //This is done to avoid noisy PWM input
}
/* Apply new numbers to the system */
//Use information available to control PWM, motor and solenoid
some_other_counter++;
/********************************************************/
/* Solenoid pulse function is omitted to avoid spamming. Spamming is more likely to introduce errors */
if(joy_pos.button_pressed){
solenoid_push();
some_other_counter = 0;
//solenoid_pulse(); //Apply solenoid pulse. Good luck
joy_pos.button_pressed = 0;
}
if(some_other_counter > 10){
solenoid_pull();
}
/**********************************************************/
PWM_set_value(joy_pos); //update servo
motor_send(joy_pos); //update motor
if(ADC_check_goal()){ //Evaluates to 1 if goal is detected
some_counter++;
if(some_counter == 20){
some_counter = 0;
game_over = 1; //Start procedure all over
CAN_reset();
//Tell node 1 about the failure
message.data[0] = 1;
CAN_send(message);
}
}
sei(); //Allow interrupts to occur
_delay_ms(20);
}
/* GAME ENDED. WAIT FOR NEW ONE TO START */
}
}