// MANUAL RACE START CHECKS
// 0 = no checks, 1 = finish line check only, 2 = start gate and finish line check
#define START_CHECKS 2
/***************************************************************************
AGP03.C
This program controls an Awana Grad Prix racetrack.
Times out at 9.999 seconds.
Uses a start switch (local N.O. pushbutton)
and a remote gate switch (N.C.)
and a remote gate actuator.
With serial communication
Elapsed time is 1mS interrupt driven.
Serial communication is interrupt driven, 9600-8-E-1.
WORKING CODE, RACE VERSION!!!
+5 +5
| |
14 2
---------- ----------
-Start---ProgM----4-| |-10-------------11-|DB4 Vdd |
-StopR-----------17-| |-11-------------12-|DB5 |
-StopB-----------18-| |-12----ProgC----13-|DB6 |
-StopG------------1-| 16F628 |-13----ProgD----14-|DB7 Vo| 3----20K pot
-StopY------------2-| |-9---------------6-|EN LCD |
-RemSw------------3-| |-6---------------4-|RS |
6MHz XTAL-16-| |-7--Rx | |
TAL-15-| |-8--Tx | RW Vss |
---------- ----------
5 1 5
|------------ProgG | |
Gnd Gnd Gnd
**************************************************************************/
#include < 16F628.h >
#include < jonsinc.h >
#fuses HS, NOPROTECT, PUT, NOWDT, BROWNOUT, NOMCLR, NOLVP
#use standard_io ( A )
#use standard_io ( B )
#use delay ( clock = 6000000 )
#use rs232 ( baud = 9600, xmit = PIN_B2, rcv = PIN_B1 )
#byte PORT_A = 5
#define LCD_D7 PIN_B7
#define LCD_D6 PIN_B6
#define LCD_D5 PIN_B5
#define LCD_D4 PIN_B4
#define LCD_EN PIN_B3
#define LCD_RS PIN_B0
#define TRK_R_INPUT PIN_A0
#define TRK_B_INPUT PIN_A1
#define TRK_G_INPUT PIN_A2
#define TRK_Y_INPUT PIN_A3
#define SERVO_OUT PIN_A4
#define PB_SWITCH PIN_A5
#define LINE_1 0x00
#define LINE_2 0x40
#define LINE_3 0x10
#define LINE_4 0x50
#define CLEAR_DISP 0x01
#define TRACK_R 0b00000001
#define TRACK_B 0b00000010
#define TRACK_G 0b00000100
#define TRACK_Y 0b00001000
#define TEXT_DELAY 2000
#define CMD_NUL 0
#define GATE_OPEN 0
#define GATE_CLOSE 1
#define ERR_NONE 0
#define ERR_GATE 1
#define ERR_FINISH 2
#separate void SendTime ( char cLane, long iTime );
#separate char CheckFinishLine ( void );
#separate char CheckStartGate ( void );
#separate char GetSerial ( char cChar );
#separate void Servo ( char cX );
#separate void SendAllTimes ( void );
#separate void DisplayTie ( char cLoc );
#separate void Display ( char cTie, char cPlace, char cTrackColor, long iTime, char * cDisplayFlag );
#separate void StartTimer ( void );
#separate void LCD_Init ( void );
#separate void LCD_SetPosition ( unsigned int cX );
#separate void LCD_PutChar ( unsigned int cX );
#separate void LCD_PutCmd ( unsigned int cX );
#separate void LCD_PulseEnable ( void );
#separate void LCD_SetData ( unsigned int cX );
static long iTime, iRTime, iBTime, iGTime, iYTime;
static char cDisplayLine, cPlaceNum, cDisplayCnt;
static char cRTie, cBTie, cGTie, cYTie, cStarted;
static char cRPlace, cBPlace, cGPlace, cYPlace;
static char cRDisplayFlag, cBDisplayFlag, cGDisplayFlag, cYDisplayFlag;
static char cDisplayLocTable [ 4 ] = { 0x06, 0x46, 0x16, 0x56 };
static char cFirstTime, cFirstTimeFlag;
static char cSerialCmd;
#int_rda
void SerialInterrupt ( void )
{
// Reads incoming data from the USART
cSerialCmd = getchar(); // get char from UART
// command recipient resets cSerialCmd to CMD_NUL
}
#int_rtcc
void TimerInterrupt ( void )
{
/*
Gets here every 1mS. Samples the track inputs, saves the
current time for any tracks that have finished during this
interrupt pass. Increments the time count if not overflowed
past 9999mS.
*/
char cFinish;
set_rtcc ( 73 ); // restart timer, adjusted to 1mS
// GRAB ONE SAMPLE OF ALL FOUR TRACKS FOR THIS 1MS TIME SLICE
cFinish = ( PORT_A ^ 0xff ) & 0x0f; // invert Port A and mask on lower four bits
// EXAMINE THE SAMPLE, ONE TRACK AT A TIME
if ( ( ( cFinish & TRACK_R ) == TRACK_R ) && ( cRPlace == 0 ) ) // Track R finished
{
iRTime = iTime; // save the present time
if ( ( iRTime == iBTime ) || ( iRTime == iGTime ) || ( iRTime == iYTime ) )
{
cRTie = YES; // if this matches any other track, indicate TIE
}
cRDisplayFlag = YES; // time to display this track
cRPlace = cPlaceNum++; // take the place number, increment place number
}
if ( ( ( cFinish & TRACK_B ) == TRACK_B ) && ( cBPlace == 0 ) ) // Track B finished
{
iBTime = iTime; // save the present time
if ( ( iBTime == iRTime ) || ( iBTime == iGTime ) || ( iBTime == iYTime ) )
{
cBTie = YES; // if this matches any other track, indicate TIE
}
cBDisplayFlag = YES; // time to display this track
cBPlace = cPlaceNum++; // take the place number, increment place number
}
if ( ( ( cFinish & TRACK_G ) == TRACK_G ) && ( cGPlace == 0 ) ) // Track G finished
{
iGTime = iTime; // save the present time
if ( ( iGTime == iRTime ) || ( iGTime == iBTime ) || ( iGTime == iYTime ) )
{
cGTie = YES; // if this matches any other track, indicate TIE
}
cGDisplayFlag = YES; // time to display this track
cGPlace = cPlaceNum++; // take the place number, increment place number
}
if ( ( ( cFinish & TRACK_Y ) == TRACK_Y ) && ( cYPlace == 0 ) ) // Track Y finished
{
iYTime = iTime; // save the present time
if ( ( iYTime == iRTime ) || ( iYTime == iBTime ) || ( iYTime == iGTime ) )
{
cYTie = YES; // if this matches any other track, indicate TIE
}
cYDisplayFlag = YES; // time to display this track
cYPlace = cPlaceNum++; // take the place number, increment place number
}
if ( cFirstTimeFlag == ON )
{
cFirstTime = NO; // prevent any other LED's from going on
}
if ( iTime < 9999) // if not overflow, increment the clock
{
iTime++;
}
else // make unfinished races = 9.999 seconds
{
if ( cRPlace == 0 )
{
iRTime = 9999;
cRPlace = cPlaceNum++; // save the available place number
cRDisplayFlag = YES; // time to display this track
}
if ( cBPlace == 0 )
{
iBTime = 9999;
cBPlace = cPlaceNum++; // save the available place number
cBDisplayFlag = YES; // time to display this track
}
if ( cGPlace == 0 )
{
iGTime = 9999;
cGPlace = cPlaceNum++; // save the available place number
cGDisplayFlag = YES; // time to display this track
}
if ( cYPlace == 0 )
{
iYTime = 9999;
cYPlace = cPlaceNum++; // save the available place number
cYDisplayFlag = YES; // time to display this track
}
}
}
void main ( void )
{
char cCnt, cX;
delay_ms ( 200 );
port_b_pullups ( ON );
output_float ( TRK_R_INPUT );
output_float ( TRK_B_INPUT );
output_float ( TRK_G_INPUT );
output_float ( TRK_Y_INPUT );
output_float ( SERVO_OUT );
setup_counters ( RTCC_INTERNAL, RTCC_DIV_8 ); // 256 * 4uS = 1.024mS timer wrap
LCD_Init(); // set up LCD for 4-wire bus, etc.
if ( input ( PB_SWITCH ) == LOW ) // diag mode
{
LCD_PutCmd ( CLEAR_DISP );
LCD_SetPosition ( LINE_1 + 0 );
printf ( LCD_PutChar, "DIAGNOSTICS MODE" ); // welcome screen
LCD_SetPosition ( LINE_3 + 0 );
printf ( LCD_PutChar, "Start gates: " );
LCD_SetPosition ( LINE_4 + 0 );
printf ( LCD_PutChar, "Lane finish: " );
while ( input ( PB_SWITCH ) == LOW )
{
LCD_SetPosition ( LINE_3 + 12 );
if ( input ( SERVO_OUT ) == HIGH )
{
printf ( LCD_PutChar, "DOWN" );
}
else
{
printf ( LCD_PutChar, "UP " );
}
LCD_SetPosition ( LINE_4 + 12 );
if ( ( ( PORT_A ^ 0xff ) & TRACK_R ) != 0 )
{
printf ( LCD_PutChar, "R" );
}
else
{
printf ( LCD_PutChar, " " );
}
LCD_SetPosition ( LINE_4 + 13 );
if ( ( ( PORT_A ^ 0xff ) & TRACK_B ) != 0 )
{
printf ( LCD_PutChar, "B" );
}
else
{
printf ( LCD_PutChar, " " );
}
LCD_SetPosition ( LINE_4 + 14 );
if ( ( ( PORT_A ^ 0xff ) & TRACK_G ) != 0 )
{
printf ( LCD_PutChar, "G" );
}
else
{
printf ( LCD_PutChar, " " );
}
LCD_SetPosition ( LINE_4 + 15 );
if ( ( ( PORT_A ^ 0xff ) & TRACK_Y ) != 0 )
{
printf ( LCD_PutChar, "Y" );
}
else
{
printf ( LCD_PutChar, " " );
}
delay_ms ( 10 );
}
}
LCD_PutCmd ( CLEAR_DISP );
LCD_SetPosition ( LINE_1 + 0 );
printf ( LCD_PutChar, "AWANA GRAND PRIX" ); // welcome screen
LCD_SetPosition ( LINE_2 + 0 );
printf ( LCD_PutChar, "Christ Memorial" );
LCD_SetPosition ( LINE_3 + 5 );
printf ( LCD_PutChar, "Church" );
LCD_SetPosition ( LINE_4 + 0 );
printf ( LCD_PutChar, "Jon Fick v011207" );
delay_ms ( TEXT_DELAY );
Servo ( GATE_CLOSE ); // reset gate
LCD_PutCmd ( CLEAR_DISP );
LCD_SetPosition ( LINE_2 + 5 );
printf ( LCD_PutChar, "Ready" );
cStarted = FALSE;
enable_interrupts ( GLOBAL ); // enable all interrupts
enable_interrupts ( INT_RDA ); // enable serial interrupt
cSerialCmd = CMD_NUL; // reset to no command
while ( TRUE )
{
while ( TRUE )
{
if ( input ( PB_SWITCH ) == LOW ) // PUSHBUTTON MANUAL RACE START
{
cX = ERR_NONE; // default
#if START_CHECKS == 1
cX |= CheckFinishLine(); // check that all lanes are clear at the finish line
#endif
#if START_CHECKS == 2
cX |= CheckStartGate(); // check that the start gate is closed
cX |= CheckFinishLine(); // check that all lanes are clear at the finish line
#endif
if ( cX == ERR_NONE )
{
break;
}
if ( ( cX & ERR_GATE ) == ERR_GATE )
{
LCD_PutCmd ( CLEAR_DISP );
LCD_SetPosition ( LINE_2 + 3 );
printf ( LCD_PutChar, "CLOSE THE" );
LCD_SetPosition ( LINE_3 + 3 );
printf ( LCD_PutChar, "START GATE" );
}
else
{
if ( ( cX & ERR_FINISH )== ERR_FINISH )
{
LCD_PutCmd ( CLEAR_DISP );
LCD_SetPosition ( LINE_2 + 2 );
printf ( LCD_PutChar, "FINISH LINE" );
LCD_SetPosition ( LINE_3 + 2 );
printf ( LCD_PutChar, "IS BLOCKED" );
}
}
}
if ( GetSerial ( 'R' ) ) // "READY" command from computer
{
LCD_PutCmd ( CLEAR_DISP );
LCD_SetPosition ( LINE_2 + 5 );
printf ( LCD_PutChar, "Ready" );
}
if ( GetSerial ( 'T' ) ) // "RACE START" command from computer
{
break; // break out, time to start this race (heat)
}
if ( GetSerial ( 'C' ) ) // "CHECK" command from computer
{
// signal if start gate switch is not closed or photocell is blocked
if ( ( CheckStartGate() != ERR_NONE ) || ( CheckFinishLine() != ERR_NONE ) )
{
printf ( "NG" );
}
}
if ( GetSerial ( 'A' ) ) // "GET ALL TIMES" command from computer
{
SendAllTimes();
}
if ( GetSerial ( 'M' ) ) // ? command from computer
{
// unused at the present time
}
}
// GETS HERE EITHER BY MANUAL PUSHBUTTON OR BY COMPUTER COMMAND WHEN TIMING NEEDS TO START
LCD_PutCmd ( CLEAR_DISP );
LCD_SetPosition ( LINE_2 + 3 );
printf ( LCD_PutChar, "STARTING!" ); // signal that the race has begun
StartTimer();
Servo ( GATE_OPEN );
cStarted = FALSE;
enable_interrupts ( INT_RTCC ); // otherwise just allow the timer interrupt, which will start timer later
delay_ms ( 1000 ); // wait 1 second
LCD_PutCmd ( CLEAR_DISP ); // clear display and put in 1st, 2nd, etc.
LCD_SetPosition ( LINE_1 );
printf ( LCD_PutChar, "1st" );
LCD_SetPosition ( LINE_2 );
printf ( LCD_PutChar, "2nd" );
LCD_SetPosition ( LINE_3 );
printf ( LCD_PutChar, "3rd" );
LCD_SetPosition ( LINE_4 );
printf ( LCD_PutChar, "4th" );
Servo ( GATE_CLOSE );
while ( TRUE )
{
Display ( cRTie, cRPlace, 'R', iRTime, &cRDisplayFlag ); // check and display Track 1
Display ( cBTie, cBPlace, 'B', iBTime, &cBDisplayFlag ); // check and display Track 2
Display ( cGTie, cGPlace, 'G', iGTime, &cGDisplayFlag ); // check and display Track 3
Display ( cYTie, cYPlace, 'Y', iYTime, &cYDisplayFlag ); // check and display Track 4
delay_ms ( 100 );
if ( GetSerial ( 'F' ) ) // "EARLY DONE" command from computer
{
if ( cRPlace == 0 )
{
cRPlace = 5;
iRTime = 9999;
}
if ( cBPlace == 0 )
{
cBPlace = 5;
iBTime = 9999;
}
if ( cGPlace == 0 )
{
cGPlace = 5;
iGTime = 9999;
}
if ( cYPlace == 0 )
{
cYPlace = 5;
iYTime = 9999;
}
SendAllTimes();
break;
}
if ( cDisplayCnt == 4 ) // if all four lines actually written to display
{
SendAllTimes();
break;
}
}
}
}
#separate char CheckStartGate ( void )
{
// signal if start gate switch is not closed
if ( input ( SERVO_OUT ) == HIGH )
{
return ( ERR_GATE );
}
return ( ERR_NONE ); // otherwise OK
}
#separate char CheckFinishLine ( void )
{
// signal if photocell is blocked
if ( ( ( PORT_A ^ 0xff ) & 0x0f ) != 0 ) // invert Port A and mask
{
return ( ERR_FINISH );
}
return ( ERR_NONE ); // otherwise OK
}
#separate char GetSerial ( char cChar )
{
if ( cSerialCmd == cChar )
{
cSerialCmd = CMD_NUL;
return ( YES );
}
else
{
return ( NO );
}
}
#separate void Servo ( char cX )
{
char cCnt;
switch ( cX )
{
case GATE_OPEN:
{
for ( cCnt = 0; cCnt < 15; cCnt++ )
{
output_high ( SERVO_OUT );
delay_us ( 1000 );
output_low ( SERVO_OUT );
delay_ms ( 30 );
}
break;
}
case GATE_CLOSE:
{
for ( cCnt = 0; cCnt < 15; cCnt++ )
{
output_high ( SERVO_OUT );
delay_us ( 2000 );
output_low ( SERVO_OUT );
delay_ms ( 30 );
}
break;
}
}
output_float ( SERVO_OUT ); // go back to hi-z
}
#separate void SendAllTimes ( void )
{
// send lane time if that lane finished
if ( cRPlace != 0 )
{
SendTime ( 1, iRTime );
}
if ( cBPlace != 0 )
{
SendTime ( 2, iBTime );
}
if ( cGPlace != 0 )
{
SendTime ( 3, iGTime );
}
if ( cYPlace != 0 )
{
SendTime ( 4, iYTime );
}
}
#separate void SendTime ( char cLane, long iTime )
{
printf ( "%u %01lu.%03lu ", cLane, iTime/1000, iTime%1000 );
}
#separate void StartTimer ( void )
{
disable_interrupts ( INT_RTCC ); // turn off timer interrupt while resetting time
iRTime = 65535; // set the individual track times off zero, to max
iBTime = 65535;
iGTime = 65535;
iYTime = 65535;
cRDisplayFlag = OFF; // allow one-time display
cBDisplayFlag = OFF;
cGDisplayFlag = OFF;
cYDisplayFlag = OFF;
cRTie = NO; // preset to no tie conditions
cBTie = NO;
cGTie = NO;
cYTie = NO;
cRPlace = 0; // preset to no place
cBPlace = 0;
cGPlace = 0;
cYPlace = 0;
iTime = 0; // zero the count
cDisplayLine = 1; // preset to first display line
cPlaceNum = 1; // start with first place
cStarted = TRUE; // signal: running
cDisplayCnt = 0;
enable_interrupts ( INT_RTCC ); // turn on timer interrupt to begin timing
}
#separate void Display ( char cTie, char cPlace, char cTrackColor, long iTime, char *cDisplayFlag )
{
char cLedDrive, cTablePtr;
if ( *cDisplayFlag == YES ) // if this track's done flag was turned on by the interrupt
{
cTablePtr = cPlace - 1; // place value determines which display line
LCD_SetPosition ( cDisplayLocTable [ cTablePtr ] );
printf ( LCD_PutChar, "%c %2lu.%03lu", cTrackColor, iTime/1000, iTime%1000 );
if ( cTie == YES )
{
DisplayTie ( cDisplayLocTable [ cTablePtr ] ); // point to line
DisplayTie ( cDisplayLocTable [ cTablePtr - 1 ] ); // point to line above
}
*cDisplayFlag = NO; // prevent displaying again
cDisplayCnt += 1;
}
}
#separate void DisplayTie ( char cLoc )
{
LCD_SetPosition ( cLoc - 6 ); // point to beginning of this line
printf ( LCD_PutChar, "TIE!" );
}
#separate void LCD_Init ( void )
{
LCD_SetData ( 0x00 );
delay_ms ( 200 ); // wait enough time after Vdd rise
output_low ( LCD_RS );
LCD_SetData ( 0x03 ); // init with specific nibbles to start 4-bit mode
LCD_PulseEnable();
LCD_PulseEnable();
LCD_PulseEnable();
LCD_SetData ( 0x02 ); // set 4-bit interface
LCD_PulseEnable(); // send dual nibbles hereafter, MSN first
LCD_PutCmd ( 0x2C ); // function set (all lines, 5x7 characters)
LCD_PutCmd ( 0x0C ); // display ON, cursor off, no blink
LCD_PutCmd ( 0x01 ); // clear display
LCD_PutCmd ( 0x06 ); // entry mode set, increment & scroll left
}
#separate void LCD_SetPosition ( unsigned int cX )
{
// this subroutine works specifically for 4-bit Port A
LCD_SetData ( swap ( cX ) | 0x08 );
LCD_PulseEnable();
LCD_SetData ( swap ( cX ) );
LCD_PulseEnable();
}
#separate void LCD_PutChar ( unsigned int cX )
{
// this subroutine works specifically for 4-bit Port A
output_high ( LCD_RS );
LCD_SetData ( swap ( cX ) ); // send high nibble
LCD_PulseEnable();
LCD_SetData ( swap ( cX ) ); // send low nibble
LCD_PulseEnable();
output_low ( LCD_RS );
}
#separate void LCD_PutCmd ( unsigned int cX )
{
// this subroutine works specifically for 4-bit Port A
LCD_SetData ( swap ( cX ) ); // send high nibble
LCD_PulseEnable();
LCD_SetData ( swap ( cX ) ); // send low nibble
LCD_PulseEnable();
}
#separate void LCD_PulseEnable ( void )
{
output_high ( LCD_EN );
delay_us ( 10 );
output_low ( LCD_EN );
delay_ms ( 5 );
}
#separate void LCD_SetData ( unsigned int cX )
{
output_bit ( LCD_D4, cX & 0x01 );
output_bit ( LCD_D5, cX & 0x02 );
output_bit ( LCD_D6, cX & 0x04 );
output_bit ( LCD_D7, cX & 0x08 );
}