whatever

[svn42.git] / dart / dart.pde

diff --git a/dart/dart.pde b/dart/dart.pde
index 7fbefaf..2e5223e 100644 (file)
--- a/dart/dart.pde
+++ b/dart/dart.pde
@@ -30,19 +30,14 @@ union union32 {
   uint32_t uint32;
 }; 
 
-
-//********************************************************************//
-
 typedef unsigned char byte;
 
-//********************************************************************//
-/*
 void start_timer()
 {
   // timer 1: 2 ms
   TCCR1A = 0;                    // prescaler 1:8, WGM = 4 (CTC)
-  TCCR1B = 1<<WGM12 | 1<<CS11;   // 
-  OCR1A = 159;        // (1+159)*8 = 1280 -> 0.08ms @ 16 MHz -> 1*alpha
+  TCCR1B = 1<<WGM12 | 1<<CS10  | 1<<CS11;    // 
+  OCR1A = 65000;        // (1+159)*8 = 1280 -> 0.08ms @ 16 MHz -> 1*alpha
 //  OCR1A = 207;        // (1+207)*8 = 1664 -> 0.104ms @ 16 MHz -> 1*alpha
   TCNT1 = 0;          // reseting timer
   TIMSK1 = 1<<OCIE1A; // enable Interrupt
@@ -54,35 +49,57 @@ void stop_timer() // stop the timer
   TCCR1B = 0; // no clock source
   TIMSK1 = 0; // disable timer interrupt
 }
-*/
+
+ISR(TIMER1_COMPA_vect)
+{
+  stop_timer();
+  PCICR|= B111;
+}
+
+
 byte last_input=0;
 byte last_output=0;
-static void PCint(uint8_t port) {
-  byte input = ( INPUT_SIG_PORTB  & ~ PINB ) | ( ( INPUT_SIG_PORTC  & ~ PINC ) <<1 ) |( INPUT_SIG_PORTD  & ~ PIND );
-  byte output = ( OUTPUT_SIG_PORTC  & ~ PINC ) | (( OUTPUT_SIG_PORTD  & ~ PIND ) <<2 ); // no output on B 
+static void PCint() {
+  byte PINB_COPY = PINB;
+  byte PINC_COPY = PINC;
+  byte PIND_COPY = PIND;
+  byte output = ( OUTPUT_SIG_PORTC  & ~ PINC_COPY ) | (( OUTPUT_SIG_PORTD  & ~ PIND_COPY ) <<2 ); // no output on B 
+  byte input = ( INPUT_SIG_PORTB  & ~ PINB_COPY ) | ( ( INPUT_SIG_PORTC  & ~ PINC_COPY ) <<1 ) |( INPUT_SIG_PORTD  & ~ PIND_COPY );
  
   if (!input)
    return;
-  if (last_input==input && last_output==output)
-    return;
+  if (!output)
+   return;
+  //if (last_input==input && last_output==output)
+    //return;
   last_input=input;
   last_output=output;
-  Serial.print(output,HEX);
-  Serial.print('\t');
-  Serial.println(input,HEX);
-  return;
+//  Serial.print(output,HEX);
+//  Serial.print('\t');
+//  Serial.print(input,HEX);
+//  Serial.print('\t');
+
+  byte value=0;
+  while(input>>=1)
+    value++;
+  value<<=3;
+  while(output>>=1)
+    value++;
+  Serial.println(value,HEX);
+  PCICR&=  ~ B111; // Disable Interrupt
+  start_timer();
 }
 
 
 
 SIGNAL(PCINT0_vect) {
-  PCint(0);
+  PCint();
 }
 SIGNAL(PCINT1_vect) {
-  PCint(1);
+  PCint();
 }
 SIGNAL(PCINT2_vect) {
-  PCint(2);
+  PCint();
 }
 void setup()
 {
@@ -103,7 +120,6 @@ void setup()
   PCMSK1=PINC_MASK & INPUT_SIG_PORTC;
   PCMSK2=PIND_MASK & INPUT_SIG_PORTD;
   PCICR|= B111;
-
 //  start_timer();
 }
 
@@ -115,6 +131,4 @@ void loop()
 {
 //  Serial.Serial.println("foo");
 //  return;
-
-
 }