scoutece / paintboard / code / main.c @ 11c945d9
History | View | Annotate | Download (2.58 KB)
1 |
#include "twi.h" |
---|---|
2 |
#include "motor.h" |
3 |
#include "servo.h" |
4 |
#include "sol.h" |
5 |
#include "geiger.h" |
6 |
#include <avr/io.h> |
7 |
#include <avr/interrupt.h> |
8 |
#include <util/delay.h> |
9 |
|
10 |
#define TRACKING_ID 0x43 |
11 |
#define SERIAL_NUMBER 0x12 |
12 |
|
13 |
// indicies for paintboard internal data
|
14 |
#define PAINT_TRACKING_ID 0 // ro |
15 |
#define PAINT_SERIAL_NUMBER 1 // ro |
16 |
#define PAINT_MOTOR_A 2 // r/w |
17 |
#define PAINT_MOTOR_B 3 // r/w |
18 |
#define PAINT_SERVO_A 4 // r/w |
19 |
#define PAINT_SERVO_B 5 // r/w |
20 |
#define PAINT_12V_1 6 // r/w |
21 |
#define PAINT_12V_2 7 // r/w |
22 |
#define PAINT_12V_3 8 // r/w |
23 |
#define PAINT_12V_4 9 // r/w |
24 |
#define PAINT_INPUT_1 10 //ro |
25 |
#define PAINT_INPUT_2 11 //ro |
26 |
#define PAINT_INPUT_3 12 //ro |
27 |
|
28 |
|
29 |
#define PAINT_DATA_LEN 13 |
30 |
|
31 |
#define METAL_DETECT PD5
|
32 |
|
33 |
uint8_t internal_index = 0;
|
34 |
uint8_t internal_data[PAINT_DATA_LEN] = { |
35 |
TRACKING_ID, |
36 |
SERIAL_NUMBER, |
37 |
0,
|
38 |
0,
|
39 |
0,
|
40 |
0,
|
41 |
0,
|
42 |
0,
|
43 |
0,
|
44 |
0,
|
45 |
0,
|
46 |
0,
|
47 |
0
|
48 |
}; |
49 |
|
50 |
void slave_rx(uint8_t* data, int len) |
51 |
{ |
52 |
uint8_t value; |
53 |
if (len > 0 && data[0] < PAINT_DATA_LEN) |
54 |
{ |
55 |
internal_index = data[0];
|
56 |
if (len > 1 && internal_index > 1) |
57 |
{ |
58 |
value = data[1];
|
59 |
internal_data[internal_index] = value; |
60 |
switch (internal_index) {
|
61 |
case PAINT_MOTOR_A:
|
62 |
set_motor1(value); |
63 |
break;
|
64 |
case PAINT_MOTOR_B:
|
65 |
set_motor2(value); |
66 |
break;
|
67 |
case PAINT_SERVO_A:
|
68 |
set_servo1(value); |
69 |
break;
|
70 |
case PAINT_SERVO_B:
|
71 |
set_servo2(value); |
72 |
break;
|
73 |
case PAINT_12V_1:
|
74 |
set_sol1(value); |
75 |
break;
|
76 |
case PAINT_12V_2:
|
77 |
set_sol2(value); |
78 |
break;
|
79 |
case PAINT_12V_3:
|
80 |
set_sol3(value); |
81 |
break;
|
82 |
case PAINT_12V_4:
|
83 |
set_sol4(value); |
84 |
break;
|
85 |
} |
86 |
} |
87 |
} |
88 |
} |
89 |
|
90 |
void slave_tx(void) |
91 |
{ |
92 |
twi_transmit(&internal_data[internal_index], 1);
|
93 |
internal_index++; |
94 |
if (internal_index >= PAINT_DATA_LEN)
|
95 |
internal_index = 0;
|
96 |
} |
97 |
|
98 |
int main()
|
99 |
{ |
100 |
sei(); |
101 |
twi_attachSlaveRxEvent(slave_rx); |
102 |
twi_attachSlaveTxEvent(slave_tx); |
103 |
twi_setAddress(TRACKING_ID); |
104 |
twi_init(); |
105 |
geiger_init(); |
106 |
motor_init(); |
107 |
servo_init(); |
108 |
while (1) |
109 |
{ |
110 |
geiger_tick(); |
111 |
internal_data[PAINT_INPUT_2] = geiger_rate(); |
112 |
internal_data[PAINT_INPUT_1] = !(!(_BV(METAL_DETECT) & PIND)); |
113 |
if (internal_data[PAINT_INPUT_1]) {
|
114 |
set_servo1(-128);
|
115 |
set_motor1(0);
|
116 |
set_motor2(0);
|
117 |
} else {
|
118 |
set_servo1(127);
|
119 |
set_motor1(127);
|
120 |
set_motor2(127);
|
121 |
} |
122 |
servo_pulse(); |
123 |
_delay_ms(20);
|
124 |
} |
125 |
return 0; |
126 |
} |