root / paintboard / code / main.c @ 351481ed
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1 | 4319e0bc | Tom Mullins | #include "twi.h" |
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2 | #include "motor.h" |
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3 | 351481ed | Tom Mullins | #include "servo.h" |
4 | #include "sol.h" |
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5 | 4319e0bc | Tom Mullins | #include <avr/io.h> |
6 | #include <avr/interrupt.h> |
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7 | |||
8 | #define TRACKING_ID 0x43 |
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9 | #define SERIAL_NUMBER 0x12 |
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10 | |||
11 | // indicies for paintboard internal data
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12 | #define PAINT_TRACKING_ID 0 // ro |
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13 | #define PAINT_SERIAL_NUMBER 1 // ro |
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14 | #define PAINT_MOTOR_A 2 // r/w |
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15 | #define PAINT_MOTOR_B 3 // r/w |
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16 | #define PAINT_SERVO_A 4 // r/w |
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17 | #define PAINT_SERVO_B 5 // r/w |
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18 | #define PAINT_12V_1 6 // r/w |
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19 | #define PAINT_12V_2 7 // r/w |
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20 | #define PAINT_12V_3 8 // r/w |
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21 | #define PAINT_12V_4 9 // r/w |
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22 | |||
23 | #define PAINT_DATA_LEN 10 |
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24 | |||
25 | uint8_t internal_index = 0;
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26 | uint8_t internal_data[PAINT_DATA_LEN] = { |
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27 | TRACKING_ID, |
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28 | SERIAL_NUMBER, |
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29 | 0,
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30 | 0,
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31 | 0,
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32 | 0,
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33 | 0,
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34 | 0,
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35 | 0,
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36 | 0
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37 | }; |
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38 | |||
39 | void slave_rx(uint8_t* data, int len) |
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40 | { |
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41 | uint8_t value; |
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42 | if (len > 0 && data[0] < PAINT_DATA_LEN) |
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43 | { |
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44 | internal_index = data[0];
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45 | if (len > 1 && internal_index > 1) |
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46 | { |
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47 | value = data[1];
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48 | internal_data[internal_index] = value; |
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49 | switch (internal_index) {
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50 | case PAINT_MOTOR_A:
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51 | 351481ed | Tom Mullins | set_motor1(value); |
52 | 4319e0bc | Tom Mullins | break;
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53 | case PAINT_MOTOR_B:
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54 | 351481ed | Tom Mullins | set_motor2(value); |
55 | 4319e0bc | Tom Mullins | break;
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56 | case PAINT_SERVO_A:
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57 | 351481ed | Tom Mullins | set_servo1(value); |
58 | 4319e0bc | Tom Mullins | break;
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59 | case PAINT_SERVO_B:
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60 | 351481ed | Tom Mullins | set_servo2(value); |
61 | 4319e0bc | Tom Mullins | break;
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62 | case PAINT_12V_1:
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63 | 351481ed | Tom Mullins | set_sol1(value); |
64 | 4319e0bc | Tom Mullins | break;
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65 | case PAINT_12V_2:
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66 | 351481ed | Tom Mullins | set_sol2(value); |
67 | 4319e0bc | Tom Mullins | break;
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68 | case PAINT_12V_3:
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69 | 351481ed | Tom Mullins | set_sol3(value); |
70 | 4319e0bc | Tom Mullins | break;
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71 | case PAINT_12V_4:
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72 | 351481ed | Tom Mullins | set_sol4(value); |
73 | 4319e0bc | Tom Mullins | break;
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74 | } |
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75 | } |
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76 | } |
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77 | } |
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78 | |||
79 | void slave_tx(void) |
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80 | { |
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81 | twi_transmit(&internal_data[internal_index], 1);
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82 | internal_index++; |
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83 | if (internal_index >= PAINT_DATA_LEN)
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84 | internal_index = 0;
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85 | } |
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86 | |||
87 | int main()
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88 | { |
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89 | sei(); |
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90 | twi_attachSlaveRxEvent(slave_rx); |
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91 | twi_attachSlaveTxEvent(slave_tx); |
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92 | twi_setAddress(TRACKING_ID); |
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93 | twi_init(); |
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94 | motor_init(); |
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95 | while (1) |
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96 | { |
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97 | f4a85021 | Tom Mullins | /* TODO geiger counter and metal detector */
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98 | 4319e0bc | Tom Mullins | } |
99 | return 0; |
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100 | } |