root / toolbox / main.c @ 12ea39cc
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| 1 | 20e5429c | Tom Mullins | #include <stdint.h> |
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| 2 | 12ea39cc | Tom Mullins | #include <string.h> |
| 3 | #include <avr/io.h> |
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| 4 | 20e5429c | Tom Mullins | #include <util/delay.h> |
| 5 | #include "mb.h" |
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| 6 | #include "mbport.h" |
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| 7 | #include "tooltron_mb.h" |
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| 8 | 9b2b6d91 | Tom Mullins | #include "rfid.h" |
| 9 | 20e5429c | Tom Mullins | |
| 10 | 12ea39cc | Tom Mullins | enum toolstate_t {
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| 11 | TS_INIT, |
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| 12 | TS_OFF, |
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| 13 | TS_WAIT_ACCESS, |
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| 14 | TS_REQ_DIS, |
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| 15 | TS_MISSING_ID, |
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| 16 | TS_ON |
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| 17 | }; |
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| 18 | |||
| 19 | static enum toolstate_t toolstate = TS_INIT; |
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| 20 | 208a6fb2 | Tom Mullins | static char coils; |
| 21 | 12ea39cc | Tom Mullins | static char current_user[RFID_SERNO_SIZE]; |
| 22 | 208a6fb2 | Tom Mullins | |
| 23 | static inline void set_coil(char coil, char bit) { |
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| 24 | coils |= (bit << coil); |
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| 25 | } |
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| 26 | 12ea39cc | Tom Mullins | static inline char get_coil(char coil) { |
| 27 | return (coils >> coil) & 1; |
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| 28 | } |
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| 29 | |||
| 30 | static inline void tool_init() {DDRA |= _BV(DDA1);} |
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| 31 | static inline void tool_enable() {PORTA |= _BV(PA1);} |
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| 32 | static inline void tool_disable() {PORTA &= _BV(PA1);} |
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| 33 | |||
| 34 | static void tool_main() { |
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| 35 | |||
| 36 | switch (toolstate) {
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| 37 | |||
| 38 | case TS_INIT:
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| 39 | if (get_coil(MB_COIL_INIT)) {
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| 40 | set_coil(MB_COIL_NEW, 0);
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| 41 | set_coil(MB_COIL_EN, 0);
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| 42 | set_coil(MB_COIL_REQ_DIS, 0);
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| 43 | toolstate = TS_OFF; |
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| 44 | } |
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| 45 | break;
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| 46 | |||
| 47 | case TS_OFF:
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| 48 | if (rfid_nonzero()) {
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| 49 | rfid_get_serno(current_user); |
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| 50 | set_coil(MB_COIL_NEW, 1);
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| 51 | toolstate = TS_WAIT_ACCESS; |
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| 52 | } |
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| 53 | break;
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| 54 | |||
| 55 | case TS_WAIT_ACCESS:
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| 56 | if (get_coil(MB_COIL_EN)) {
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| 57 | tool_enable(); |
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| 58 | toolstate = TS_ON; |
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| 59 | } |
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| 60 | break;
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| 61 | |||
| 62 | case TS_REQ_DIS:
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| 63 | // TODO blink yellow for 10 seconds or something
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| 64 | set_coil(MB_COIL_EN, 0);
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| 65 | tool_disable(); |
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| 66 | toolstate = TS_OFF; |
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| 67 | break;
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| 68 | |||
| 69 | case TS_MISSING_ID:
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| 70 | if (rfid_check_serno(current_user)) {
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| 71 | toolstate = TS_ON; |
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| 72 | } else {
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| 73 | // TODO blink yellow for 10 seconds or something
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| 74 | set_coil(MB_COIL_EN, 0);
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| 75 | tool_disable(); |
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| 76 | toolstate = TS_OFF; |
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| 77 | } |
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| 78 | break;
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| 79 | |||
| 80 | case TS_ON:
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| 81 | if (!get_coil(MB_COIL_EN)) {
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| 82 | tool_disable(); |
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| 83 | toolstate = TS_OFF; |
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| 84 | } |
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| 85 | if (get_coil(MB_COIL_REQ_DIS)) {
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| 86 | toolstate = TS_REQ_DIS; |
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| 87 | } |
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| 88 | if (!rfid_check_serno(current_user)) {
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| 89 | toolstate = TS_MISSING_ID; |
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| 90 | } |
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| 91 | break;
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| 92 | |||
| 93 | } |
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| 94 | |||
| 95 | } |
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| 96 | 208a6fb2 | Tom Mullins | |
| 97 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
| 98 | 20e5429c | Tom Mullins | eMBRegisterMode mode) {
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| 99 | 208a6fb2 | Tom Mullins | |
| 100 | if (addr >= N_COILS || n_coils >= N_COILS-addr) {
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| 101 | 20e5429c | Tom Mullins | return MB_ENOREG;
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| 102 | 208a6fb2 | Tom Mullins | } |
| 103 | |||
| 104 | if (mode == MB_REG_WRITE) {
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| 105 | |||
| 106 | switch (addr) {
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| 107 | |||
| 108 | case MB_COIL_NEW:
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| 109 | /* nop */
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| 110 | reg_buf[0] >>= 1; |
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| 111 | n_coils--; |
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| 112 | if (n_coils == 0) { |
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| 113 | return MB_ENOERR;
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| 114 | } |
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| 115 | |||
| 116 | case MB_COIL_EN:
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| 117 | set_coil(MB_COIL_NEW, 0);
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| 118 | set_coil(MB_COIL_EN, reg_buf[0] & 1); |
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| 119 | reg_buf[0] >>= 1; |
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| 120 | n_coils--; |
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| 121 | if (n_coils == 0) { |
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| 122 | return MB_ENOERR;
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| 123 | } |
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| 124 | |||
| 125 | case MB_COIL_REQ_DIS:
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| 126 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
| 127 | 208a6fb2 | Tom Mullins | reg_buf[0] >>= 1; |
| 128 | n_coils--; |
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| 129 | if (n_coils == 0) { |
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| 130 | return MB_ENOERR;
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| 131 | } |
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| 132 | |||
| 133 | case MB_COIL_INIT:
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| 134 | set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
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| 135 | reg_buf[0] >>= 1; |
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| 136 | n_coils--; |
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| 137 | if (n_coils == 0) { |
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| 138 | return MB_ENOERR;
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| 139 | } |
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| 140 | } |
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| 141 | |||
| 142 | 20e5429c | Tom Mullins | } else if (mode == MB_REG_READ) { |
| 143 | 208a6fb2 | Tom Mullins | |
| 144 | reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
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| 145 | return MB_ENOERR;
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| 146 | |||
| 147 | 20e5429c | Tom Mullins | } |
| 148 | 208a6fb2 | Tom Mullins | |
| 149 | return MB_EIO;
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| 150 | 20e5429c | Tom Mullins | } |
| 151 | |||
| 152 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) {
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| 153 | 20e5429c | Tom Mullins | return MB_ENOREG;
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| 154 | } |
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| 155 | |||
| 156 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
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| 157 | char serno[RFID_SERNO_SIZE];
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| 158 | |||
| 159 | 12ea39cc | Tom Mullins | memcpy(reg_buf, current_user, sizeof(current_user));
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| 160 | 04b8cd51 | Tom Mullins | |
| 161 | 20e5429c | Tom Mullins | switch (addr) {
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| 162 | 04b8cd51 | Tom Mullins | |
| 163 | case MB_INP_SERNOL:
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| 164 | // TODO check that these (and the ones in SERNOH) are in the right order
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| 165 | *reg_buf++ = serno[0];
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| 166 | *reg_buf++ = serno[1];
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| 167 | n_regs--; |
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| 168 | if (n_regs == 0) { |
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| 169 | return MB_ENOERR;
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| 170 | } |
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| 171 | |||
| 172 | case MB_INP_SERNOH:
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| 173 | *reg_buf++ = serno[2];
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| 174 | *reg_buf++ = serno[3];
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| 175 | n_regs--; |
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| 176 | if (n_regs == 0) { |
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| 177 | return MB_ENOERR;
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| 178 | } |
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| 179 | |||
| 180 | case MB_INP_CURRENT:
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| 181 | *reg_buf++ = 0;
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| 182 | *reg_buf++ = 0;
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| 183 | n_regs--; |
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| 184 | if (n_regs == 0) { |
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| 185 | return MB_ENOERR;
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| 186 | 20e5429c | Tom Mullins | } |
| 187 | 04b8cd51 | Tom Mullins | |
| 188 | 20e5429c | Tom Mullins | default:
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| 189 | return MB_ENOREG;
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| 190 | } |
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| 191 | } |
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| 192 | |||
| 193 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
| 194 | 20e5429c | Tom Mullins | eMBRegisterMode mode) {
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| 195 | if (mode == MB_REG_WRITE) {
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| 196 | return MB_ENOREG;
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| 197 | } else if (mode == MB_REG_READ) { |
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| 198 | return MB_ENOREG;
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| 199 | } else {
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| 200 | return MB_EIO;
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| 201 | } |
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| 202 | } |
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| 203 | |||
| 204 | int main() {
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| 205 | 12ea39cc | Tom Mullins | |
| 206 | tool_init(); |
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| 207 | 9b2b6d91 | Tom Mullins | rfid_init(); |
| 208 | 20e5429c | Tom Mullins | |
| 209 | eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
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| 210 | eMBEnable(); |
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| 211 | |||
| 212 | 208a6fb2 | Tom Mullins | sei(); |
| 213 | |||
| 214 | 20e5429c | Tom Mullins | while (1) { |
| 215 | rfid_read(); |
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| 216 | 12ea39cc | Tom Mullins | tool_main(); |
| 217 | 20e5429c | Tom Mullins | eMBPoll(); |
| 218 | _delay_ms(200);
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| 219 | } |
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| 220 | |||
| 221 | return 0; |
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| 222 | } |