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| 1 | /********
|
|---|---|
| 2 | * This file is part of Tooltron. |
| 3 | * |
| 4 | * Tooltron is free software: you can redistribute it and/or modify |
| 5 | * it under the terms of the Lesser GNU General Public License as published by |
| 6 | * the Free Software Foundation, either version 3 of the License, or |
| 7 | * (at your option) any later version. |
| 8 | * |
| 9 | * Tooltron is distributed in the hope that it will be useful, |
| 10 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 11 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 12 | * Lesser GNU General Public License for more details. |
| 13 | * You should have received a copy of the Lesser GNU General Public License |
| 14 | * along with Tooltron. If not, see <http://www.gnu.org/licenses/>. |
| 15 | * |
| 16 | * Copyright 2009 Kevin Woo <kwoo@2ndt.com> |
| 17 | * |
| 18 | ********/ |
| 19 | /** @file main.c
|
| 20 | * @brief Contains the main function for the toolbox code. |
| 21 | * |
| 22 | * @author Suresh Nidhiry (snidhiry@andrew.cmu.edu) |
| 23 | * @author Kevin Woo (kwoo@2ndt.com) |
| 24 | */ |
| 25 | |
| 26 | //Includes
|
| 27 | #include <avr/io.h> |
| 28 | #include <avr/interrupt.h> |
| 29 | #include <stdint.h> |
| 30 | #include <util/delay.h> |
| 31 | #include <tooltron.h> |
| 32 | #include "jumptable.h" |
| 33 | #include <toolbox_pindefs.h> |
| 34 | #define TOOLBOX
|
| 35 | #define RELAY _BV(PORTD4)
|
| 36 | #define VAC_SENSE _BV(PIND3)
|
| 37 | #define BUT_RED _BV(PINB4)
|
| 38 | #define BUT_BLACK _BV(PINB3)
|
| 39 | #define LED_GREEN _BV(PORTB2)
|
| 40 | #define LED_YELLOW _BV(PORTB1)
|
| 41 | #define LED_RED _BV(PORTB0)
|
| 42 | #define ON 0x01 |
| 43 | #define OFF 0x00 |
| 44 | |
| 45 | /***** change ADDR ****/
|
| 46 | #define ADDR 18 |
| 47 | #define DELIM '^' |
| 48 | #define SERVER 1 |
| 49 | #define TURNON 'O' 'O''0' |
| 50 | |
| 51 | /***
|
| 52 | * TWAIT - minutes to wait before green button is pressed to kill power |
| 53 | * TWARN - minutes until warning (blink yellow, allow more time with green button) |
| 54 | * TMAX - minutes until power is killed (unless tool is on) |
| 55 | */ |
| 56 | #define TWAIT 1 |
| 57 | #define TWARN 1 |
| 58 | #define TMAX 2 |
| 59 | |
| 60 | uint8_t sec; |
| 61 | uint8_t min; |
| 62 | |
| 63 | typedef enum { |
| 64 | sd, // start delimitor
|
| 65 | src, // src
|
| 66 | dest, // destination
|
| 67 | data, // data
|
| 68 | cs, // checksum
|
| 69 | ack, // send ack
|
| 70 | pwron, // poweron
|
| 71 | idiot, // user tried to hit green with the machine switch on
|
| 72 | toolon, // tool on
|
| 73 | warn, // time warning
|
| 74 | off // tool off
|
| 75 | } state_t; |
| 76 | |
| 77 | void init_pins(void) { |
| 78 | DDRB = 0x00;
|
| 79 | DDRB = _BV(DDB0) | _BV(DDB1) | _BV(DDB2) | _BV(DDB5); |
| 80 | DDRD = _BV(DDB4); |
| 81 | PORTB = 0x00;
|
| 82 | } |
| 83 | |
| 84 | void toggle_led(uint8_t which, uint8_t state) {
|
| 85 | if (state == ON) {
|
| 86 | PORTB &= ~which; |
| 87 | } else {
|
| 88 | PORTB |= which; |
| 89 | } |
| 90 | } |
| 91 | |
| 92 | void toggle_relay(uint8_t state) {
|
| 93 | if (state == ON) {
|
| 94 | PORTD |= RELAY; |
| 95 | } else {
|
| 96 | PORTD &= ~RELAY; |
| 97 | } |
| 98 | } |
| 99 | |
| 100 | inline uint8_t read_vac(void) { |
| 101 | return (!(PIND & VAC_SENSE));
|
| 102 | } |
| 103 | |
| 104 | inline uint8_t read_button(uint8_t which) {
|
| 105 | return (!(PINB & which));
|
| 106 | } |
| 107 | |
| 108 | void init_timer(void) { |
| 109 | // Clear timmer on OCRA1 Compare match
|
| 110 | // No prescale
|
| 111 | TCCR1B |= _BV(WGM12) | _BV(CS12); |
| 112 | |
| 113 | // 1 second @ 8MHz clock
|
| 114 | OCR1AH =0x7A;
|
| 115 | OCR1AL =0x12;
|
| 116 | |
| 117 | TIMSK = _BV(OCIE1A); |
| 118 | |
| 119 | sec = 0;
|
| 120 | min = 0;
|
| 121 | } |
| 122 | |
| 123 | void reset_timer(void) { |
| 124 | sec = 0;
|
| 125 | min = 0;
|
| 126 | } |
| 127 | |
| 128 | ISR(TIMER1_COMPA_vect) {
|
| 129 | if (sec == 59) { |
| 130 | sec = 0;
|
| 131 | min++; |
| 132 | } else {
|
| 133 | sec++; |
| 134 | } |
| 135 | } |
| 136 | |
| 137 | |
| 138 | int main(int argc, char **argv) { |
| 139 | state_t state = sd; |
| 140 | uint8_t packet[3];
|
| 141 | uint8_t ms_timer=0;
|
| 142 | |
| 143 | /***** Start Start-up Sequence *****/
|
| 144 | sei(); //Enable interrupts
|
| 145 | init_timer(); //Set registers for timer
|
| 146 | init_pins(); //Set pin directions
|
| 147 | rs485_init(51);
|
| 148 | /***** End Start-up Sequence *****/
|
| 149 | |
| 150 | uint8_t r; |
| 151 | |
| 152 | packet[0] = 0x00; |
| 153 | packet[1] = 0x00; |
| 154 | packet[2] = 0x00; |
| 155 | |
| 156 | while(1) { |
| 157 | switch (state) {
|
| 158 | case sd: |
| 159 | toggle_led(LED_RED, ON); |
| 160 | toggle_led(LED_YELLOW, OFF); |
| 161 | toggle_led(LED_GREEN, OFF); |
| 162 | toggle_relay(OFF); |
| 163 | while ((rs485_get_byte(&r)) < 0); |
| 164 | if (r == DELIM) {
|
| 165 | state = src; |
| 166 | } |
| 167 | break;
|
| 168 | case src: |
| 169 | while ((rs485_get_byte(&r)) < 0); |
| 170 | |
| 171 | if (r == DELIM) {
|
| 172 | state = src; |
| 173 | } else {
|
| 174 | packet[0] = r;
|
| 175 | state = dest; |
| 176 | } |
| 177 | break;
|
| 178 | case dest: |
| 179 | while ((rs485_get_byte(&r)) < 0); |
| 180 | |
| 181 | if (r == DELIM) {
|
| 182 | packet[0] = 0x00; |
| 183 | state = src; |
| 184 | } else if (r == ADDR) { |
| 185 | packet[1] = r;
|
| 186 | state = data; |
| 187 | } else {
|
| 188 | packet[0] = 0x00; |
| 189 | state = sd; |
| 190 | } |
| 191 | break;
|
| 192 | case data: |
| 193 | while ((rs485_get_byte(&r)) < 0); |
| 194 | |
| 195 | if (r == DELIM) {
|
| 196 | packet[0] = 0x00; |
| 197 | packet[1] = 0x00; |
| 198 | state = src; |
| 199 | } else {
|
| 200 | packet[2] = r;
|
| 201 | state = cs; |
| 202 | } |
| 203 | break;
|
| 204 | case cs: |
| 205 | while ((rs485_get_byte(&r)) < 0); |
| 206 | |
| 207 | if (r == (packet[0] ^ packet[1] ^ packet[2])) { |
| 208 | |
| 209 | if (packet[2] == TT_TON) { |
| 210 | state = ack; |
| 211 | break;
|
| 212 | } |
| 213 | } |
| 214 | |
| 215 | packet[0] = 0x00; |
| 216 | packet[1] = 0x00; |
| 217 | packet[2] = 0x00; |
| 218 | state = sd; |
| 219 | break;
|
| 220 | case ack: |
| 221 | rs485_send_byte(DELIM); |
| 222 | rs485_send_byte(ADDR); |
| 223 | rs485_send_byte(SERVER); |
| 224 | rs485_send_byte('A');
|
| 225 | rs485_send_byte(ADDR ^ SERVER ^ 'A');
|
| 226 | |
| 227 | toggle_led(LED_RED, OFF); |
| 228 | toggle_led(LED_YELLOW, ON); |
| 229 | |
| 230 | state = pwron; |
| 231 | reset_timer(); |
| 232 | break;
|
| 233 | case pwron: |
| 234 | if (read_vac() == ON) {
|
| 235 | ms_timer = 0;
|
| 236 | state = idiot; |
| 237 | break;
|
| 238 | } |
| 239 | |
| 240 | if (read_button(BUT_BLACK)) {
|
| 241 | toggle_led(LED_YELLOW, OFF); |
| 242 | toggle_led(LED_GREEN, ON); |
| 243 | toggle_relay(ON); |
| 244 | |
| 245 | reset_timer(); |
| 246 | state = toolon; |
| 247 | } else if ((read_button(BUT_RED)) || (min >= TWAIT)) { |
| 248 | state = off; |
| 249 | } |
| 250 | break;
|
| 251 | case idiot: |
| 252 | if (read_vac() == OFF) {
|
| 253 | state = pwron; |
| 254 | toggle_led(LED_RED, OFF); |
| 255 | toggle_led(LED_YELLOW, ON); |
| 256 | break;
|
| 257 | } |
| 258 | |
| 259 | if (read_button(BUT_RED)) {
|
| 260 | state = off; |
| 261 | break;
|
| 262 | } |
| 263 | |
| 264 | if(ms_timer >= 100) { |
| 265 | toggle_led(LED_YELLOW, ON); |
| 266 | toggle_led(LED_RED, OFF); |
| 267 | |
| 268 | if(ms_timer >= 200) { |
| 269 | ms_timer = 0;
|
| 270 | } |
| 271 | } |
| 272 | else {
|
| 273 | toggle_led(LED_YELLOW, OFF); |
| 274 | toggle_led(LED_RED, ON); |
| 275 | } |
| 276 | |
| 277 | _delay_ms(2);
|
| 278 | ms_timer++; |
| 279 | break;
|
| 280 | |
| 281 | case toolon: |
| 282 | |
| 283 | if ((read_button(BUT_RED)) && (read_vac() == OFF)) {
|
| 284 | state = off; |
| 285 | toggle_relay(OFF); |
| 286 | } else if (min >= TWARN) { |
| 287 | toggle_led(LED_GREEN, OFF); |
| 288 | state = warn; |
| 289 | } |
| 290 | break;
|
| 291 | |
| 292 | case warn: |
| 293 | if(ms_timer >= 100) { |
| 294 | toggle_led(LED_YELLOW, ON); |
| 295 | |
| 296 | if(ms_timer >= 200) { |
| 297 | ms_timer = 0;
|
| 298 | } |
| 299 | } |
| 300 | else {
|
| 301 | toggle_led(LED_YELLOW, OFF); |
| 302 | } |
| 303 | |
| 304 | if (read_button(BUT_RED) && read_vac() == OFF) {
|
| 305 | toggle_relay(OFF); |
| 306 | state = off; |
| 307 | } else if (read_button(BUT_BLACK)) { |
| 308 | toggle_led(LED_GREEN, ON); |
| 309 | toggle_led(LED_YELLOW, OFF); |
| 310 | reset_timer(); |
| 311 | state = toolon; |
| 312 | } else if ((min >= TMAX) && (read_vac() == OFF)) { |
| 313 | toggle_relay(OFF); |
| 314 | state = off; |
| 315 | } |
| 316 | |
| 317 | _delay_ms(2);
|
| 318 | ms_timer++; |
| 319 | |
| 320 | break;
|
| 321 | case off: |
| 322 | toggle_led(LED_GREEN, OFF); |
| 323 | toggle_led(LED_YELLOW, OFF); |
| 324 | toggle_led(LED_RED, ON); |
| 325 | state = sd; |
| 326 | break;
|
| 327 | default: state = sd;
|
| 328 | } |
| 329 | |
| 330 | } |
| 331 | |
| 332 | return 0; |
| 333 | } |