root / toolbox / main.c @ 4b7d087b
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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 | 532ba0bd | Tom Mullins | #include "led.h" |
10 | 20e5429c | Tom Mullins | |
11 | 12ea39cc | Tom Mullins | enum toolstate_t {
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12 | TS_INIT, |
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13 | TS_OFF, |
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14 | TS_WAIT_ACCESS, |
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15 | f5d1f56a | Tom Mullins | TS_DENY, |
16 | 12ea39cc | Tom Mullins | TS_REQ_DIS, |
17 | TS_MISSING_ID, |
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18 | TS_ON |
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19 | }; |
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20 | |||
21 | static enum toolstate_t toolstate = TS_INIT; |
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22 | 6ca98a3f | Tom Mullins | static uint8_t coils;
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23 | 1b054655 | Tom Mullins | static uint8_t latest_reading[RFID_SERNO_SIZE];
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24 | 6ca98a3f | Tom Mullins | static uint8_t current_user[RFID_SERNO_SIZE];
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25 | 208a6fb2 | Tom Mullins | |
26 | static inline void set_coil(char coil, char bit) { |
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27 | 6ca98a3f | Tom Mullins | coils = (coils & ~(1 << coil)) | (bit << coil);
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28 | 208a6fb2 | Tom Mullins | } |
29 | 12ea39cc | Tom Mullins | static inline char get_coil(char coil) { |
30 | return (coils >> coil) & 1; |
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31 | } |
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32 | |||
33 | static inline void tool_init() {DDRA |= _BV(DDA1);} |
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34 | static inline void tool_enable() {PORTA |= _BV(PA1);} |
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35 | 76915f20 | Tom Mullins | static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
36 | 12ea39cc | Tom Mullins | |
37 | 1085ef77 | Tom Mullins | static inline void serno_zero(uint8_t *serno) { |
38 | 1b054655 | Tom Mullins | memset(serno, 0, RFID_SERNO_SIZE);
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39 | } |
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40 | |||
41 | static char serno_is_nonzero(uint8_t *serno) { |
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42 | int i;
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43 | for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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44 | if (serno[i]) {
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45 | return 1; |
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46 | } |
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47 | } |
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48 | return 0; |
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49 | } |
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50 | |||
51 | static char serno_equal(uint8_t *a, uint8_t *b) { |
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52 | return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
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53 | } |
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54 | |||
55 | static void serno_cpy(uint8_t *dest, uint8_t *src) { |
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56 | memcpy(dest, src, RFID_SERNO_SIZE); |
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57 | } |
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58 | |||
59 | 12ea39cc | Tom Mullins | static void tool_main() { |
60 | |||
61 | switch (toolstate) {
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62 | |||
63 | case TS_INIT:
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64 | if (get_coil(MB_COIL_INIT)) {
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65 | set_coil(MB_COIL_NEW, 0);
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66 | set_coil(MB_COIL_EN, 0);
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67 | set_coil(MB_COIL_REQ_DIS, 0);
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68 | toolstate = TS_OFF; |
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69 | } |
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70 | break;
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71 | |||
72 | case TS_OFF:
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73 | f5d1f56a | Tom Mullins | led_off(); |
74 | 4b7d087b | Tom Mullins | set_coil(MB_COIL_EN, 0);
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75 | 1b054655 | Tom Mullins | if (serno_is_nonzero(latest_reading)) {
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76 | serno_cpy(current_user, latest_reading); |
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77 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_NEW, 1);
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78 | toolstate = TS_WAIT_ACCESS; |
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79 | } |
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80 | break;
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81 | |||
82 | case TS_WAIT_ACCESS:
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83 | 1b054655 | Tom Mullins | led_yellow(); |
84 | 12ea39cc | Tom Mullins | if (get_coil(MB_COIL_EN)) {
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85 | tool_enable(); |
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86 | toolstate = TS_ON; |
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87 | dc472500 | Tom Mullins | } else if (!get_coil(MB_COIL_NEW)) { |
88 | f5d1f56a | Tom Mullins | toolstate = TS_DENY; |
89 | 4b7d087b | Tom Mullins | } else if (!serno_equal(current_user, latest_reading)) { |
90 | set_coil(MB_COIL_NEW, 0);
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91 | toolstate = TS_OFF; |
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92 | 12ea39cc | Tom Mullins | } |
93 | break;
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94 | |||
95 | f5d1f56a | Tom Mullins | case TS_DENY:
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96 | led_red(); |
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97 | if (!serno_equal(current_user, latest_reading)) {
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98 | toolstate = TS_OFF; |
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99 | serno_zero(current_user); |
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100 | } |
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101 | |||
102 | 12ea39cc | Tom Mullins | case TS_REQ_DIS:
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103 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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104 | tool_disable(); |
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105 | toolstate = TS_OFF; |
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106 | } else if (!get_coil(MB_COIL_REQ_DIS)) { |
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107 | toolstate = TS_ON; |
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108 | } else {
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109 | // TODO blink yellow for 10 seconds or something
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110 | set_coil(MB_COIL_EN, 0);
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111 | set_coil(MB_COIL_REQ_DIS, 0);
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112 | tool_disable(); |
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113 | 1b054655 | Tom Mullins | serno_zero(current_user); |
114 | e53aa5c5 | Tom Mullins | toolstate = TS_OFF; |
115 | } |
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116 | 12ea39cc | Tom Mullins | break;
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117 | |||
118 | case TS_MISSING_ID:
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119 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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120 | tool_disable(); |
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121 | toolstate = TS_OFF; |
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122 | } else if (get_coil(MB_COIL_REQ_DIS)) { |
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123 | toolstate = TS_REQ_DIS; |
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124 | 1b054655 | Tom Mullins | } else if (serno_equal(current_user, latest_reading)) { |
125 | 12ea39cc | Tom Mullins | toolstate = TS_ON; |
126 | } else {
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127 | dc472500 | Tom Mullins | if (led_blink_done()) {
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128 | set_coil(MB_COIL_EN, 0);
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129 | tool_disable(); |
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130 | 1b054655 | Tom Mullins | serno_zero(current_user); |
131 | dc472500 | Tom Mullins | toolstate = TS_OFF; |
132 | } |
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133 | 12ea39cc | Tom Mullins | } |
134 | break;
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135 | |||
136 | case TS_ON:
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137 | 1b054655 | Tom Mullins | led_green(); |
138 | 12ea39cc | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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139 | tool_disable(); |
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140 | 1b054655 | Tom Mullins | serno_zero(current_user); |
141 | 12ea39cc | Tom Mullins | toolstate = TS_OFF; |
142 | e53aa5c5 | Tom Mullins | } else if(get_coil(MB_COIL_REQ_DIS)) { |
143 | 12ea39cc | Tom Mullins | toolstate = TS_REQ_DIS; |
144 | 1b054655 | Tom Mullins | } else if (!serno_equal(current_user, latest_reading)) { |
145 | 12ea39cc | Tom Mullins | toolstate = TS_MISSING_ID; |
146 | 1085ef77 | Tom Mullins | led_blink_start(666, 15, YELLOW); |
147 | 12ea39cc | Tom Mullins | } |
148 | break;
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149 | |||
150 | } |
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151 | |||
152 | } |
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153 | 208a6fb2 | Tom Mullins | |
154 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
155 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
156 | 208a6fb2 | Tom Mullins | |
157 | dc472500 | Tom Mullins | addr--; |
158 | |||
159 | 532ba0bd | Tom Mullins | if (addr+n_coils > N_COILS) {
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160 | 20e5429c | Tom Mullins | return MB_ENOREG;
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161 | 208a6fb2 | Tom Mullins | } |
162 | |||
163 | if (mode == MB_REG_WRITE) {
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164 | |||
165 | switch (addr) {
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166 | |||
167 | case MB_COIL_NEW:
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168 | /* nop */
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169 | reg_buf[0] >>= 1; |
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170 | n_coils--; |
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171 | if (n_coils == 0) { |
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172 | return MB_ENOERR;
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173 | } |
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174 | |||
175 | case MB_COIL_EN:
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176 | set_coil(MB_COIL_NEW, 0);
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177 | set_coil(MB_COIL_EN, reg_buf[0] & 1); |
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178 | reg_buf[0] >>= 1; |
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179 | n_coils--; |
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180 | if (n_coils == 0) { |
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181 | return MB_ENOERR;
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182 | } |
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183 | |||
184 | case MB_COIL_REQ_DIS:
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185 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
186 | 208a6fb2 | Tom Mullins | reg_buf[0] >>= 1; |
187 | n_coils--; |
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188 | if (n_coils == 0) { |
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189 | return MB_ENOERR;
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190 | } |
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191 | |||
192 | case MB_COIL_INIT:
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193 | set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
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194 | reg_buf[0] >>= 1; |
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195 | n_coils--; |
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196 | if (n_coils == 0) { |
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197 | return MB_ENOERR;
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198 | } |
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199 | } |
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200 | |||
201 | 20e5429c | Tom Mullins | } else if (mode == MB_REG_READ) { |
202 | 208a6fb2 | Tom Mullins | |
203 | dc472500 | Tom Mullins | reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
204 | 208a6fb2 | Tom Mullins | return MB_ENOERR;
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205 | |||
206 | 20e5429c | Tom Mullins | } |
207 | 208a6fb2 | Tom Mullins | |
208 | return MB_EIO;
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209 | 20e5429c | Tom Mullins | } |
210 | |||
211 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) { |
212 | 20e5429c | Tom Mullins | return MB_ENOREG;
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213 | } |
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214 | |||
215 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) { |
216 | |||
217 | dc472500 | Tom Mullins | addr--; |
218 | |||
219 | 20e5429c | Tom Mullins | switch (addr) {
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220 | 04b8cd51 | Tom Mullins | |
221 | case MB_INP_SERNOL:
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222 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[0];
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223 | *reg_buf++ = current_user[1];
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224 | 04b8cd51 | Tom Mullins | n_regs--; |
225 | if (n_regs == 0) { |
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226 | return MB_ENOERR;
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227 | } |
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228 | |||
229 | case MB_INP_SERNOH:
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230 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[2];
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231 | *reg_buf++ = current_user[3];
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232 | 04b8cd51 | Tom Mullins | n_regs--; |
233 | if (n_regs == 0) { |
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234 | return MB_ENOERR;
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235 | } |
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236 | |||
237 | case MB_INP_CURRENT:
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238 | *reg_buf++ = 0;
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239 | *reg_buf++ = 0;
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240 | n_regs--; |
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241 | if (n_regs == 0) { |
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242 | return MB_ENOERR;
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243 | 20e5429c | Tom Mullins | } |
244 | 04b8cd51 | Tom Mullins | |
245 | 20e5429c | Tom Mullins | default:
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246 | return MB_ENOREG;
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247 | } |
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248 | } |
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249 | |||
250 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
251 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
252 | if (mode == MB_REG_WRITE) {
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253 | return MB_ENOREG;
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254 | } else if (mode == MB_REG_READ) { |
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255 | return MB_ENOREG;
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256 | } else {
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257 | return MB_EIO;
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258 | } |
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259 | } |
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260 | |||
261 | int main() {
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262 | 12ea39cc | Tom Mullins | |
263 | 532ba0bd | Tom Mullins | led_init(); |
264 | 12ea39cc | Tom Mullins | tool_init(); |
265 | 9b2b6d91 | Tom Mullins | rfid_init(); |
266 | 20e5429c | Tom Mullins | |
267 | eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
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268 | eMBEnable(); |
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269 | |||
270 | 208a6fb2 | Tom Mullins | sei(); |
271 | |||
272 | 532ba0bd | Tom Mullins | rfid_start_read(); |
273 | 20e5429c | Tom Mullins | while (1) { |
274 | 532ba0bd | Tom Mullins | if (rfid_poll()) {
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275 | 1b054655 | Tom Mullins | rfid_get_serno(latest_reading); |
276 | 532ba0bd | Tom Mullins | rfid_start_read(); |
277 | } |
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278 | dc472500 | Tom Mullins | tool_main(); |
279 | 20e5429c | Tom Mullins | eMBPoll(); |
280 | 532ba0bd | Tom Mullins | _delay_ms(50);
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281 | 20e5429c | Tom Mullins | } |
282 | |||
283 | return 0; |
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284 | } |