/toolbox/main.c - Annotate - Tooltron - Robotics Club

root / toolbox / main.c @ 6ca98a3f

History | View | Annotate | Download (4.75 KB)

1	20e5429c	Tom Mullins	#include <stdint.h>
2	12ea39cc	Tom Mullins	#include <string.h>
3			#include <avr/io.h>
4	20e5429c	Tom Mullins	#include <util/delay.h>
5			#include "mb.h"
6			#include "mbport.h"
7			#include "tooltron_mb.h"
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 {
12			TS_INIT,
13			TS_OFF,
14			TS_WAIT_ACCESS,
15			TS_REQ_DIS,
16			TS_MISSING_ID,
17			TS_ON
18			};
19
20			static enum toolstate_t toolstate = TS_INIT;
21	6ca98a3f	Tom Mullins	static uint8_t coils;
22			static uint8_t current_user[RFID_SERNO_SIZE];
23	208a6fb2	Tom Mullins
24			static inline void set_coil(char coil, char bit) {
25	6ca98a3f	Tom Mullins	coils = (coils & ~(1 << coil)) \| (bit << coil);
26	208a6fb2	Tom Mullins	}
27	12ea39cc	Tom Mullins	static inline char get_coil(char coil) {
28			return (coils >> coil) & 1;
29			}
30
31			static inline void tool_init() {DDRA \|= _BV(DDA1);}
32			static inline void tool_enable() {PORTA \|= _BV(PA1);}
33	76915f20	Tom Mullins	static inline void tool_disable() {PORTA &= ~ _BV(PA1);}
34	12ea39cc	Tom Mullins
35			static void tool_main() {
36
37			switch (toolstate) {
38
39			case TS_INIT:
40			if (get_coil(MB_COIL_INIT)) {
41			set_coil(MB_COIL_NEW, 0);
42			set_coil(MB_COIL_EN, 0);
43			set_coil(MB_COIL_REQ_DIS, 0);
44			toolstate = TS_OFF;
45			}
46			break;
47
48			case TS_OFF:
49			if (rfid_nonzero()) {
50			rfid_get_serno(current_user);
51			set_coil(MB_COIL_NEW, 1);
52			toolstate = TS_WAIT_ACCESS;
53			}
54			break;
55
56			case TS_WAIT_ACCESS:
57			if (get_coil(MB_COIL_EN)) {
58			tool_enable();
59			toolstate = TS_ON;
60			}
61			break;
62
63			case TS_REQ_DIS:
64	e53aa5c5	Tom Mullins	if (!get_coil(MB_COIL_EN)) {
65			tool_disable();
66			toolstate = TS_OFF;
67			} else if (!get_coil(MB_COIL_REQ_DIS)) {
68			toolstate = TS_ON;
69			} else {
70			// TODO blink yellow for 10 seconds or something
71			set_coil(MB_COIL_EN, 0);
72			set_coil(MB_COIL_REQ_DIS, 0);
73			tool_disable();
74			toolstate = TS_OFF;
75			}
76	12ea39cc	Tom Mullins	break;
77
78			case TS_MISSING_ID:
79	e53aa5c5	Tom Mullins	if (!get_coil(MB_COIL_EN)) {
80			tool_disable();
81			toolstate = TS_OFF;
82			} else if (get_coil(MB_COIL_REQ_DIS)) {
83			toolstate = TS_REQ_DIS;
84			} else if (rfid_check_serno(current_user)) {
85	12ea39cc	Tom Mullins	toolstate = TS_ON;
86			} else {
87			// TODO blink yellow for 10 seconds or something
88			set_coil(MB_COIL_EN, 0);
89			tool_disable();
90			toolstate = TS_OFF;
91			}
92			break;
93
94			case TS_ON:
95			if (!get_coil(MB_COIL_EN)) {
96			tool_disable();
97			toolstate = TS_OFF;
98	e53aa5c5	Tom Mullins	} else if(get_coil(MB_COIL_REQ_DIS)) {
99	12ea39cc	Tom Mullins	toolstate = TS_REQ_DIS;
100	e53aa5c5	Tom Mullins	} else if (!rfid_check_serno(current_user)) {
101	12ea39cc	Tom Mullins	toolstate = TS_MISSING_ID;
102			}
103			break;
104
105			}
106
107			}
108	208a6fb2	Tom Mullins
109	04b8cd51	Tom Mullins	eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils,
110	20e5429c	Tom Mullins	eMBRegisterMode mode) {
111	208a6fb2	Tom Mullins
112	532ba0bd	Tom Mullins	if (addr+n_coils > N_COILS) {
113	20e5429c	Tom Mullins	return MB_ENOREG;
114	208a6fb2	Tom Mullins	}
115
116			if (mode == MB_REG_WRITE) {
117
118			switch (addr) {
119
120			case MB_COIL_NEW:
121			/* nop */
122			reg_buf[0] >>= 1;
123			n_coils--;
124			if (n_coils == 0) {
125			return MB_ENOERR;
126			}
127
128			case MB_COIL_EN:
129			set_coil(MB_COIL_NEW, 0);
130			set_coil(MB_COIL_EN, reg_buf[0] & 1);
131			reg_buf[0] >>= 1;
132			n_coils--;
133			if (n_coils == 0) {
134			return MB_ENOERR;
135			}
136
137			case MB_COIL_REQ_DIS:
138	12ea39cc	Tom Mullins	set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1);
139	208a6fb2	Tom Mullins	reg_buf[0] >>= 1;
140			n_coils--;
141			if (n_coils == 0) {
142			return MB_ENOERR;
143			}
144
145			case MB_COIL_INIT:
146			set_coil(MB_COIL_INIT, reg_buf[0] & 1);
147			reg_buf[0] >>= 1;
148			n_coils--;
149			if (n_coils == 0) {
150			return MB_ENOERR;
151			}
152			}
153
154	20e5429c	Tom Mullins	} else if (mode == MB_REG_READ) {
155	208a6fb2	Tom Mullins
156	76915f20	Tom Mullins	reg_buf[0] = (coils >> (addr-1)) & ((1 << n_coils) - 1);
157	208a6fb2	Tom Mullins	return MB_ENOERR;
158
159	20e5429c	Tom Mullins	}
160	208a6fb2	Tom Mullins
161			return MB_EIO;
162	20e5429c	Tom Mullins	}
163
164	04b8cd51	Tom Mullins	eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) {
165	20e5429c	Tom Mullins	return MB_ENOREG;
166			}
167
168	04b8cd51	Tom Mullins	eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
169
170	20e5429c	Tom Mullins	switch (addr) {
171	04b8cd51	Tom Mullins
172			case MB_INP_SERNOL:
173	76915f20	Tom Mullins	*reg_buf++ = current_user[0];
174			*reg_buf++ = current_user[1];
175	04b8cd51	Tom Mullins	n_regs--;
176			if (n_regs == 0) {
177			return MB_ENOERR;
178			}
179
180			case MB_INP_SERNOH:
181	76915f20	Tom Mullins	*reg_buf++ = current_user[2];
182			*reg_buf++ = current_user[3];
183	04b8cd51	Tom Mullins	n_regs--;
184			if (n_regs == 0) {
185			return MB_ENOERR;
186			}
187
188			case MB_INP_CURRENT:
189			*reg_buf++ = 0;
190			*reg_buf++ = 0;
191			n_regs--;
192			if (n_regs == 0) {
193			return MB_ENOERR;
194	20e5429c	Tom Mullins	}
195	04b8cd51	Tom Mullins
196	20e5429c	Tom Mullins	default:
197			return MB_ENOREG;
198			}
199			}
200
201	04b8cd51	Tom Mullins	eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs,
202	20e5429c	Tom Mullins	eMBRegisterMode mode) {
203			if (mode == MB_REG_WRITE) {
204			return MB_ENOREG;
205			} else if (mode == MB_REG_READ) {
206			return MB_ENOREG;
207			} else {
208			return MB_EIO;
209			}
210			}
211
212			int main() {
213	12ea39cc	Tom Mullins
214	532ba0bd	Tom Mullins	led_init();
215	12ea39cc	Tom Mullins	tool_init();
216	9b2b6d91	Tom Mullins	rfid_init();
217	20e5429c	Tom Mullins
218			eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
219			eMBEnable();
220
221	208a6fb2	Tom Mullins	sei();
222
223	532ba0bd	Tom Mullins	rfid_start_read();
224	20e5429c	Tom Mullins	while (1) {
225	532ba0bd	Tom Mullins	if (rfid_poll()) {
226	6ca98a3f	Tom Mullins	rfid_get_serno(current_user);
227	532ba0bd	Tom Mullins	rfid_start_read();
228			}
229			//tool_main();
230	20e5429c	Tom Mullins	eMBPoll();
231	532ba0bd	Tom Mullins	_delay_ms(50);
232	20e5429c	Tom Mullins	}
233
234			return 0;
235			}

Project

General

Profile

Tooltron

root / toolbox / main.c @ 6ca98a3f