root / toolbox / main.c @ bbf2f5ad
History | View | Annotate | Download (6.24 KB)
1 |
#include <stdint.h> |
---|---|
2 |
#include <string.h> |
3 |
#include <avr/io.h> |
4 |
#include <util/delay.h> |
5 |
#include "mb.h" |
6 |
#include "mbport.h" |
7 |
#include "tooltron_mb.h" |
8 |
#include "rfid.h" |
9 |
#include "led.h" |
10 |
#include "current.h" |
11 |
#include "time.h" |
12 |
|
13 |
enum toolstate_t {
|
14 |
TS_INIT, |
15 |
TS_OFF, |
16 |
TS_WAIT_ACCESS, |
17 |
TS_DENY, |
18 |
TS_REQ_DIS, |
19 |
TS_MISSING_ID, |
20 |
TS_ON |
21 |
}; |
22 |
|
23 |
static enum toolstate_t toolstate = TS_INIT; |
24 |
static uint8_t coils;
|
25 |
static uint8_t latest_reading[RFID_SERNO_SIZE];
|
26 |
static uint8_t current_user[RFID_SERNO_SIZE];
|
27 |
static uint16_t current;
|
28 |
|
29 |
static inline void set_coil(char coil, char bit) { |
30 |
coils = (coils & ~(1 << coil)) | (bit << coil);
|
31 |
} |
32 |
static inline char get_coil(char coil) { |
33 |
return (coils >> coil) & 1; |
34 |
} |
35 |
|
36 |
static inline void tool_init() {DDRA |= _BV(DDA1);} |
37 |
static inline void tool_enable() {PORTA |= _BV(PA1);} |
38 |
static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
39 |
|
40 |
static inline void serno_zero(uint8_t *serno) { |
41 |
memset(serno, 0, RFID_SERNO_SIZE);
|
42 |
} |
43 |
|
44 |
static char serno_is_nonzero(uint8_t *serno) { |
45 |
int i;
|
46 |
for (i = 0; i < RFID_SERNO_SIZE; i++) { |
47 |
if (serno[i]) {
|
48 |
return 1; |
49 |
} |
50 |
} |
51 |
return 0; |
52 |
} |
53 |
|
54 |
static char serno_equal(uint8_t *a, uint8_t *b) { |
55 |
return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
56 |
} |
57 |
|
58 |
static void serno_cpy(uint8_t *dest, uint8_t *src) { |
59 |
memcpy(dest, src, RFID_SERNO_SIZE); |
60 |
} |
61 |
|
62 |
static void tool_tick() { |
63 |
|
64 |
switch (toolstate) {
|
65 |
|
66 |
case TS_INIT:
|
67 |
if (get_coil(MB_COIL_INIT)) {
|
68 |
set_coil(MB_COIL_NEW, 0);
|
69 |
set_coil(MB_COIL_EN, 0);
|
70 |
set_coil(MB_COIL_REQ_DIS, 0);
|
71 |
toolstate = TS_OFF; |
72 |
} |
73 |
break;
|
74 |
|
75 |
case TS_OFF:
|
76 |
led_off(); |
77 |
set_coil(MB_COIL_EN, 0);
|
78 |
if (serno_is_nonzero(latest_reading)) {
|
79 |
serno_cpy(current_user, latest_reading); |
80 |
set_coil(MB_COIL_NEW, 1);
|
81 |
toolstate = TS_WAIT_ACCESS; |
82 |
} |
83 |
break;
|
84 |
|
85 |
case TS_WAIT_ACCESS:
|
86 |
led_yellow(); |
87 |
if (get_coil(MB_COIL_EN)) {
|
88 |
tool_enable(); |
89 |
toolstate = TS_ON; |
90 |
} else if (!get_coil(MB_COIL_NEW)) { |
91 |
toolstate = TS_DENY; |
92 |
} else if (!serno_equal(current_user, latest_reading)) { |
93 |
set_coil(MB_COIL_NEW, 0);
|
94 |
toolstate = TS_OFF; |
95 |
} |
96 |
break;
|
97 |
|
98 |
case TS_DENY:
|
99 |
led_red(); |
100 |
if (!serno_equal(current_user, latest_reading)) {
|
101 |
toolstate = TS_OFF; |
102 |
serno_zero(current_user); |
103 |
} |
104 |
break;
|
105 |
|
106 |
case TS_REQ_DIS:
|
107 |
if (!get_coil(MB_COIL_EN)) {
|
108 |
tool_disable(); |
109 |
toolstate = TS_OFF; |
110 |
} else if (!get_coil(MB_COIL_REQ_DIS)) { |
111 |
toolstate = TS_ON; |
112 |
} else {
|
113 |
// TODO blink yellow for 10 seconds or something
|
114 |
set_coil(MB_COIL_EN, 0);
|
115 |
set_coil(MB_COIL_REQ_DIS, 0);
|
116 |
tool_disable(); |
117 |
serno_zero(current_user); |
118 |
toolstate = TS_OFF; |
119 |
} |
120 |
break;
|
121 |
|
122 |
case TS_MISSING_ID:
|
123 |
if (!get_coil(MB_COIL_EN)) {
|
124 |
tool_disable(); |
125 |
toolstate = TS_OFF; |
126 |
} else if (get_coil(MB_COIL_REQ_DIS)) { |
127 |
toolstate = TS_REQ_DIS; |
128 |
} else if (serno_equal(current_user, latest_reading)) { |
129 |
toolstate = TS_ON; |
130 |
} else if (led_blink_done()) { |
131 |
set_coil(MB_COIL_EN, 0);
|
132 |
tool_disable(); |
133 |
serno_zero(current_user); |
134 |
toolstate = TS_OFF; |
135 |
} |
136 |
break;
|
137 |
|
138 |
case TS_ON:
|
139 |
led_green(); |
140 |
if (!get_coil(MB_COIL_EN)) {
|
141 |
tool_disable(); |
142 |
serno_zero(current_user); |
143 |
toolstate = TS_OFF; |
144 |
} else if(get_coil(MB_COIL_REQ_DIS)) { |
145 |
toolstate = TS_REQ_DIS; |
146 |
} else if (!serno_equal(current_user, latest_reading)) { |
147 |
toolstate = TS_MISSING_ID; |
148 |
led_blink_start(500, 6, YELLOW); // TODO made 10 seconds |
149 |
} |
150 |
break;
|
151 |
|
152 |
} |
153 |
|
154 |
} |
155 |
|
156 |
eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
157 |
eMBRegisterMode mode) { |
158 |
|
159 |
addr--; |
160 |
|
161 |
if (addr+n_coils > N_COILS) {
|
162 |
return MB_ENOREG;
|
163 |
} |
164 |
|
165 |
if (mode == MB_REG_WRITE) {
|
166 |
|
167 |
switch (addr) {
|
168 |
|
169 |
case MB_COIL_NEW:
|
170 |
/* nop */
|
171 |
reg_buf[0] >>= 1; |
172 |
n_coils--; |
173 |
if (n_coils == 0) { |
174 |
return MB_ENOERR;
|
175 |
} |
176 |
|
177 |
case MB_COIL_EN:
|
178 |
set_coil(MB_COIL_NEW, 0);
|
179 |
set_coil(MB_COIL_EN, reg_buf[0] & 1); |
180 |
reg_buf[0] >>= 1; |
181 |
n_coils--; |
182 |
if (n_coils == 0) { |
183 |
return MB_ENOERR;
|
184 |
} |
185 |
|
186 |
case MB_COIL_REQ_DIS:
|
187 |
set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
188 |
reg_buf[0] >>= 1; |
189 |
n_coils--; |
190 |
if (n_coils == 0) { |
191 |
return MB_ENOERR;
|
192 |
} |
193 |
|
194 |
case MB_COIL_INIT:
|
195 |
set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
196 |
reg_buf[0] >>= 1; |
197 |
n_coils--; |
198 |
if (n_coils == 0) { |
199 |
return MB_ENOERR;
|
200 |
} |
201 |
} |
202 |
|
203 |
} else if (mode == MB_REG_READ) { |
204 |
|
205 |
reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
206 |
return MB_ENOERR;
|
207 |
|
208 |
} |
209 |
|
210 |
return MB_EIO;
|
211 |
} |
212 |
|
213 |
eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) { |
214 |
return MB_ENOREG;
|
215 |
} |
216 |
|
217 |
eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) { |
218 |
|
219 |
addr--; |
220 |
|
221 |
switch (addr) {
|
222 |
|
223 |
case MB_INP_SERNOL:
|
224 |
*reg_buf++ = current_user[0];
|
225 |
*reg_buf++ = current_user[1];
|
226 |
n_regs--; |
227 |
if (n_regs == 0) { |
228 |
return MB_ENOERR;
|
229 |
} |
230 |
|
231 |
case MB_INP_SERNOH:
|
232 |
*reg_buf++ = current_user[2];
|
233 |
*reg_buf++ = current_user[3];
|
234 |
n_regs--; |
235 |
if (n_regs == 0) { |
236 |
return MB_ENOERR;
|
237 |
} |
238 |
|
239 |
case MB_INP_CURRENT:
|
240 |
*reg_buf++ = (uint8_t)(current >> 8);
|
241 |
*reg_buf++ = (uint8_t)current; |
242 |
n_regs--; |
243 |
if (n_regs == 0) { |
244 |
return MB_ENOERR;
|
245 |
} |
246 |
|
247 |
default:
|
248 |
return MB_ENOREG;
|
249 |
} |
250 |
} |
251 |
|
252 |
eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
253 |
eMBRegisterMode mode) { |
254 |
if (mode == MB_REG_WRITE) {
|
255 |
return MB_ENOREG;
|
256 |
} else if (mode == MB_REG_READ) { |
257 |
return MB_ENOREG;
|
258 |
} else {
|
259 |
return MB_EIO;
|
260 |
} |
261 |
} |
262 |
|
263 |
int main() {
|
264 |
char rfid_ticks = 0, rfid_restart = 0; |
265 |
|
266 |
time_init(); |
267 |
led_init(); |
268 |
tool_init(); |
269 |
rfid_init(); |
270 |
current_init(); |
271 |
|
272 |
eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
|
273 |
eMBEnable(); |
274 |
|
275 |
sei(); |
276 |
|
277 |
rfid_start_read(); |
278 |
while (1) { |
279 |
if (rfid_poll()) {
|
280 |
rfid_get_serno(latest_reading); |
281 |
rfid_restart = 1;
|
282 |
} |
283 |
if (++rfid_ticks >= RFID_PERIOD/TICK_MS && rfid_restart)
|
284 |
{ |
285 |
rfid_ticks = 0;
|
286 |
rfid_restart = 0;
|
287 |
rfid_start_read(); |
288 |
} |
289 |
current = current_read(); |
290 |
tool_tick(); |
291 |
led_tick(); |
292 |
eMBPoll(); |
293 |
time_wait(); |
294 |
} |
295 |
|
296 |
return 0; |
297 |
} |