root / toolbox / main.c @ f5d1f56a
History | View | Annotate | Download (5.72 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 |
|
11 |
enum toolstate_t {
|
12 |
TS_INIT, |
13 |
TS_OFF, |
14 |
TS_WAIT_ACCESS, |
15 |
TS_DENY, |
16 |
TS_REQ_DIS, |
17 |
TS_MISSING_ID, |
18 |
TS_ON |
19 |
}; |
20 |
|
21 |
static enum toolstate_t toolstate = TS_INIT; |
22 |
static uint8_t coils;
|
23 |
static uint8_t latest_reading[RFID_SERNO_SIZE];
|
24 |
static uint8_t current_user[RFID_SERNO_SIZE];
|
25 |
|
26 |
static inline void set_coil(char coil, char bit) { |
27 |
coils = (coils & ~(1 << coil)) | (bit << coil);
|
28 |
} |
29 |
static inline char get_coil(char coil) { |
30 |
return (coils >> coil) & 1; |
31 |
} |
32 |
|
33 |
static inline void tool_init() {DDRA |= _BV(DDA1);} |
34 |
static inline void tool_enable() {PORTA |= _BV(PA1);} |
35 |
static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
36 |
|
37 |
static inline void serno_zero(uint8_t *serno) { |
38 |
memset(serno, 0, RFID_SERNO_SIZE);
|
39 |
} |
40 |
|
41 |
static char serno_is_nonzero(uint8_t *serno) { |
42 |
int i;
|
43 |
for (i = 0; i < RFID_SERNO_SIZE; i++) { |
44 |
if (serno[i]) {
|
45 |
return 1; |
46 |
} |
47 |
} |
48 |
return 0; |
49 |
} |
50 |
|
51 |
static char serno_equal(uint8_t *a, uint8_t *b) { |
52 |
return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
53 |
} |
54 |
|
55 |
static void serno_cpy(uint8_t *dest, uint8_t *src) { |
56 |
memcpy(dest, src, RFID_SERNO_SIZE); |
57 |
} |
58 |
|
59 |
static void tool_main() { |
60 |
|
61 |
switch (toolstate) {
|
62 |
|
63 |
case TS_INIT:
|
64 |
if (get_coil(MB_COIL_INIT)) {
|
65 |
set_coil(MB_COIL_NEW, 0);
|
66 |
set_coil(MB_COIL_EN, 0);
|
67 |
set_coil(MB_COIL_REQ_DIS, 0);
|
68 |
toolstate = TS_OFF; |
69 |
} |
70 |
break;
|
71 |
|
72 |
case TS_OFF:
|
73 |
led_off(); |
74 |
if (serno_is_nonzero(latest_reading)) {
|
75 |
serno_cpy(current_user, latest_reading); |
76 |
set_coil(MB_COIL_NEW, 1);
|
77 |
toolstate = TS_WAIT_ACCESS; |
78 |
} |
79 |
break;
|
80 |
|
81 |
case TS_WAIT_ACCESS:
|
82 |
led_yellow(); |
83 |
if (get_coil(MB_COIL_EN)) {
|
84 |
tool_enable(); |
85 |
toolstate = TS_ON; |
86 |
} else if (!get_coil(MB_COIL_NEW)) { |
87 |
toolstate = TS_DENY; |
88 |
} |
89 |
break;
|
90 |
|
91 |
case TS_DENY:
|
92 |
led_red(); |
93 |
if (!serno_equal(current_user, latest_reading)) {
|
94 |
toolstate = TS_OFF; |
95 |
serno_zero(current_user); |
96 |
} |
97 |
|
98 |
case TS_REQ_DIS:
|
99 |
if (!get_coil(MB_COIL_EN)) {
|
100 |
tool_disable(); |
101 |
toolstate = TS_OFF; |
102 |
} else if (!get_coil(MB_COIL_REQ_DIS)) { |
103 |
toolstate = TS_ON; |
104 |
} else {
|
105 |
// TODO blink yellow for 10 seconds or something
|
106 |
set_coil(MB_COIL_EN, 0);
|
107 |
set_coil(MB_COIL_REQ_DIS, 0);
|
108 |
tool_disable(); |
109 |
serno_zero(current_user); |
110 |
toolstate = TS_OFF; |
111 |
} |
112 |
break;
|
113 |
|
114 |
case TS_MISSING_ID:
|
115 |
if (!get_coil(MB_COIL_EN)) {
|
116 |
tool_disable(); |
117 |
toolstate = TS_OFF; |
118 |
} else if (get_coil(MB_COIL_REQ_DIS)) { |
119 |
toolstate = TS_REQ_DIS; |
120 |
} else if (serno_equal(current_user, latest_reading)) { |
121 |
toolstate = TS_ON; |
122 |
} else {
|
123 |
if (led_blink_done()) {
|
124 |
set_coil(MB_COIL_EN, 0);
|
125 |
tool_disable(); |
126 |
serno_zero(current_user); |
127 |
toolstate = TS_OFF; |
128 |
} |
129 |
} |
130 |
break;
|
131 |
|
132 |
case TS_ON:
|
133 |
led_green(); |
134 |
if (!get_coil(MB_COIL_EN)) {
|
135 |
tool_disable(); |
136 |
serno_zero(current_user); |
137 |
toolstate = TS_OFF; |
138 |
} else if(get_coil(MB_COIL_REQ_DIS)) { |
139 |
toolstate = TS_REQ_DIS; |
140 |
} else if (!serno_equal(current_user, latest_reading)) { |
141 |
toolstate = TS_MISSING_ID; |
142 |
led_blink_start(666, 15, YELLOW); |
143 |
} |
144 |
break;
|
145 |
|
146 |
} |
147 |
|
148 |
} |
149 |
|
150 |
eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
151 |
eMBRegisterMode mode) { |
152 |
|
153 |
addr--; |
154 |
|
155 |
if (addr+n_coils > N_COILS) {
|
156 |
return MB_ENOREG;
|
157 |
} |
158 |
|
159 |
if (mode == MB_REG_WRITE) {
|
160 |
|
161 |
switch (addr) {
|
162 |
|
163 |
case MB_COIL_NEW:
|
164 |
/* nop */
|
165 |
reg_buf[0] >>= 1; |
166 |
n_coils--; |
167 |
if (n_coils == 0) { |
168 |
return MB_ENOERR;
|
169 |
} |
170 |
|
171 |
case MB_COIL_EN:
|
172 |
set_coil(MB_COIL_NEW, 0);
|
173 |
set_coil(MB_COIL_EN, reg_buf[0] & 1); |
174 |
reg_buf[0] >>= 1; |
175 |
n_coils--; |
176 |
if (n_coils == 0) { |
177 |
return MB_ENOERR;
|
178 |
} |
179 |
|
180 |
case MB_COIL_REQ_DIS:
|
181 |
set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
182 |
reg_buf[0] >>= 1; |
183 |
n_coils--; |
184 |
if (n_coils == 0) { |
185 |
return MB_ENOERR;
|
186 |
} |
187 |
|
188 |
case MB_COIL_INIT:
|
189 |
set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
190 |
reg_buf[0] >>= 1; |
191 |
n_coils--; |
192 |
if (n_coils == 0) { |
193 |
return MB_ENOERR;
|
194 |
} |
195 |
} |
196 |
|
197 |
} else if (mode == MB_REG_READ) { |
198 |
|
199 |
reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
200 |
return MB_ENOERR;
|
201 |
|
202 |
} |
203 |
|
204 |
return MB_EIO;
|
205 |
} |
206 |
|
207 |
eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) { |
208 |
return MB_ENOREG;
|
209 |
} |
210 |
|
211 |
eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) { |
212 |
|
213 |
addr--; |
214 |
|
215 |
switch (addr) {
|
216 |
|
217 |
case MB_INP_SERNOL:
|
218 |
*reg_buf++ = current_user[0];
|
219 |
*reg_buf++ = current_user[1];
|
220 |
n_regs--; |
221 |
if (n_regs == 0) { |
222 |
return MB_ENOERR;
|
223 |
} |
224 |
|
225 |
case MB_INP_SERNOH:
|
226 |
*reg_buf++ = current_user[2];
|
227 |
*reg_buf++ = current_user[3];
|
228 |
n_regs--; |
229 |
if (n_regs == 0) { |
230 |
return MB_ENOERR;
|
231 |
} |
232 |
|
233 |
case MB_INP_CURRENT:
|
234 |
*reg_buf++ = 0;
|
235 |
*reg_buf++ = 0;
|
236 |
n_regs--; |
237 |
if (n_regs == 0) { |
238 |
return MB_ENOERR;
|
239 |
} |
240 |
|
241 |
default:
|
242 |
return MB_ENOREG;
|
243 |
} |
244 |
} |
245 |
|
246 |
eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
247 |
eMBRegisterMode mode) { |
248 |
if (mode == MB_REG_WRITE) {
|
249 |
return MB_ENOREG;
|
250 |
} else if (mode == MB_REG_READ) { |
251 |
return MB_ENOREG;
|
252 |
} else {
|
253 |
return MB_EIO;
|
254 |
} |
255 |
} |
256 |
|
257 |
int main() {
|
258 |
|
259 |
led_init(); |
260 |
tool_init(); |
261 |
rfid_init(); |
262 |
|
263 |
eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
|
264 |
eMBEnable(); |
265 |
|
266 |
sei(); |
267 |
|
268 |
rfid_start_read(); |
269 |
while (1) { |
270 |
if (rfid_poll()) {
|
271 |
rfid_get_serno(latest_reading); |
272 |
rfid_start_read(); |
273 |
} |
274 |
tool_main(); |
275 |
eMBPoll(); |
276 |
_delay_ms(50);
|
277 |
} |
278 |
|
279 |
return 0; |
280 |
} |