scoutece / paintboard / code / main.c @ fcddafaf
History | View | Annotate | Download (2.51 KB)
1 | 4319e0bc | Tom Mullins | #include "twi.h" |
---|---|---|---|
2 | #include "motor.h" |
||
3 | 351481ed | Tom Mullins | #include "servo.h" |
4 | #include "sol.h" |
||
5 | 4319e0bc | Tom Mullins | #include <avr/io.h> |
6 | #include <avr/interrupt.h> |
||
7 | d9b50611 | Tom Mullins | #include <util/delay.h> |
8 | 4319e0bc | Tom Mullins | |
9 | #define TRACKING_ID 0x43 |
||
10 | #define SERIAL_NUMBER 0x12 |
||
11 | |||
12 | // indicies for paintboard internal data
|
||
13 | #define PAINT_TRACKING_ID 0 // ro |
||
14 | #define PAINT_SERIAL_NUMBER 1 // ro |
||
15 | #define PAINT_MOTOR_A 2 // r/w |
||
16 | #define PAINT_MOTOR_B 3 // r/w |
||
17 | #define PAINT_SERVO_A 4 // r/w |
||
18 | #define PAINT_SERVO_B 5 // r/w |
||
19 | #define PAINT_12V_1 6 // r/w |
||
20 | #define PAINT_12V_2 7 // r/w |
||
21 | #define PAINT_12V_3 8 // r/w |
||
22 | #define PAINT_12V_4 9 // r/w |
||
23 | 1af81271 | Julian Binder | #define PAINT_INPUT_1 10 //ro |
24 | #define PAINT_INPUT_2 11 //ro |
||
25 | #define PAINT_INPUT_3 12 //ro |
||
26 | 4319e0bc | Tom Mullins | |
27 | 1af81271 | Julian Binder | |
28 | #define PAINT_DATA_LEN 13 |
||
29 | |||
30 | d9b50611 | Tom Mullins | #define METAL_DETECT PD5
|
31 | 4319e0bc | Tom Mullins | |
32 | uint8_t internal_index = 0;
|
||
33 | uint8_t internal_data[PAINT_DATA_LEN] = { |
||
34 | TRACKING_ID, |
||
35 | SERIAL_NUMBER, |
||
36 | 0,
|
||
37 | 0,
|
||
38 | 0,
|
||
39 | 0,
|
||
40 | 0,
|
||
41 | 0,
|
||
42 | 0,
|
||
43 | c874b753 | Tom Mullins | 0,
|
44 | 0,
|
||
45 | 0,
|
||
46 | 4319e0bc | Tom Mullins | 0
|
47 | }; |
||
48 | |||
49 | void slave_rx(uint8_t* data, int len) |
||
50 | { |
||
51 | uint8_t value; |
||
52 | if (len > 0 && data[0] < PAINT_DATA_LEN) |
||
53 | { |
||
54 | internal_index = data[0];
|
||
55 | if (len > 1 && internal_index > 1) |
||
56 | { |
||
57 | value = data[1];
|
||
58 | internal_data[internal_index] = value; |
||
59 | switch (internal_index) {
|
||
60 | case PAINT_MOTOR_A:
|
||
61 | 351481ed | Tom Mullins | set_motor1(value); |
62 | 4319e0bc | Tom Mullins | break;
|
63 | case PAINT_MOTOR_B:
|
||
64 | 351481ed | Tom Mullins | set_motor2(value); |
65 | 4319e0bc | Tom Mullins | break;
|
66 | case PAINT_SERVO_A:
|
||
67 | 351481ed | Tom Mullins | set_servo1(value); |
68 | 4319e0bc | Tom Mullins | break;
|
69 | case PAINT_SERVO_B:
|
||
70 | 351481ed | Tom Mullins | set_servo2(value); |
71 | 4319e0bc | Tom Mullins | break;
|
72 | case PAINT_12V_1:
|
||
73 | 351481ed | Tom Mullins | set_sol1(value); |
74 | 4319e0bc | Tom Mullins | break;
|
75 | case PAINT_12V_2:
|
||
76 | 351481ed | Tom Mullins | set_sol2(value); |
77 | 4319e0bc | Tom Mullins | break;
|
78 | case PAINT_12V_3:
|
||
79 | 351481ed | Tom Mullins | set_sol3(value); |
80 | 4319e0bc | Tom Mullins | break;
|
81 | case PAINT_12V_4:
|
||
82 | 351481ed | Tom Mullins | set_sol4(value); |
83 | 4319e0bc | Tom Mullins | break;
|
84 | } |
||
85 | } |
||
86 | } |
||
87 | } |
||
88 | |||
89 | void slave_tx(void) |
||
90 | { |
||
91 | twi_transmit(&internal_data[internal_index], 1);
|
||
92 | internal_index++; |
||
93 | if (internal_index >= PAINT_DATA_LEN)
|
||
94 | internal_index = 0;
|
||
95 | } |
||
96 | |||
97 | int main()
|
||
98 | { |
||
99 | sei(); |
||
100 | twi_attachSlaveRxEvent(slave_rx); |
||
101 | twi_attachSlaveTxEvent(slave_tx); |
||
102 | twi_setAddress(TRACKING_ID); |
||
103 | twi_init(); |
||
104 | motor_init(); |
||
105 | c874b753 | Tom Mullins | servo_init(); |
106 | 4319e0bc | Tom Mullins | while (1) |
107 | { |
||
108 | 1af81271 | Julian Binder | internal_data[PAINT_INPUT_1] = !(!(_BV(METAL_DETECT) & PIND)); |
109 | d9b50611 | Tom Mullins | if (internal_data[PAINT_INPUT_1]) {
|
110 | set_servo1(-128);
|
||
111 | fcddafaf | Julian Binder | set_motor1(0);
|
112 | set_motor2(0);
|
||
113 | d9b50611 | Tom Mullins | } else {
|
114 | set_servo1(127);
|
||
115 | fcddafaf | Julian Binder | set_motor1(127);
|
116 | set_motor2(127);
|
||
117 | d9b50611 | Tom Mullins | } |
118 | servo_pulse(); |
||
119 | 1af81271 | Julian Binder | /* TODO geiger counter */
|
120 | d9b50611 | Tom Mullins | _delay_ms(20);
|
121 | 4319e0bc | Tom Mullins | } |
122 | return 0; |
||
123 | } |