root / paintboard / code / main.c @ 351481ed
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| 1 | 4319e0bc | Tom Mullins | #include "twi.h" |
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| 2 | #include "motor.h" |
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| 3 | 351481ed | Tom Mullins | #include "servo.h" |
| 4 | #include "sol.h" |
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| 5 | 4319e0bc | Tom Mullins | #include <avr/io.h> |
| 6 | #include <avr/interrupt.h> |
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| 7 | |||
| 8 | #define TRACKING_ID 0x43 |
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| 9 | #define SERIAL_NUMBER 0x12 |
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| 10 | |||
| 11 | // indicies for paintboard internal data
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| 12 | #define PAINT_TRACKING_ID 0 // ro |
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| 13 | #define PAINT_SERIAL_NUMBER 1 // ro |
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| 14 | #define PAINT_MOTOR_A 2 // r/w |
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| 15 | #define PAINT_MOTOR_B 3 // r/w |
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| 16 | #define PAINT_SERVO_A 4 // r/w |
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| 17 | #define PAINT_SERVO_B 5 // r/w |
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| 18 | #define PAINT_12V_1 6 // r/w |
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| 19 | #define PAINT_12V_2 7 // r/w |
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| 20 | #define PAINT_12V_3 8 // r/w |
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| 21 | #define PAINT_12V_4 9 // r/w |
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| 22 | |||
| 23 | #define PAINT_DATA_LEN 10 |
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| 24 | |||
| 25 | uint8_t internal_index = 0;
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| 26 | uint8_t internal_data[PAINT_DATA_LEN] = {
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| 27 | TRACKING_ID, |
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| 28 | SERIAL_NUMBER, |
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| 29 | 0,
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| 30 | 0,
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| 31 | 0,
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| 32 | 0,
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| 33 | 0,
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| 34 | 0,
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| 35 | 0,
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| 36 | 0
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| 37 | }; |
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| 38 | |||
| 39 | void slave_rx(uint8_t* data, int len) |
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| 40 | {
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| 41 | uint8_t value; |
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| 42 | if (len > 0 && data[0] < PAINT_DATA_LEN) |
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| 43 | {
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| 44 | internal_index = data[0];
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| 45 | if (len > 1 && internal_index > 1) |
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| 46 | {
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| 47 | value = data[1];
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| 48 | internal_data[internal_index] = value; |
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| 49 | switch (internal_index) {
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| 50 | case PAINT_MOTOR_A:
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| 51 | 351481ed | Tom Mullins | set_motor1(value); |
| 52 | 4319e0bc | Tom Mullins | break;
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| 53 | case PAINT_MOTOR_B:
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| 54 | 351481ed | Tom Mullins | set_motor2(value); |
| 55 | 4319e0bc | Tom Mullins | break;
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| 56 | case PAINT_SERVO_A:
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| 57 | 351481ed | Tom Mullins | set_servo1(value); |
| 58 | 4319e0bc | Tom Mullins | break;
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| 59 | case PAINT_SERVO_B:
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| 60 | 351481ed | Tom Mullins | set_servo2(value); |
| 61 | 4319e0bc | Tom Mullins | break;
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| 62 | case PAINT_12V_1:
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| 63 | 351481ed | Tom Mullins | set_sol1(value); |
| 64 | 4319e0bc | Tom Mullins | break;
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| 65 | case PAINT_12V_2:
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| 66 | 351481ed | Tom Mullins | set_sol2(value); |
| 67 | 4319e0bc | Tom Mullins | break;
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| 68 | case PAINT_12V_3:
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| 69 | 351481ed | Tom Mullins | set_sol3(value); |
| 70 | 4319e0bc | Tom Mullins | break;
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| 71 | case PAINT_12V_4:
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| 72 | 351481ed | Tom Mullins | set_sol4(value); |
| 73 | 4319e0bc | Tom Mullins | break;
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| 74 | } |
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| 75 | } |
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| 76 | } |
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| 77 | } |
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| 78 | |||
| 79 | void slave_tx(void) |
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| 80 | {
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| 81 | twi_transmit(&internal_data[internal_index], 1);
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| 82 | internal_index++; |
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| 83 | if (internal_index >= PAINT_DATA_LEN)
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| 84 | internal_index = 0;
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| 85 | } |
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| 86 | |||
| 87 | int main()
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| 88 | {
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| 89 | sei(); |
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| 90 | twi_attachSlaveRxEvent(slave_rx); |
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| 91 | twi_attachSlaveTxEvent(slave_tx); |
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| 92 | twi_setAddress(TRACKING_ID); |
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| 93 | twi_init(); |
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| 94 | motor_init(); |
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| 95 | while (1) |
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| 96 | {
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| 97 | f4a85021 | Tom Mullins | /* TODO geiger counter and metal detector */
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| 98 | 4319e0bc | Tom Mullins | } |
| 99 | return 0; |
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| 100 | } |