root / paintboard / code / main.c @ c874b753
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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 | 1af81271 | Julian Binder | #define PAINT_INPUT_1 10 //ro |
| 23 | #define PAINT_INPUT_2 11 //ro |
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| 24 | #define PAINT_INPUT_3 12 //ro |
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| 25 | 4319e0bc | Tom Mullins | |
| 26 | 1af81271 | Julian Binder | |
| 27 | #define PAINT_DATA_LEN 13 |
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| 28 | |||
| 29 | #define METAL_DETECT PD4
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| 30 | 4319e0bc | Tom Mullins | |
| 31 | uint8_t internal_index = 0;
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| 32 | uint8_t internal_data[PAINT_DATA_LEN] = {
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| 33 | TRACKING_ID, |
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| 34 | SERIAL_NUMBER, |
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| 35 | 0,
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| 36 | 0,
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| 37 | 0,
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| 38 | 0,
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| 39 | 0,
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| 40 | 0,
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| 41 | 0,
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| 42 | c874b753 | Tom Mullins | 0,
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| 43 | 0,
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| 44 | 0,
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| 45 | 4319e0bc | Tom Mullins | 0
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| 46 | }; |
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| 47 | |||
| 48 | void slave_rx(uint8_t* data, int len) |
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| 49 | {
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| 50 | uint8_t value; |
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| 51 | if (len > 0 && data[0] < PAINT_DATA_LEN) |
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| 52 | {
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| 53 | internal_index = data[0];
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| 54 | if (len > 1 && internal_index > 1) |
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| 55 | {
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| 56 | value = data[1];
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| 57 | internal_data[internal_index] = value; |
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| 58 | switch (internal_index) {
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| 59 | case PAINT_MOTOR_A:
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| 60 | 351481ed | Tom Mullins | set_motor1(value); |
| 61 | 4319e0bc | Tom Mullins | break;
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| 62 | case PAINT_MOTOR_B:
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| 63 | 351481ed | Tom Mullins | set_motor2(value); |
| 64 | 4319e0bc | Tom Mullins | break;
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| 65 | case PAINT_SERVO_A:
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| 66 | 351481ed | Tom Mullins | set_servo1(value); |
| 67 | 4319e0bc | Tom Mullins | break;
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| 68 | case PAINT_SERVO_B:
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| 69 | 351481ed | Tom Mullins | set_servo2(value); |
| 70 | 4319e0bc | Tom Mullins | break;
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| 71 | case PAINT_12V_1:
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| 72 | 351481ed | Tom Mullins | set_sol1(value); |
| 73 | 4319e0bc | Tom Mullins | break;
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| 74 | case PAINT_12V_2:
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| 75 | 351481ed | Tom Mullins | set_sol2(value); |
| 76 | 4319e0bc | Tom Mullins | break;
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| 77 | case PAINT_12V_3:
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| 78 | 351481ed | Tom Mullins | set_sol3(value); |
| 79 | 4319e0bc | Tom Mullins | break;
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| 80 | case PAINT_12V_4:
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| 81 | 351481ed | Tom Mullins | set_sol4(value); |
| 82 | 4319e0bc | Tom Mullins | break;
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| 83 | } |
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| 84 | } |
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| 85 | } |
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| 86 | } |
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| 87 | |||
| 88 | void slave_tx(void) |
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| 89 | {
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| 90 | twi_transmit(&internal_data[internal_index], 1);
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| 91 | internal_index++; |
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| 92 | if (internal_index >= PAINT_DATA_LEN)
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| 93 | internal_index = 0;
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| 94 | } |
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| 95 | |||
| 96 | int main()
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| 97 | {
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| 98 | sei(); |
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| 99 | twi_attachSlaveRxEvent(slave_rx); |
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| 100 | twi_attachSlaveTxEvent(slave_tx); |
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| 101 | twi_setAddress(TRACKING_ID); |
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| 102 | twi_init(); |
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| 103 | motor_init(); |
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| 104 | c874b753 | Tom Mullins | servo_init(); |
| 105 | 4319e0bc | Tom Mullins | while (1) |
| 106 | {
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| 107 | 1af81271 | Julian Binder | internal_data[PAINT_INPUT_1] = !(!(_BV(METAL_DETECT) & PIND)); |
| 108 | /* TODO geiger counter */
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| 109 | 4319e0bc | Tom Mullins | } |
| 110 | return 0; |
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| 111 | } |