root / paintboard / code / main.c @ c874b753
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#include "twi.h" |
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#include "motor.h" |
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#include "servo.h" |
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#include "sol.h" |
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#include <avr/io.h> |
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#include <avr/interrupt.h> |
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#define TRACKING_ID 0x43 |
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#define SERIAL_NUMBER 0x12 |
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// indicies for paintboard internal data
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#define PAINT_TRACKING_ID 0 // ro |
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#define PAINT_SERIAL_NUMBER 1 // ro |
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#define PAINT_MOTOR_A 2 // r/w |
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#define PAINT_MOTOR_B 3 // r/w |
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#define PAINT_SERVO_A 4 // r/w |
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#define PAINT_SERVO_B 5 // r/w |
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#define PAINT_12V_1 6 // r/w |
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#define PAINT_12V_2 7 // r/w |
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#define PAINT_12V_3 8 // r/w |
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#define PAINT_12V_4 9 // r/w |
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#define PAINT_INPUT_1 10 //ro |
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#define PAINT_INPUT_2 11 //ro |
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#define PAINT_INPUT_3 12 //ro |
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#define PAINT_DATA_LEN 13 |
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#define METAL_DETECT PD4
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uint8_t internal_index = 0;
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uint8_t internal_data[PAINT_DATA_LEN] = { |
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TRACKING_ID, |
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SERIAL_NUMBER, |
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0,
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0,
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0,
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0,
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0,
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0,
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0,
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0,
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0,
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0,
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0
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}; |
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void slave_rx(uint8_t* data, int len) |
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{ |
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uint8_t value; |
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if (len > 0 && data[0] < PAINT_DATA_LEN) |
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{ |
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internal_index = data[0];
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if (len > 1 && internal_index > 1) |
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{ |
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value = data[1];
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internal_data[internal_index] = value; |
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switch (internal_index) {
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case PAINT_MOTOR_A:
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set_motor1(value); |
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break;
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case PAINT_MOTOR_B:
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set_motor2(value); |
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break;
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case PAINT_SERVO_A:
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set_servo1(value); |
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break;
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case PAINT_SERVO_B:
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set_servo2(value); |
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break;
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case PAINT_12V_1:
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set_sol1(value); |
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break;
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case PAINT_12V_2:
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set_sol2(value); |
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break;
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case PAINT_12V_3:
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set_sol3(value); |
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break;
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case PAINT_12V_4:
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set_sol4(value); |
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break;
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} |
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} |
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} |
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} |
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void slave_tx(void) |
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{ |
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twi_transmit(&internal_data[internal_index], 1);
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internal_index++; |
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if (internal_index >= PAINT_DATA_LEN)
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internal_index = 0;
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} |
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int main()
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{ |
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sei(); |
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twi_attachSlaveRxEvent(slave_rx); |
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twi_attachSlaveTxEvent(slave_tx); |
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twi_setAddress(TRACKING_ID); |
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twi_init(); |
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motor_init(); |
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servo_init(); |
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while (1) |
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{ |
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internal_data[PAINT_INPUT_1] = !(!(_BV(METAL_DETECT) & PIND)); |
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/* TODO geiger counter */
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} |
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return 0; |
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} |