Tooltron

/** @file main.c

 *  @brief Contains the main function for the toolbox code.

 *

 *  @author Suresh Nidhiry (snidhiry), Kevin Woo (kwoo)

 */

//Includes

#include <avr/io.h>

#include <avr/interrupt.h>

#include <stdint.h>

#include <util/delay.h>

#include "uart.h"

#define GREEN   _BV(PORTB2)

#define YELLOW  _BV(PORTB1)

#define RED     _BV(PORTB0)

#define ON      0x01

#define OFF     0x00

#define DELIM '^'

#define ADDR '2'

typedef enum {

    sd,     // start delimitor

    src,    // src

    dest,   // destination

    data,   // data

    cs,     // checksum

    pwron,  // poweron

} state_t;

void init_pins() {

    //DDRB = 0x00;

    DDRB = _BV(DDB0) | _BV(DDB1) | _BV(DDB2);

    PORTB = 0x00;

}

void toggle_pin(uint8_t which, uint8_t state) {

    if (state == ON) {

        PORTB &= ~which;

    } else {

        PORTB |= which;

    }

}

int main(int argc, char **argv) {

    state_t state = sd;

    uint8_t packet[3];

        /***** Start Start-up Sequence *****/

        sei();                                //Enable interrupts

        //init_timer();                //Set registers for timer

        init_pins();                //Set pin directions

        init_uart(51);                //Set registers for uart

        /***** End Start-up Sequence *****/

    // Debug lights to know we are sending or not

    DDRD |= _BV(DDD4) | _BV(DDD3);

    PORTD &= ~_BV(PORTD4) & ~_BV(PORTD3);

    _delay_ms(1000);

    uint8_t r;

    uint8_t s = 0;

    packet[0] = 0x00;

    packet[1] = 0x00;

    packet[2] = 0x00;

        while(1) {

        switch (state) {

            case sd:

                while ((uart_get_byte(&r)) < 0);

                if (r == DELIM) {

                    state = src;

                }

                break;

            case src:

                while ((uart_get_byte(&r)) < 0);

                if (r == DELIM) {

                    state = src;

                } else {

                    packet[0] = r;

                    state = dest;

                }

                break;

            case dest:

                while ((uart_get_byte(&r)) < 0);

                if (r == DELIM) {

                    packet[0] = 0x00;

                    state = src;

                } else if (r == ADDR) {

                    packet[1] = r;

                    state = data;

                } else {

                    packet[0] = 0x00;

                    state = sd;

                }

                break;

            case data:

                while ((uart_get_byte(&r)) < 0);

                if (r == DELIM) {

                    packet[0] = 0x00;

                    packet[1] = 0x00;

                    state = src;

                } else {

                    packet[2] = r;

                    state = pwron;

                }

                break;

            case cs:

                while ((uart_get_byte(&r)) < 0);

                if (r == (packet[0] ^ packet[1] ^ packet[2])) {

                    state = pwron;

                } else {

                    packet[0] = 0x00;

                    packet[1] = 0x00;

                    packet[2] = 0x00;

                    state = sd;

                }

                break;

            case pwron:

                uart_send_byte('A');

                if (s == 0) {

                    toggle_pin(YELLOW, OFF);

                    toggle_pin(GREEN, OFF);

                    toggle_pin(RED, OFF);

                    s = 1;

                } else {

                    toggle_pin(YELLOW, ON);

                    toggle_pin(GREEN, ON);

                    toggle_pin(RED, ON);

                    s = 0;

                }

                break;

        }        

        }

        return 0;

}