Tooltron

/********

 * This file is part of Tooltron.

 *

 * Tooltron is free software: you can redistribute it and/or modify

 * it under the terms of the Lesser GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 *

 * Tooltron is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * Lesser GNU General Public License for more details.

 * You should have received a copy of the Lesser GNU General Public License

 * along with Tooltron.  If not, see <http://www.gnu.org/licenses/>.

 *

 * Copyright 2009 Kevin Woo <kwoo@2ndt.com>

 *

 ********/

/** @file main.c

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

 *

 *  @author Suresh Nidhiry (snidhiry@andrew.cmu.edu)

 *  @author Kevin Woo (kwoo@2ndt.com)

 */

//Includes

#include <avr/io.h>

#include <avr/interrupt.h>

#include <stdint.h>

#include <util/delay.h>

#include <tooltron.h>

#include "jumptable.h"

#define TOOLBOX

#define RELAY       _BV(PORTD4)

#define VAC_SENSE   _BV(PIND3)

#define BUT_RED     _BV(PINB4)

#define BUT_BLACK   _BV(PINB3)

#define LED_GREEN   _BV(PORTB2)

#define LED_YELLOW  _BV(PORTB1)

#define LED_RED     _BV(PORTB0)

#define ON      0x01

#define OFF     0x00

/***** change ADDR ****/

#define ADDR 18

#define DELIM '^'

#define SERVER 1

#define TURNON 'O'

/***

 * TWAIT - minutes to wait before green button is pressed to kill power

 * TWARN - minutes until warning (blink yellow, allow more time with green button)

 * TMAX  - minutes until power is killed (unless tool is on)

 */

#define TWAIT   1

#define TWARN   1

#define TMAX    2

uint8_t sec;

uint8_t min;

typedef enum {

    sd,     // start delimitor

    src,    // src

    dest,   // destination

    data,   // data

    cs,     // checksum

    ack,    // send ack

    pwron,  // poweron

    idiot,  // user tried to hit green with the machine switch on

    toolon, // tool on

    warn,   // time warning

    off     // tool off

} state_t;

void init_pins(void) {

    DDRB = 0x00;

    DDRB = _BV(DDB0) | _BV(DDB1) | _BV(DDB2) | _BV(DDB5);

    DDRD = _BV(DDB4);

    PORTB = 0x00;

}

void toggle_led(uint8_t which, uint8_t state) {

    if (state == ON) {

        PORTB &= ~which;

    } else {

        PORTB |= which;

    }

}

void toggle_relay(uint8_t state) {

    if (state == ON) {

        PORTD |= RELAY;

    } else {

        PORTD &= ~RELAY;

    }

}

inline uint8_t read_vac(void) {

    return (!(PIND & VAC_SENSE));

}

inline uint8_t read_button(uint8_t which) {

    return (!(PINB & which));

}

void init_timer(void) {

    // Clear timmer on OCRA1 Compare match

    // No prescale

    TCCR1B |= _BV(WGM12) | _BV(CS12);

    // 1 second @ 8MHz clock

    OCR1AH =0x7A;

    OCR1AL =0x12;

    TIMSK = _BV(OCIE1A);

    sec = 0;

    min = 0;

}

void reset_timer(void) {

    sec = 0;

    min = 0;

}

ISR(TIMER1_COMPA_vect) {

    if (sec == 59) {

        sec = 0;

        min++;

    } else {

        sec++;

    }

}

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

    state_t state = sd;

    uint8_t packet[3];

    uint8_t ms_timer=0;

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

        sei();                                //Enable interrupts

        init_timer();                //Set registers for timer

        init_pins();                //Set pin directions

    rs485_init(51);

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

    uint8_t r;

    packet[0] = 0x00;

    packet[1] = 0x00;

    packet[2] = 0x00;

        while(1) {

        switch (state) {

            case sd:

                toggle_led(LED_RED, ON);

                toggle_led(LED_YELLOW, OFF);

                toggle_led(LED_GREEN, OFF);

                toggle_relay(OFF);

                while ((rs485_get_byte(&r)) < 0);

                if (r == DELIM) {

                    state = src;

                }

                break;

            case src:

                while ((rs485_get_byte(&r)) < 0);

                if (r == DELIM) {

                    state = src;

                } else {

                    packet[0] = r;

                    state = dest;

                }

                break;

            case dest:

                while ((rs485_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 ((rs485_get_byte(&r)) < 0);

                if (r == DELIM) {

                    packet[0] = 0x00;

                    packet[1] = 0x00;

                    state = src;

                } else {

                    packet[2] = r;

                    state = cs;

                }

                break;

            case cs:

                while ((rs485_get_byte(&r)) < 0);

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

                    if (packet[2] == TURNON) {

                        state = ack;

                        break;

                    }

                }

                packet[0] = 0x00;

                packet[1] = 0x00;

                packet[2] = 0x00;

                state = sd;

                break;

            case ack:

                rs485_send_byte(DELIM);

                rs485_send_byte(ADDR);

                rs485_send_byte(SERVER);

                rs485_send_byte('A');

                rs485_send_byte(ADDR ^ SERVER ^ 'A');

                toggle_led(LED_RED, OFF);

                toggle_led(LED_YELLOW, ON);

                state = pwron;

                reset_timer();

                break;

            case pwron:

              if (read_vac() == ON) {

                ms_timer = 0;

                state = idiot;

                break;

              }

                if (read_button(BUT_BLACK)) {

                    toggle_led(LED_YELLOW, OFF);

                    toggle_led(LED_GREEN, ON);

                    toggle_relay(ON);

                    reset_timer();

                    state = toolon;

                } else if ((read_button(BUT_RED)) || (min >= TWAIT)) {

                    state = off;

                }

                break;

            case idiot:

              if (read_vac() == OFF) {

                state = pwron;

                toggle_led(LED_RED, OFF);

                toggle_led(LED_YELLOW, ON);

                break;

              }

              if (read_button(BUT_RED)) {

                state = off;

                break;

              }

              if(ms_timer >= 100) {

                toggle_led(LED_YELLOW, ON);

                toggle_led(LED_RED, OFF);

                if(ms_timer >= 200) {

                  ms_timer = 0;

                }

              }

              else {

                toggle_led(LED_YELLOW, OFF);

                toggle_led(LED_RED, ON);

              }

              _delay_ms(2);

              ms_timer++;

              break;

            case toolon:

                if ((read_button(BUT_RED)) && (read_vac() == OFF)) {

                        state = off;

                        toggle_relay(OFF);

                } else if (min >= TWARN) {

                    toggle_led(LED_GREEN, OFF);

                    state = warn;

                }

                break;

            case warn:

                if(ms_timer >= 100) {

                  toggle_led(LED_YELLOW, ON);

                  if(ms_timer >= 200) {

                    ms_timer = 0;

                  }

                }

                else {

                  toggle_led(LED_YELLOW, OFF);

                }

                if (read_button(BUT_RED) && read_vac() == OFF) {

                    toggle_relay(OFF);

                    state = off;

                } else if (read_button(BUT_BLACK)) {

                    toggle_led(LED_GREEN, ON);

                    toggle_led(LED_YELLOW, OFF);

                    reset_timer();

                    state = toolon;

                } else if ((min >= TMAX) && (read_vac() == OFF)) {

                    toggle_relay(OFF);

                    state = off;

                }

                _delay_ms(2);

                ms_timer++;

                break;

            case off:

                toggle_led(LED_GREEN, OFF);

                toggle_led(LED_YELLOW, OFF);

                toggle_led(LED_RED, ON);

                state = sd;

                break;

            default: state = sd;

        }     

        }

        return 0;

}