root / trunk / toolbox / main.c @ 201
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1 | 139 | kwoo | /********
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2 | * This file is part of Tooltron.
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3 | *
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4 | * Tooltron is free software: you can redistribute it and/or modify
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5 | * it under the terms of the Lesser GNU General Public License as published by
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6 | * the Free Software Foundation, either version 3 of the License, or
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7 | * (at your option) any later version.
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8 | *
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9 | * Tooltron is distributed in the hope that it will be useful,
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10 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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11 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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12 | * Lesser GNU General Public License for more details.
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13 | * You should have received a copy of the Lesser GNU General Public License
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14 | * along with Tooltron. If not, see <http://www.gnu.org/licenses/>.
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15 | *
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16 | * Copyright 2009 Kevin Woo <kwoo@2ndt.com>
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17 | *
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18 | ********/
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19 | 2 | snidhiry | /** @file main.c
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20 | * @brief Contains the main function for the toolbox code.
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21 | *
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22 | 191 | kwoo | * @author Suresh Nidhiry (snidhiry@andrew.cmu.edu)
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23 | * @author Kevin Woo (kwoo@2ndt.com)
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24 | 2 | snidhiry | */
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25 | |||
26 | 6 | kwoo | //Includes
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27 | #include <avr/io.h> |
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28 | 8 | kwoo | #include <avr/interrupt.h> |
29 | 114 | kwoo | #include <stdint.h> |
30 | #include <util/delay.h> |
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31 | 191 | kwoo | #include <tooltron.h> |
32 | #include "jumptable.h" |
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33 | 201 | kwoo | #include <toolbox_pindefs.h> |
34 | 191 | kwoo | #define TOOLBOX
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35 | 118 | kwoo | #define RELAY _BV(PORTD4)
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36 | 129 | kwoo | #define VAC_SENSE _BV(PIND3)
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37 | 149 | bneuman | #define BUT_RED _BV(PINB4)
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38 | #define BUT_BLACK _BV(PINB3)
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39 | 115 | kwoo | #define LED_GREEN _BV(PORTB2)
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40 | #define LED_YELLOW _BV(PORTB1)
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41 | #define LED_RED _BV(PORTB0)
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42 | 114 | kwoo | #define ON 0x01 |
43 | #define OFF 0x00 |
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44 | |||
45 | 143 | bneuman | /***** change ADDR ****/
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46 | 150 | bneuman | #define ADDR 18 |
47 | 114 | kwoo | #define DELIM '^' |
48 | 123 | kwoo | #define SERVER 1 |
49 | 201 | kwoo | #define TURNON 'O' 'O''0' |
50 | 116 | kwoo | |
51 | 143 | bneuman | /***
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52 | * TWAIT - minutes to wait before green button is pressed to kill power
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53 | * TWARN - minutes until warning (blink yellow, allow more time with green button)
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54 | * TMAX - minutes until power is killed (unless tool is on)
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55 | */
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56 | 129 | kwoo | #define TWAIT 1 |
57 | 123 | kwoo | #define TWARN 1 |
58 | #define TMAX 2 |
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59 | |||
60 | uint8_t sec; |
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61 | uint8_t min; |
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62 | |||
63 | 114 | kwoo | typedef enum { |
64 | sd, // start delimitor
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65 | src, // src
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66 | dest, // destination
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67 | data, // data
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68 | cs, // checksum
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69 | 116 | kwoo | ack, // send ack
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70 | 114 | kwoo | pwron, // poweron
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71 | 149 | bneuman | idiot, // user tried to hit green with the machine switch on
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72 | 116 | kwoo | toolon, // tool on
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73 | 129 | kwoo | warn, // time warning
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74 | off // tool off
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75 | 114 | kwoo | } state_t; |
76 | |||
77 | 123 | kwoo | void init_pins(void) { |
78 | 129 | kwoo | DDRB = 0x00;
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79 | 117 | kwoo | DDRB = _BV(DDB0) | _BV(DDB1) | _BV(DDB2) | _BV(DDB5); |
80 | 118 | kwoo | DDRD = _BV(DDB4); |
81 | 114 | kwoo | PORTB = 0x00;
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82 | } |
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83 | |||
84 | 115 | kwoo | void toggle_led(uint8_t which, uint8_t state) {
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85 | 114 | kwoo | if (state == ON) {
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86 | PORTB &= ~which; |
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87 | } else {
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88 | PORTB |= which; |
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89 | } |
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90 | } |
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91 | |||
92 | 117 | kwoo | void toggle_relay(uint8_t state) {
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93 | if (state == ON) {
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94 | 118 | kwoo | PORTD |= RELAY; |
95 | 117 | kwoo | } else {
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96 | 118 | kwoo | PORTD &= ~RELAY; |
97 | 117 | kwoo | } |
98 | } |
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99 | |||
100 | 129 | kwoo | inline uint8_t read_vac(void) { |
101 | return (!(PIND & VAC_SENSE));
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102 | } |
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103 | |||
104 | 115 | kwoo | inline uint8_t read_button(uint8_t which) {
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105 | return (!(PINB & which));
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106 | } |
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107 | |||
108 | 123 | kwoo | void init_timer(void) { |
109 | // Clear timmer on OCRA1 Compare match
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110 | // No prescale
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111 | TCCR1B |= _BV(WGM12) | _BV(CS12); |
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112 | |||
113 | // 1 second @ 8MHz clock
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114 | OCR1AH =0x7A;
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115 | OCR1AL =0x12;
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116 | |||
117 | TIMSK = _BV(OCIE1A); |
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118 | |||
119 | sec = 0;
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120 | min = 0;
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121 | } |
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122 | |||
123 | void reset_timer(void) { |
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124 | sec = 0;
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125 | min = 0;
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126 | } |
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127 | |||
128 | ISR(TIMER1_COMPA_vect) { |
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129 | if (sec == 59) { |
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130 | sec = 0;
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131 | min++; |
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132 | } else {
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133 | sec++; |
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134 | } |
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135 | } |
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136 | |||
137 | |||
138 | 2 | snidhiry | int main(int argc, char **argv) { |
139 | 114 | kwoo | state_t state = sd; |
140 | uint8_t packet[3];
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141 | 148 | bneuman | uint8_t ms_timer=0;
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142 | 2 | snidhiry | |
143 | 6 | kwoo | /***** Start Start-up Sequence *****/
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144 | 8 | kwoo | sei(); //Enable interrupts
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145 | 123 | kwoo | init_timer(); //Set registers for timer
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146 | 114 | kwoo | init_pins(); //Set pin directions
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147 | 191 | kwoo | rs485_init(51);
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148 | 6 | kwoo | /***** End Start-up Sequence *****/
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149 | 3 | kwoo | |
150 | 109 | kwoo | uint8_t r; |
151 | 114 | kwoo | |
152 | packet[0] = 0x00; |
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153 | packet[1] = 0x00; |
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154 | packet[2] = 0x00; |
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155 | 115 | kwoo | |
156 | 6 | kwoo | while(1) { |
157 | 114 | kwoo | switch (state) {
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158 | case sd:
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159 | 150 | bneuman | toggle_led(LED_RED, ON); |
160 | 116 | kwoo | toggle_led(LED_YELLOW, OFF); |
161 | toggle_led(LED_GREEN, OFF); |
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162 | 117 | kwoo | toggle_relay(OFF); |
163 | 191 | kwoo | while ((rs485_get_byte(&r)) < 0); |
164 | 114 | kwoo | if (r == DELIM) {
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165 | state = src; |
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166 | } |
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167 | break;
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168 | case src:
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169 | 191 | kwoo | while ((rs485_get_byte(&r)) < 0); |
170 | 114 | kwoo | |
171 | if (r == DELIM) {
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172 | state = src; |
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173 | } else {
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174 | packet[0] = r;
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175 | state = dest; |
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176 | } |
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177 | break;
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178 | case dest:
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179 | 191 | kwoo | while ((rs485_get_byte(&r)) < 0); |
180 | 114 | kwoo | |
181 | if (r == DELIM) {
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182 | packet[0] = 0x00; |
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183 | state = src; |
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184 | } else if (r == ADDR) { |
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185 | packet[1] = r;
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186 | state = data; |
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187 | } else {
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188 | packet[0] = 0x00; |
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189 | state = sd; |
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190 | } |
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191 | break;
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192 | case data:
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193 | 191 | kwoo | while ((rs485_get_byte(&r)) < 0); |
194 | 114 | kwoo | |
195 | if (r == DELIM) {
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196 | packet[0] = 0x00; |
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197 | packet[1] = 0x00; |
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198 | state = src; |
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199 | } else {
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200 | packet[2] = r;
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201 | 123 | kwoo | state = cs; |
202 | 114 | kwoo | } |
203 | break;
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204 | case cs:
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205 | 191 | kwoo | while ((rs485_get_byte(&r)) < 0); |
206 | 114 | kwoo | |
207 | if (r == (packet[0] ^ packet[1] ^ packet[2])) { |
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208 | 117 | kwoo | |
209 | 201 | kwoo | if (packet[2] == TT_TON) { |
210 | 117 | kwoo | state = ack; |
211 | break;
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212 | } |
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213 | 114 | kwoo | } |
214 | 117 | kwoo | |
215 | packet[0] = 0x00; |
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216 | packet[1] = 0x00; |
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217 | packet[2] = 0x00; |
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218 | state = sd; |
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219 | 114 | kwoo | break;
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220 | 116 | kwoo | case ack:
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221 | 191 | kwoo | rs485_send_byte(DELIM); |
222 | rs485_send_byte(ADDR); |
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223 | rs485_send_byte(SERVER); |
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224 | rs485_send_byte('A');
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225 | rs485_send_byte(ADDR ^ SERVER ^ 'A');
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226 | 114 | kwoo | |
227 | 116 | kwoo | toggle_led(LED_RED, OFF); |
228 | toggle_led(LED_YELLOW, ON); |
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229 | |||
230 | state = pwron; |
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231 | 129 | kwoo | reset_timer(); |
232 | 116 | kwoo | break;
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233 | case pwron:
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234 | 149 | bneuman | if (read_vac() == ON) {
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235 | ms_timer = 0;
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236 | state = idiot; |
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237 | break;
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238 | } |
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239 | |||
240 | if (read_button(BUT_BLACK)) {
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241 | 115 | kwoo | toggle_led(LED_YELLOW, OFF); |
242 | toggle_led(LED_GREEN, ON); |
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243 | 149 | bneuman | toggle_relay(ON); |
244 | |||
245 | reset_timer(); |
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246 | state = toolon; |
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247 | 129 | kwoo | } else if ((read_button(BUT_RED)) || (min >= TWAIT)) { |
248 | state = off; |
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249 | 114 | kwoo | } |
250 | break;
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251 | 149 | bneuman | case idiot:
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252 | if (read_vac() == OFF) {
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253 | state = pwron; |
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254 | toggle_led(LED_RED, OFF); |
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255 | toggle_led(LED_YELLOW, ON); |
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256 | 148 | bneuman | break;
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257 | } |
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258 | |||
259 | 149 | bneuman | if (read_button(BUT_RED)) {
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260 | state = off; |
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261 | break;
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262 | } |
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263 | |||
264 | if(ms_timer >= 100) { |
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265 | toggle_led(LED_YELLOW, ON); |
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266 | toggle_led(LED_RED, OFF); |
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267 | 148 | bneuman | |
268 | 149 | bneuman | if(ms_timer >= 200) { |
269 | ms_timer = 0;
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270 | 148 | bneuman | } |
271 | 149 | bneuman | } |
272 | else {
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273 | 148 | bneuman | toggle_led(LED_YELLOW, OFF); |
274 | 149 | bneuman | toggle_led(LED_RED, ON); |
275 | 148 | bneuman | } |
276 | |||
277 | 149 | bneuman | _delay_ms(2);
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278 | 148 | bneuman | ms_timer++; |
279 | break;
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280 | |||
281 | 116 | kwoo | case toolon:
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282 | 129 | kwoo | |
283 | if ((read_button(BUT_RED)) && (read_vac() == OFF)) {
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284 | state = off; |
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285 | toggle_relay(OFF); |
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286 | 123 | kwoo | } else if (min >= TWARN) { |
287 | toggle_led(LED_GREEN, OFF); |
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288 | state = warn; |
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289 | 116 | kwoo | } |
290 | break;
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291 | 123 | kwoo | |
292 | 116 | kwoo | case warn:
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293 | 148 | bneuman | if(ms_timer >= 100) { |
294 | toggle_led(LED_YELLOW, ON); |
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295 | |||
296 | if(ms_timer >= 200) { |
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297 | ms_timer = 0;
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298 | } |
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299 | } |
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300 | else {
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301 | toggle_led(LED_YELLOW, OFF); |
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302 | } |
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303 | 123 | kwoo | |
304 | 150 | bneuman | if (read_button(BUT_RED) && read_vac() == OFF) {
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305 | 123 | kwoo | toggle_relay(OFF); |
306 | 129 | kwoo | state = off; |
307 | 116 | kwoo | } else if (read_button(BUT_BLACK)) { |
308 | 123 | kwoo | toggle_led(LED_GREEN, ON); |
309 | toggle_led(LED_YELLOW, OFF); |
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310 | reset_timer(); |
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311 | 116 | kwoo | state = toolon; |
312 | 129 | kwoo | } else if ((min >= TMAX) && (read_vac() == OFF)) { |
313 | toggle_relay(OFF); |
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314 | state = off; |
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315 | } |
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316 | 148 | bneuman | |
317 | _delay_ms(2);
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318 | ms_timer++; |
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319 | |||
320 | 116 | kwoo | break;
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321 | 129 | kwoo | case off:
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322 | toggle_led(LED_GREEN, OFF); |
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323 | toggle_led(LED_YELLOW, OFF); |
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324 | toggle_led(LED_RED, ON); |
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325 | state = sd; |
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326 | break;
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327 | 116 | kwoo | default: state = sd;
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328 | 123 | kwoo | } |
329 | |||
330 | 6 | kwoo | } |
331 | |||
332 | return 0; |
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333 | } |