Revision 202
- Moved the reset code to toolbox since it is the only code that uses it
- Optimized the toolbox statemachine to use parse_packet and the bootloader
function - Small byte optimizations.
- Down from 1024 bytes to 768 bytes
main.c | ||
---|---|---|
26 | 26 |
//Includes |
27 | 27 |
#include <avr/io.h> |
28 | 28 |
#include <avr/interrupt.h> |
29 |
#include <avr/eeprom.h> |
|
29 | 30 |
#include <stdint.h> |
30 | 31 |
#include <util/delay.h> |
31 | 32 |
#include <tooltron.h> |
32 | 33 |
#include "jumptable.h" |
34 |
#include "reset.h" |
|
33 | 35 |
#include <toolbox_pindefs.h> |
34 |
#define TOOLBOX |
|
35 |
#define RELAY _BV(PORTD4) |
|
36 |
#define VAC_SENSE _BV(PIND3) |
|
37 |
#define BUT_RED _BV(PINB4) |
|
38 |
#define BUT_BLACK _BV(PINB3) |
|
39 |
#define LED_GREEN _BV(PORTB2) |
|
40 |
#define LED_YELLOW _BV(PORTB1) |
|
41 |
#define LED_RED _BV(PORTB0) |
|
42 |
#define ON 0x01 |
|
43 |
#define OFF 0x00 |
|
44 | 36 |
|
45 |
/***** change ADDR ****/ |
|
46 |
#define ADDR 18 |
|
47 |
#define DELIM '^' |
|
48 |
#define SERVER 1 |
|
49 |
#define TURNON 'O' 'O''0' |
|
50 |
|
|
51 | 37 |
/*** |
52 | 38 |
* TWAIT - minutes to wait before green button is pressed to kill power |
53 | 39 |
* TWARN - minutes until warning (blink yellow, allow more time with green button) |
... | ... | |
61 | 47 |
uint8_t min; |
62 | 48 |
|
63 | 49 |
typedef enum { |
64 |
sd, // start delimitor |
|
65 |
src, // src |
|
66 |
dest, // destination |
|
67 |
data, // data |
|
68 |
cs, // checksum |
|
69 |
ack, // send ack |
|
50 |
wait, // wait for a turn on packet |
|
70 | 51 |
pwron, // poweron |
71 | 52 |
idiot, // user tried to hit green with the machine switch on |
72 | 53 |
toolon, // tool on |
... | ... | |
74 | 55 |
off // tool off |
75 | 56 |
} state_t; |
76 | 57 |
|
77 |
void init_pins(void) { |
|
78 |
DDRB = 0x00; |
|
79 |
DDRB = _BV(DDB0) | _BV(DDB1) | _BV(DDB2) | _BV(DDB5); |
|
80 |
DDRD = _BV(DDB4); |
|
81 |
PORTB = 0x00; |
|
82 |
} |
|
83 |
|
|
58 |
/** |
|
59 |
* @brief Sets the LED to the specified state |
|
60 |
* |
|
61 |
* This sets LED which to the specified state. You can use this to set |
|
62 |
* multiple LEDs if you OR the LEDs desired into the which argument. |
|
63 |
* |
|
64 |
* @param which The LEDs to set |
|
65 |
* @parma state The state ON or OFF to set to the LEDs to |
|
66 |
* @return void |
|
67 |
*/ |
|
84 | 68 |
void toggle_led(uint8_t which, uint8_t state) { |
85 | 69 |
if (state == ON) { |
86 |
PORTB &= ~which;
|
|
70 |
LED_PORT &= ~(which);
|
|
87 | 71 |
} else { |
88 |
PORTB |= which;
|
|
72 |
LED_PORT |= (which);
|
|
89 | 73 |
} |
90 | 74 |
} |
91 | 75 |
|
76 |
/** |
|
77 |
* @brief Sets the relay to a particular state |
|
78 |
* |
|
79 |
* @param state Sets the relay to either ON or OFF |
|
80 |
* @return void |
|
81 |
*/ |
|
92 | 82 |
void toggle_relay(uint8_t state) { |
93 | 83 |
if (state == ON) { |
94 |
PORTD |= RELAY;
|
|
84 |
RELAY_PORT |= RELAY;
|
|
95 | 85 |
} else { |
96 |
PORTD &= ~RELAY;
|
|
86 |
RELAY_PORT &= ~RELAY;
|
|
97 | 87 |
} |
98 | 88 |
} |
99 | 89 |
|
90 |
/** |
|
91 |
* @brief Returns the current value of the AC voltage sense |
|
92 |
* |
|
93 |
* @return ON if AC voltage is detected, OFF otherwise |
|
94 |
*/ |
|
100 | 95 |
inline uint8_t read_vac(void) { |
101 |
return (!(PIND & VAC_SENSE));
|
|
96 |
return (!(VAC_PORT & VAC_SENSE));
|
|
102 | 97 |
} |
103 | 98 |
|
99 |
/** |
|
100 |
* @brief Returns the current value of the buttons |
|
101 |
* |
|
102 |
* You can read multiple buttons at once but it will only return TRUE |
|
103 |
* if all of the buttons are pressed. You should OR the buttons together |
|
104 |
* while passing them into which. |
|
105 |
* |
|
106 |
* @param which The buttons to read |
|
107 |
* @return TRUE if the buttons are pressed, FALSE otherwise |
|
108 |
*/ |
|
104 | 109 |
inline uint8_t read_button(uint8_t which) { |
105 |
return (!(PINB & which));
|
|
110 |
return (!(BUT_PORT & (which)));
|
|
106 | 111 |
} |
107 | 112 |
|
113 |
/** |
|
114 |
* @brief Initialize the hardware timer to be a realtime clock |
|
115 |
* |
|
116 |
* This will set timer 1 to cause an interrupt every 1 second assuming |
|
117 |
* you are using a 8MHz clock. The global sec and min counters are |
|
118 |
* reset as well. |
|
119 |
* |
|
120 |
* @return void |
|
121 |
*/ |
|
108 | 122 |
void init_timer(void) { |
109 | 123 |
// Clear timmer on OCRA1 Compare match |
110 | 124 |
// No prescale |
111 | 125 |
TCCR1B |= _BV(WGM12) | _BV(CS12); |
112 | 126 |
|
113 | 127 |
// 1 second @ 8MHz clock |
114 |
OCR1AH =0x7A; |
|
115 |
OCR1AL =0x12; |
|
128 |
OCR1A = 0x7A12; |
|
116 | 129 |
|
117 | 130 |
TIMSK = _BV(OCIE1A); |
118 | 131 |
|
... | ... | |
120 | 133 |
min = 0; |
121 | 134 |
} |
122 | 135 |
|
136 |
/** |
|
137 |
* @brief Resets the timer |
|
138 |
* @return void |
|
139 |
*/ |
|
123 | 140 |
void reset_timer(void) { |
124 | 141 |
sec = 0; |
125 | 142 |
min = 0; |
126 | 143 |
} |
127 | 144 |
|
145 |
/** |
|
146 |
* @brief Timer1 interrupt vector |
|
147 |
* |
|
148 |
* This counts the seconds and minute since the last reset. Automatically |
|
149 |
* resets the seconds once it rolls over to 60s and increments minutes. |
|
150 |
* |
|
151 |
* @note minutes may overflow if you let it run long enough. There are no |
|
152 |
* checks against this |
|
153 |
*/ |
|
128 | 154 |
ISR(TIMER1_COMPA_vect) { |
129 | 155 |
if (sec == 59) { |
130 | 156 |
sec = 0; |
131 |
min++;
|
|
157 |
++min;
|
|
132 | 158 |
} else { |
133 |
sec++;
|
|
159 |
++sec;
|
|
134 | 160 |
} |
135 | 161 |
} |
136 | 162 |
|
137 | 163 |
|
138 |
int main(int argc, char **argv) { |
|
139 |
state_t state = sd; |
|
140 |
uint8_t packet[3]; |
|
164 |
int main(void) { |
|
165 |
state_t state = wait; |
|
166 |
// This reads the node addr |
|
167 |
uint8_t addr = eeprom_read_byte((void*)EEPROM_ADDR); |
|
141 | 168 |
uint8_t ms_timer=0; |
169 |
uint8_t mbuf[PROGD_PACKET_SIZE]; // For reading messages |
|
142 | 170 |
|
143 | 171 |
/***** Start Start-up Sequence *****/ |
172 |
// We are initializing the pins and the RS485 in the bootloader |
|
144 | 173 |
sei(); //Enable interrupts |
145 | 174 |
init_timer(); //Set registers for timer |
146 |
init_pins(); //Set pin directions |
|
147 |
rs485_init(51); |
|
148 | 175 |
/***** End Start-up Sequence *****/ |
149 | 176 |
|
150 |
uint8_t r; |
|
177 |
uint8_t resp;
|
|
151 | 178 |
|
152 |
packet[0] = 0x00; |
|
153 |
packet[1] = 0x00; |
|
154 |
packet[2] = 0x00; |
|
155 |
|
|
156 | 179 |
while(1) { |
157 | 180 |
switch (state) { |
158 |
case sd: |
|
181 |
case wait: |
|
182 |
// Reset the lights and relay |
|
159 | 183 |
toggle_led(LED_RED, ON); |
160 |
toggle_led(LED_YELLOW, OFF); |
|
161 |
toggle_led(LED_GREEN, OFF); |
|
184 |
toggle_led(LED_YELLOW | LED_GREEN, OFF); |
|
162 | 185 |
toggle_relay(OFF); |
163 |
while ((rs485_get_byte(&r)) < 0); |
|
164 |
if (r == DELIM) { |
|
165 |
state = src; |
|
166 |
} |
|
167 |
break; |
|
168 |
case src: |
|
169 |
while ((rs485_get_byte(&r)) < 0); |
|
170 | 186 |
|
171 |
if (r == DELIM) { |
|
172 |
state = src; |
|
173 |
} else { |
|
174 |
packet[0] = r; |
|
175 |
state = dest; |
|
176 |
} |
|
177 |
break; |
|
178 |
case dest: |
|
179 |
while ((rs485_get_byte(&r)) < 0); |
|
187 |
// Wait for a packet |
|
188 |
resp = parse_packet(mbuf, addr); |
|
180 | 189 |
|
181 |
if (r == DELIM) { |
|
182 |
packet[0] = 0x00; |
|
183 |
state = src; |
|
184 |
} else if (r == ADDR) { |
|
185 |
packet[1] = r; |
|
186 |
state = data; |
|
187 |
} else { |
|
188 |
packet[0] = 0x00; |
|
189 |
state = sd; |
|
190 |
} |
|
191 |
break; |
|
192 |
case data: |
|
193 |
while ((rs485_get_byte(&r)) < 0); |
|
194 |
|
|
195 |
if (r == DELIM) { |
|
196 |
packet[0] = 0x00; |
|
197 |
packet[1] = 0x00; |
|
198 |
state = src; |
|
199 |
} else { |
|
200 |
packet[2] = r; |
|
201 |
state = cs; |
|
202 |
} |
|
203 |
break; |
|
204 |
case cs: |
|
205 |
while ((rs485_get_byte(&r)) < 0); |
|
190 |
// Turn on the tool |
|
191 |
if (resp == TT_ON) { |
|
192 |
send_packet(TT_ACK, addr); |
|
206 | 193 |
|
207 |
if (r == (packet[0] ^ packet[1] ^ packet[2])) { |
|
208 |
|
|
209 |
if (packet[2] == TT_TON) { |
|
210 |
state = ack; |
|
211 |
break; |
|
212 |
} |
|
194 |
toggle_led(LED_RED, OFF); |
|
195 |
toggle_led(LED_YELLOW, ON); |
|
196 |
state = pwron; |
|
197 |
reset_timer(); |
|
198 |
// Reset the board |
|
199 |
} else if (resp == TT_RESET) { |
|
200 |
send_packet(TT_ACK, addr); |
|
201 |
reset(); |
|
213 | 202 |
} |
214 |
|
|
215 |
packet[0] = 0x00; |
|
216 |
packet[1] = 0x00; |
|
217 |
packet[2] = 0x00; |
|
218 |
state = sd; |
|
219 | 203 |
break; |
220 |
case ack: |
|
221 |
rs485_send_byte(DELIM); |
|
222 |
rs485_send_byte(ADDR); |
|
223 |
rs485_send_byte(SERVER); |
|
224 |
rs485_send_byte('A'); |
|
225 |
rs485_send_byte(ADDR ^ SERVER ^ 'A'); |
|
226 |
|
|
227 |
toggle_led(LED_RED, OFF); |
|
228 |
toggle_led(LED_YELLOW, ON); |
|
229 |
|
|
230 |
state = pwron; |
|
231 |
reset_timer(); |
|
232 |
break; |
|
233 | 204 |
case pwron: |
234 |
if (read_vac() == ON) { |
|
235 |
ms_timer = 0; |
|
236 |
state = idiot; |
|
237 |
break; |
|
238 |
} |
|
205 |
// Make sure the tool isn't on before we apply power |
|
206 |
if (read_vac() == ON) { |
|
207 |
ms_timer = 0; |
|
208 |
state = idiot; |
|
209 |
break; |
|
210 |
} |
|
239 | 211 |
|
212 |
// Wait for a black button press |
|
240 | 213 |
if (read_button(BUT_BLACK)) { |
241 | 214 |
toggle_led(LED_YELLOW, OFF); |
242 | 215 |
toggle_led(LED_GREEN, ON); |
... | ... | |
244 | 217 |
|
245 | 218 |
reset_timer(); |
246 | 219 |
state = toolon; |
220 |
// Timeout waiting for the user |
|
247 | 221 |
} else if ((read_button(BUT_RED)) || (min >= TWAIT)) { |
248 | 222 |
state = off; |
249 | 223 |
} |
250 | 224 |
break; |
251 |
case idiot: |
|
252 |
if (read_vac() == OFF) { |
|
253 |
state = pwron; |
|
254 |
toggle_led(LED_RED, OFF); |
|
255 |
toggle_led(LED_YELLOW, ON); |
|
256 |
break; |
|
257 |
} |
|
225 |
case idiot: |
|
226 |
// We can safely exit this state if the tool is switched off |
|
227 |
if (read_vac() == OFF) { |
|
228 |
state = pwron; |
|
229 |
toggle_led(LED_RED, OFF); |
|
230 |
toggle_led(LED_YELLOW, ON); |
|
231 |
break; |
|
232 |
} |
|
258 | 233 |
|
259 |
if (read_button(BUT_RED)) { |
|
260 |
state = off; |
|
261 |
break; |
|
262 |
} |
|
234 |
// The user has cancelled the tooltron request |
|
235 |
if (read_button(BUT_RED)) { |
|
236 |
state = off; |
|
237 |
break; |
|
238 |
} |
|
263 | 239 |
|
264 |
if(ms_timer >= 100) {
|
|
265 |
toggle_led(LED_YELLOW, ON);
|
|
266 |
toggle_led(LED_RED, OFF);
|
|
267 |
|
|
268 |
if(ms_timer >= 200) { |
|
269 |
ms_timer = 0;
|
|
270 |
}
|
|
271 |
}
|
|
272 |
else {
|
|
273 |
toggle_led(LED_YELLOW, OFF);
|
|
274 |
toggle_led(LED_RED, ON);
|
|
275 |
}
|
|
240 |
// Blink code
|
|
241 |
if(ms_timer >= 100) {
|
|
242 |
toggle_led(LED_YELLOW, ON);
|
|
243 |
toggle_led(LED_RED, OFF); |
|
244 |
|
|
245 |
if(ms_timer >= 200) {
|
|
246 |
ms_timer = 0;
|
|
247 |
}
|
|
248 |
} else {
|
|
249 |
toggle_led(LED_YELLOW, OFF);
|
|
250 |
toggle_led(LED_RED, ON);
|
|
251 |
}
|
|
276 | 252 |
|
277 |
_delay_ms(2);
|
|
278 |
ms_timer++;
|
|
279 |
break;
|
|
253 |
_delay_ms(2);
|
|
254 |
ms_timer++;
|
|
255 |
break;
|
|
280 | 256 |
|
281 | 257 |
case toolon: |
282 |
|
|
258 |
// Give the tool power until the red button is pressed |
|
283 | 259 |
if ((read_button(BUT_RED)) && (read_vac() == OFF)) { |
284 | 260 |
state = off; |
285 | 261 |
toggle_relay(OFF); |
262 |
// Time is about to expire |
|
286 | 263 |
} else if (min >= TWARN) { |
287 | 264 |
toggle_led(LED_GREEN, OFF); |
288 | 265 |
state = warn; |
... | ... | |
290 | 267 |
break; |
291 | 268 |
|
292 | 269 |
case warn: |
293 |
if(ms_timer >= 100) { |
|
294 |
toggle_led(LED_YELLOW, ON); |
|
270 |
// Blink the LED |
|
271 |
if(ms_timer >= 100) { |
|
272 |
toggle_led(LED_YELLOW, ON); |
|
295 | 273 |
|
296 |
if(ms_timer >= 200) { |
|
297 |
ms_timer = 0; |
|
298 |
} |
|
299 |
} |
|
300 |
else { |
|
301 |
toggle_led(LED_YELLOW, OFF); |
|
302 |
} |
|
274 |
if(ms_timer >= 200) { |
|
275 |
ms_timer = 0; |
|
276 |
} |
|
277 |
} else { |
|
278 |
toggle_led(LED_YELLOW, OFF); |
|
279 |
} |
|
303 | 280 |
|
281 |
// User turns off the tool if it's safe |
|
304 | 282 |
if (read_button(BUT_RED) && read_vac() == OFF) { |
305 | 283 |
toggle_relay(OFF); |
306 | 284 |
state = off; |
285 |
// Time extension |
|
307 | 286 |
} else if (read_button(BUT_BLACK)) { |
308 | 287 |
toggle_led(LED_GREEN, ON); |
309 | 288 |
toggle_led(LED_YELLOW, OFF); |
310 | 289 |
reset_timer(); |
311 | 290 |
state = toolon; |
291 |
// Time expired and it's safe to turn off |
|
312 | 292 |
} else if ((min >= TMAX) && (read_vac() == OFF)) { |
313 | 293 |
toggle_relay(OFF); |
314 | 294 |
state = off; |
315 | 295 |
} |
316 | 296 |
|
317 |
_delay_ms(2); |
|
318 |
ms_timer++; |
|
297 |
_delay_ms(2);
|
|
298 |
ms_timer++;
|
|
319 | 299 |
|
320 | 300 |
break; |
321 | 301 |
case off: |
322 |
toggle_led(LED_GREEN, OFF); |
|
323 |
toggle_led(LED_YELLOW, OFF); |
|
302 |
toggle_led(LED_GREEN | LED_YELLOW, OFF); |
|
324 | 303 |
toggle_led(LED_RED, ON); |
325 |
state = sd;
|
|
304 |
state = wait;
|
|
326 | 305 |
break; |
327 |
default: state = sd;
|
|
306 |
default: state = wait;
|
|
328 | 307 |
} |
329 |
|
|
330 | 308 |
} |
331 | 309 |
|
332 | 310 |
return 0; |
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