root / toolbox / main.c @ 10936c07
History | View | Annotate | Download (5.99 KB)
| 1 |
#include <stdint.h> |
|---|---|
| 2 |
#include <string.h> |
| 3 |
#include <avr/io.h> |
| 4 |
#include <util/delay.h> |
| 5 |
#include "mb.h" |
| 6 |
#include "mbport.h" |
| 7 |
#include "tooltron_mb.h" |
| 8 |
#include "rfid.h" |
| 9 |
#include "led.h" |
| 10 |
#include "current.h" |
| 11 |
|
| 12 |
enum toolstate_t {
|
| 13 |
TS_INIT, |
| 14 |
TS_OFF, |
| 15 |
TS_WAIT_ACCESS, |
| 16 |
TS_DENY, |
| 17 |
TS_REQ_DIS, |
| 18 |
TS_MISSING_ID, |
| 19 |
TS_ON |
| 20 |
}; |
| 21 |
|
| 22 |
static enum toolstate_t toolstate = TS_INIT; |
| 23 |
static uint8_t coils;
|
| 24 |
static uint8_t latest_reading[RFID_SERNO_SIZE];
|
| 25 |
static uint8_t current_user[RFID_SERNO_SIZE];
|
| 26 |
static uint16_t current;
|
| 27 |
|
| 28 |
static inline void set_coil(char coil, char bit) { |
| 29 |
coils = (coils & ~(1 << coil)) | (bit << coil);
|
| 30 |
} |
| 31 |
static inline char get_coil(char coil) { |
| 32 |
return (coils >> coil) & 1; |
| 33 |
} |
| 34 |
|
| 35 |
static inline void tool_init() {DDRA |= _BV(DDA1);} |
| 36 |
static inline void tool_enable() {PORTA |= _BV(PA1);} |
| 37 |
static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
| 38 |
|
| 39 |
static inline void serno_zero(uint8_t *serno) { |
| 40 |
memset(serno, 0, RFID_SERNO_SIZE);
|
| 41 |
} |
| 42 |
|
| 43 |
static char serno_is_nonzero(uint8_t *serno) { |
| 44 |
int i;
|
| 45 |
for (i = 0; i < RFID_SERNO_SIZE; i++) { |
| 46 |
if (serno[i]) {
|
| 47 |
return 1; |
| 48 |
} |
| 49 |
} |
| 50 |
return 0; |
| 51 |
} |
| 52 |
|
| 53 |
static char serno_equal(uint8_t *a, uint8_t *b) { |
| 54 |
return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
| 55 |
} |
| 56 |
|
| 57 |
static void serno_cpy(uint8_t *dest, uint8_t *src) { |
| 58 |
memcpy(dest, src, RFID_SERNO_SIZE); |
| 59 |
} |
| 60 |
|
| 61 |
static void tool_main() { |
| 62 |
|
| 63 |
switch (toolstate) {
|
| 64 |
|
| 65 |
case TS_INIT:
|
| 66 |
if (get_coil(MB_COIL_INIT)) {
|
| 67 |
set_coil(MB_COIL_NEW, 0);
|
| 68 |
set_coil(MB_COIL_EN, 0);
|
| 69 |
set_coil(MB_COIL_REQ_DIS, 0);
|
| 70 |
toolstate = TS_OFF; |
| 71 |
} |
| 72 |
break;
|
| 73 |
|
| 74 |
case TS_OFF:
|
| 75 |
led_off(); |
| 76 |
set_coil(MB_COIL_EN, 0);
|
| 77 |
if (serno_is_nonzero(latest_reading)) {
|
| 78 |
serno_cpy(current_user, latest_reading); |
| 79 |
set_coil(MB_COIL_NEW, 1);
|
| 80 |
toolstate = TS_WAIT_ACCESS; |
| 81 |
} |
| 82 |
break;
|
| 83 |
|
| 84 |
case TS_WAIT_ACCESS:
|
| 85 |
led_yellow(); |
| 86 |
if (get_coil(MB_COIL_EN)) {
|
| 87 |
tool_enable(); |
| 88 |
toolstate = TS_ON; |
| 89 |
} else if (!get_coil(MB_COIL_NEW)) { |
| 90 |
toolstate = TS_DENY; |
| 91 |
} else if (!serno_equal(current_user, latest_reading)) { |
| 92 |
set_coil(MB_COIL_NEW, 0);
|
| 93 |
toolstate = TS_OFF; |
| 94 |
} |
| 95 |
break;
|
| 96 |
|
| 97 |
case TS_DENY:
|
| 98 |
led_red(); |
| 99 |
if (!serno_equal(current_user, latest_reading)) {
|
| 100 |
toolstate = TS_OFF; |
| 101 |
serno_zero(current_user); |
| 102 |
} |
| 103 |
|
| 104 |
case TS_REQ_DIS:
|
| 105 |
if (!get_coil(MB_COIL_EN)) {
|
| 106 |
tool_disable(); |
| 107 |
toolstate = TS_OFF; |
| 108 |
} else if (!get_coil(MB_COIL_REQ_DIS)) { |
| 109 |
toolstate = TS_ON; |
| 110 |
} else {
|
| 111 |
// TODO blink yellow for 10 seconds or something
|
| 112 |
set_coil(MB_COIL_EN, 0);
|
| 113 |
set_coil(MB_COIL_REQ_DIS, 0);
|
| 114 |
tool_disable(); |
| 115 |
serno_zero(current_user); |
| 116 |
toolstate = TS_OFF; |
| 117 |
} |
| 118 |
break;
|
| 119 |
|
| 120 |
case TS_MISSING_ID:
|
| 121 |
if (!get_coil(MB_COIL_EN)) {
|
| 122 |
tool_disable(); |
| 123 |
toolstate = TS_OFF; |
| 124 |
} else if (get_coil(MB_COIL_REQ_DIS)) { |
| 125 |
toolstate = TS_REQ_DIS; |
| 126 |
} else if (serno_equal(current_user, latest_reading)) { |
| 127 |
toolstate = TS_ON; |
| 128 |
} else {
|
| 129 |
if (led_blink_done()) {
|
| 130 |
set_coil(MB_COIL_EN, 0);
|
| 131 |
tool_disable(); |
| 132 |
serno_zero(current_user); |
| 133 |
toolstate = TS_OFF; |
| 134 |
} |
| 135 |
} |
| 136 |
break;
|
| 137 |
|
| 138 |
case TS_ON:
|
| 139 |
led_green(); |
| 140 |
if (!get_coil(MB_COIL_EN)) {
|
| 141 |
tool_disable(); |
| 142 |
serno_zero(current_user); |
| 143 |
toolstate = TS_OFF; |
| 144 |
} else if(get_coil(MB_COIL_REQ_DIS)) { |
| 145 |
toolstate = TS_REQ_DIS; |
| 146 |
} else if (!serno_equal(current_user, latest_reading)) { |
| 147 |
toolstate = TS_MISSING_ID; |
| 148 |
led_blink_start(666, 15, YELLOW); |
| 149 |
} |
| 150 |
break;
|
| 151 |
|
| 152 |
} |
| 153 |
|
| 154 |
} |
| 155 |
|
| 156 |
eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
| 157 |
eMBRegisterMode mode) {
|
| 158 |
|
| 159 |
addr--; |
| 160 |
|
| 161 |
if (addr+n_coils > N_COILS) {
|
| 162 |
return MB_ENOREG;
|
| 163 |
} |
| 164 |
|
| 165 |
if (mode == MB_REG_WRITE) {
|
| 166 |
|
| 167 |
switch (addr) {
|
| 168 |
|
| 169 |
case MB_COIL_NEW:
|
| 170 |
/* nop */
|
| 171 |
reg_buf[0] >>= 1; |
| 172 |
n_coils--; |
| 173 |
if (n_coils == 0) { |
| 174 |
return MB_ENOERR;
|
| 175 |
} |
| 176 |
|
| 177 |
case MB_COIL_EN:
|
| 178 |
set_coil(MB_COIL_NEW, 0);
|
| 179 |
set_coil(MB_COIL_EN, reg_buf[0] & 1); |
| 180 |
reg_buf[0] >>= 1; |
| 181 |
n_coils--; |
| 182 |
if (n_coils == 0) { |
| 183 |
return MB_ENOERR;
|
| 184 |
} |
| 185 |
|
| 186 |
case MB_COIL_REQ_DIS:
|
| 187 |
set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
| 188 |
reg_buf[0] >>= 1; |
| 189 |
n_coils--; |
| 190 |
if (n_coils == 0) { |
| 191 |
return MB_ENOERR;
|
| 192 |
} |
| 193 |
|
| 194 |
case MB_COIL_INIT:
|
| 195 |
set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
| 196 |
reg_buf[0] >>= 1; |
| 197 |
n_coils--; |
| 198 |
if (n_coils == 0) { |
| 199 |
return MB_ENOERR;
|
| 200 |
} |
| 201 |
} |
| 202 |
|
| 203 |
} else if (mode == MB_REG_READ) { |
| 204 |
|
| 205 |
reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
| 206 |
return MB_ENOERR;
|
| 207 |
|
| 208 |
} |
| 209 |
|
| 210 |
return MB_EIO;
|
| 211 |
} |
| 212 |
|
| 213 |
eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) {
|
| 214 |
return MB_ENOREG;
|
| 215 |
} |
| 216 |
|
| 217 |
eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
|
| 218 |
|
| 219 |
addr--; |
| 220 |
|
| 221 |
switch (addr) {
|
| 222 |
|
| 223 |
case MB_INP_SERNOL:
|
| 224 |
*reg_buf++ = current_user[0];
|
| 225 |
*reg_buf++ = current_user[1];
|
| 226 |
n_regs--; |
| 227 |
if (n_regs == 0) { |
| 228 |
return MB_ENOERR;
|
| 229 |
} |
| 230 |
|
| 231 |
case MB_INP_SERNOH:
|
| 232 |
*reg_buf++ = current_user[2];
|
| 233 |
*reg_buf++ = current_user[3];
|
| 234 |
n_regs--; |
| 235 |
if (n_regs == 0) { |
| 236 |
return MB_ENOERR;
|
| 237 |
} |
| 238 |
|
| 239 |
case MB_INP_CURRENT:
|
| 240 |
*reg_buf++ = (uint8_t)(current >> 8);
|
| 241 |
*reg_buf++ = (uint8_t)current; |
| 242 |
n_regs--; |
| 243 |
if (n_regs == 0) { |
| 244 |
return MB_ENOERR;
|
| 245 |
} |
| 246 |
|
| 247 |
default:
|
| 248 |
return MB_ENOREG;
|
| 249 |
} |
| 250 |
} |
| 251 |
|
| 252 |
eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
| 253 |
eMBRegisterMode mode) {
|
| 254 |
if (mode == MB_REG_WRITE) {
|
| 255 |
return MB_ENOREG;
|
| 256 |
} else if (mode == MB_REG_READ) { |
| 257 |
return MB_ENOREG;
|
| 258 |
} else {
|
| 259 |
return MB_EIO;
|
| 260 |
} |
| 261 |
} |
| 262 |
|
| 263 |
int main() {
|
| 264 |
|
| 265 |
led_init(); |
| 266 |
tool_init(); |
| 267 |
rfid_init(); |
| 268 |
|
| 269 |
eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
|
| 270 |
eMBEnable(); |
| 271 |
|
| 272 |
sei(); |
| 273 |
|
| 274 |
rfid_start_read(); |
| 275 |
while (1) { |
| 276 |
if (rfid_poll()) {
|
| 277 |
rfid_get_serno(latest_reading); |
| 278 |
rfid_start_read(); |
| 279 |
} |
| 280 |
current = current_read(); |
| 281 |
tool_main(); |
| 282 |
eMBPoll(); |
| 283 |
_delay_ms(100);
|
| 284 |
} |
| 285 |
|
| 286 |
return 0; |
| 287 |
} |