Revision 12ea39cc
Added actual control of tool
| toolbox/main.c | ||
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| 1 | 1 |
#include <stdint.h> |
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#include <string.h> |
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#include <avr/io.h> |
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#include <util/delay.h> |
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#include "mb.h" |
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#include "mbport.h" |
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#include "tooltron_mb.h" |
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#include "rfid.h" |
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enum toolstate_t {
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TS_INIT, |
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TS_OFF, |
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TS_WAIT_ACCESS, |
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TS_REQ_DIS, |
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TS_MISSING_ID, |
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TS_ON |
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}; |
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static enum toolstate_t toolstate = TS_INIT; |
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static char coils; |
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static char current_user[RFID_SERNO_SIZE]; |
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static inline void set_coil(char coil, char bit) {
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coils |= (bit << coil); |
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} |
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static inline char get_coil(char coil) {
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return (coils >> coil) & 1; |
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} |
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static inline void tool_init() {DDRA |= _BV(DDA1);}
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static inline void tool_enable() {PORTA |= _BV(PA1);}
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static inline void tool_disable() {PORTA &= _BV(PA1);}
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static void tool_main() {
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switch (toolstate) {
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case TS_INIT: |
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if (get_coil(MB_COIL_INIT)) {
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set_coil(MB_COIL_NEW, 0); |
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set_coil(MB_COIL_EN, 0); |
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set_coil(MB_COIL_REQ_DIS, 0); |
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toolstate = TS_OFF; |
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} |
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break; |
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case TS_OFF: |
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if (rfid_nonzero()) {
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rfid_get_serno(current_user); |
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set_coil(MB_COIL_NEW, 1); |
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toolstate = TS_WAIT_ACCESS; |
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} |
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break; |
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case TS_WAIT_ACCESS: |
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if (get_coil(MB_COIL_EN)) {
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tool_enable(); |
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toolstate = TS_ON; |
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} |
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break; |
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case TS_REQ_DIS: |
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// TODO blink yellow for 10 seconds or something |
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set_coil(MB_COIL_EN, 0); |
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tool_disable(); |
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toolstate = TS_OFF; |
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break; |
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case TS_MISSING_ID: |
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if (rfid_check_serno(current_user)) {
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toolstate = TS_ON; |
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} else {
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// TODO blink yellow for 10 seconds or something |
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set_coil(MB_COIL_EN, 0); |
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tool_disable(); |
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toolstate = TS_OFF; |
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} |
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break; |
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case TS_ON: |
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if (!get_coil(MB_COIL_EN)) {
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tool_disable(); |
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toolstate = TS_OFF; |
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} |
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if (get_coil(MB_COIL_REQ_DIS)) {
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toolstate = TS_REQ_DIS; |
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} |
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if (!rfid_check_serno(current_user)) {
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toolstate = TS_MISSING_ID; |
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} |
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break; |
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} |
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} |
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|
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eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
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eMBRegisterMode mode) {
|
| ... | ... | |
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} |
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case MB_COIL_REQ_DIS: |
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set_coil(MB_COIL_INIT, reg_buf[0] & 1);
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set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1);
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reg_buf[0] >>= 1; |
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n_coils--; |
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if (n_coils == 0) {
|
| ... | ... | |
| 73 | 156 |
eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
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char serno[RFID_SERNO_SIZE]; |
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rfid_get_serno(serno);
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memcpy(reg_buf, current_user, sizeof(current_user));
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switch (addr) {
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|
| ... | ... | |
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} |
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int main() {
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tool_init(); |
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rfid_init(); |
| 123 | 208 |
|
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eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE); |
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eMBEnable(); |
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/* Set pin controlling relay to output */ |
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DDRA |= _BV(DDA1); |
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sei(); |
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while (1) {
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rfid_read(); |
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/* TODO act on rfid input and coil state */
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tool_main();
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eMBPoll(); |
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_delay_ms(200); |
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} |
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