root / toolbox / main.c @ 1b054655
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1 | 20e5429c | Tom Mullins | #include <stdint.h> |
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2 | 12ea39cc | Tom Mullins | #include <string.h> |
3 | #include <avr/io.h> |
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4 | 20e5429c | Tom Mullins | #include <util/delay.h> |
5 | #include "mb.h" |
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6 | #include "mbport.h" |
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7 | #include "tooltron_mb.h" |
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8 | 9b2b6d91 | Tom Mullins | #include "rfid.h" |
9 | 532ba0bd | Tom Mullins | #include "led.h" |
10 | 20e5429c | Tom Mullins | |
11 | 12ea39cc | Tom Mullins | enum toolstate_t {
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12 | TS_INIT, |
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13 | TS_OFF, |
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14 | TS_WAIT_ACCESS, |
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15 | TS_REQ_DIS, |
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16 | TS_MISSING_ID, |
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17 | TS_ON |
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18 | }; |
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19 | |||
20 | static enum toolstate_t toolstate = TS_INIT; |
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21 | 6ca98a3f | Tom Mullins | static uint8_t coils;
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22 | 1b054655 | Tom Mullins | static uint8_t latest_reading[RFID_SERNO_SIZE];
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23 | 6ca98a3f | Tom Mullins | static uint8_t current_user[RFID_SERNO_SIZE];
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24 | 208a6fb2 | Tom Mullins | |
25 | static inline void set_coil(char coil, char bit) { |
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26 | 6ca98a3f | Tom Mullins | coils = (coils & ~(1 << coil)) | (bit << coil);
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27 | 208a6fb2 | Tom Mullins | } |
28 | 12ea39cc | Tom Mullins | static inline char get_coil(char coil) { |
29 | return (coils >> coil) & 1; |
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30 | } |
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31 | |||
32 | static inline void tool_init() {DDRA |= _BV(DDA1);} |
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33 | static inline void tool_enable() {PORTA |= _BV(PA1);} |
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34 | 76915f20 | Tom Mullins | static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
35 | 12ea39cc | Tom Mullins | |
36 | 1b054655 | Tom Mullins | static char serno_zero(uint8_t *serno) { |
37 | memset(serno, 0, RFID_SERNO_SIZE);
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38 | } |
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39 | |||
40 | static char serno_is_nonzero(uint8_t *serno) { |
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41 | int i;
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42 | for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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43 | if (serno[i]) {
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44 | return 1; |
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45 | } |
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46 | } |
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47 | return 0; |
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48 | } |
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49 | |||
50 | static char serno_equal(uint8_t *a, uint8_t *b) { |
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51 | return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
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52 | } |
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53 | |||
54 | static void serno_cpy(uint8_t *dest, uint8_t *src) { |
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55 | memcpy(dest, src, RFID_SERNO_SIZE); |
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56 | } |
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57 | |||
58 | 12ea39cc | Tom Mullins | static void tool_main() { |
59 | |||
60 | switch (toolstate) {
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61 | |||
62 | case TS_INIT:
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63 | if (get_coil(MB_COIL_INIT)) {
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64 | set_coil(MB_COIL_NEW, 0);
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65 | set_coil(MB_COIL_EN, 0);
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66 | set_coil(MB_COIL_REQ_DIS, 0);
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67 | toolstate = TS_OFF; |
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68 | } |
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69 | break;
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70 | |||
71 | case TS_OFF:
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72 | 1b054655 | Tom Mullins | led_red(); |
73 | if (serno_is_nonzero(latest_reading)) {
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74 | serno_cpy(current_user, latest_reading); |
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75 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_NEW, 1);
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76 | toolstate = TS_WAIT_ACCESS; |
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77 | } |
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78 | break;
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79 | |||
80 | case TS_WAIT_ACCESS:
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81 | 1b054655 | Tom Mullins | led_yellow(); |
82 | 12ea39cc | Tom Mullins | if (get_coil(MB_COIL_EN)) {
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83 | tool_enable(); |
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84 | toolstate = TS_ON; |
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85 | dc472500 | Tom Mullins | } else if (!get_coil(MB_COIL_NEW)) { |
86 | toolstate = TS_OFF; |
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87 | 12ea39cc | Tom Mullins | } |
88 | break;
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89 | |||
90 | case TS_REQ_DIS:
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91 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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92 | tool_disable(); |
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93 | toolstate = TS_OFF; |
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94 | } else if (!get_coil(MB_COIL_REQ_DIS)) { |
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95 | toolstate = TS_ON; |
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96 | } else {
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97 | // TODO blink yellow for 10 seconds or something
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98 | set_coil(MB_COIL_EN, 0);
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99 | set_coil(MB_COIL_REQ_DIS, 0);
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100 | tool_disable(); |
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101 | 1b054655 | Tom Mullins | serno_zero(current_user); |
102 | e53aa5c5 | Tom Mullins | toolstate = TS_OFF; |
103 | } |
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104 | 12ea39cc | Tom Mullins | break;
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105 | |||
106 | case TS_MISSING_ID:
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107 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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108 | tool_disable(); |
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109 | toolstate = TS_OFF; |
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110 | } else if (get_coil(MB_COIL_REQ_DIS)) { |
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111 | toolstate = TS_REQ_DIS; |
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112 | 1b054655 | Tom Mullins | } else if (serno_equal(current_user, latest_reading)) { |
113 | 12ea39cc | Tom Mullins | toolstate = TS_ON; |
114 | } else {
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115 | dc472500 | Tom Mullins | if (led_blink_done()) {
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116 | set_coil(MB_COIL_EN, 0);
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117 | tool_disable(); |
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118 | 1b054655 | Tom Mullins | serno_zero(current_user); |
119 | dc472500 | Tom Mullins | toolstate = TS_OFF; |
120 | } |
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121 | 12ea39cc | Tom Mullins | } |
122 | break;
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123 | |||
124 | case TS_ON:
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125 | 1b054655 | Tom Mullins | led_green(); |
126 | 12ea39cc | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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127 | tool_disable(); |
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128 | 1b054655 | Tom Mullins | serno_zero(current_user); |
129 | 12ea39cc | Tom Mullins | toolstate = TS_OFF; |
130 | e53aa5c5 | Tom Mullins | } else if(get_coil(MB_COIL_REQ_DIS)) { |
131 | 12ea39cc | Tom Mullins | toolstate = TS_REQ_DIS; |
132 | 1b054655 | Tom Mullins | } else if (!serno_equal(current_user, latest_reading)) { |
133 | 12ea39cc | Tom Mullins | toolstate = TS_MISSING_ID; |
134 | 1b054655 | Tom Mullins | led_blink_start(666, 6); |
135 | 12ea39cc | Tom Mullins | } |
136 | break;
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137 | |||
138 | } |
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139 | |||
140 | } |
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141 | 208a6fb2 | Tom Mullins | |
142 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
143 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
144 | 208a6fb2 | Tom Mullins | |
145 | dc472500 | Tom Mullins | addr--; |
146 | |||
147 | 532ba0bd | Tom Mullins | if (addr+n_coils > N_COILS) {
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148 | 20e5429c | Tom Mullins | return MB_ENOREG;
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149 | 208a6fb2 | Tom Mullins | } |
150 | |||
151 | if (mode == MB_REG_WRITE) {
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152 | |||
153 | switch (addr) {
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154 | |||
155 | case MB_COIL_NEW:
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156 | /* nop */
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157 | reg_buf[0] >>= 1; |
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158 | n_coils--; |
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159 | if (n_coils == 0) { |
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160 | return MB_ENOERR;
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161 | } |
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162 | |||
163 | case MB_COIL_EN:
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164 | set_coil(MB_COIL_NEW, 0);
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165 | set_coil(MB_COIL_EN, reg_buf[0] & 1); |
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166 | reg_buf[0] >>= 1; |
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167 | n_coils--; |
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168 | if (n_coils == 0) { |
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169 | return MB_ENOERR;
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170 | } |
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171 | |||
172 | case MB_COIL_REQ_DIS:
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173 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
174 | 208a6fb2 | Tom Mullins | reg_buf[0] >>= 1; |
175 | n_coils--; |
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176 | if (n_coils == 0) { |
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177 | return MB_ENOERR;
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178 | } |
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179 | |||
180 | case MB_COIL_INIT:
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181 | set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
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182 | reg_buf[0] >>= 1; |
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183 | n_coils--; |
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184 | if (n_coils == 0) { |
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185 | return MB_ENOERR;
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186 | } |
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187 | } |
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188 | |||
189 | 20e5429c | Tom Mullins | } else if (mode == MB_REG_READ) { |
190 | 208a6fb2 | Tom Mullins | |
191 | dc472500 | Tom Mullins | reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
192 | 208a6fb2 | Tom Mullins | return MB_ENOERR;
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193 | |||
194 | 20e5429c | Tom Mullins | } |
195 | 208a6fb2 | Tom Mullins | |
196 | return MB_EIO;
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197 | 20e5429c | Tom Mullins | } |
198 | |||
199 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) { |
200 | 20e5429c | Tom Mullins | return MB_ENOREG;
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201 | } |
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202 | |||
203 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) { |
204 | |||
205 | dc472500 | Tom Mullins | addr--; |
206 | |||
207 | 20e5429c | Tom Mullins | switch (addr) {
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208 | 04b8cd51 | Tom Mullins | |
209 | case MB_INP_SERNOL:
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210 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[0];
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211 | *reg_buf++ = current_user[1];
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212 | 04b8cd51 | Tom Mullins | n_regs--; |
213 | if (n_regs == 0) { |
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214 | return MB_ENOERR;
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215 | } |
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216 | |||
217 | case MB_INP_SERNOH:
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218 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[2];
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219 | *reg_buf++ = current_user[3];
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220 | 04b8cd51 | Tom Mullins | n_regs--; |
221 | if (n_regs == 0) { |
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222 | return MB_ENOERR;
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223 | } |
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224 | |||
225 | case MB_INP_CURRENT:
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226 | *reg_buf++ = 0;
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227 | *reg_buf++ = 0;
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228 | n_regs--; |
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229 | if (n_regs == 0) { |
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230 | return MB_ENOERR;
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231 | 20e5429c | Tom Mullins | } |
232 | 04b8cd51 | Tom Mullins | |
233 | 20e5429c | Tom Mullins | default:
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234 | return MB_ENOREG;
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235 | } |
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236 | } |
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237 | |||
238 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
239 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
240 | if (mode == MB_REG_WRITE) {
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241 | return MB_ENOREG;
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242 | } else if (mode == MB_REG_READ) { |
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243 | return MB_ENOREG;
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244 | } else {
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245 | return MB_EIO;
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246 | } |
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247 | } |
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248 | |||
249 | int main() {
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250 | 12ea39cc | Tom Mullins | |
251 | 532ba0bd | Tom Mullins | led_init(); |
252 | 12ea39cc | Tom Mullins | tool_init(); |
253 | 9b2b6d91 | Tom Mullins | rfid_init(); |
254 | 20e5429c | Tom Mullins | |
255 | eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
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256 | eMBEnable(); |
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257 | |||
258 | 208a6fb2 | Tom Mullins | sei(); |
259 | |||
260 | 532ba0bd | Tom Mullins | rfid_start_read(); |
261 | 20e5429c | Tom Mullins | while (1) { |
262 | 532ba0bd | Tom Mullins | if (rfid_poll()) {
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263 | 1b054655 | Tom Mullins | rfid_get_serno(latest_reading); |
264 | 532ba0bd | Tom Mullins | rfid_start_read(); |
265 | } |
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266 | dc472500 | Tom Mullins | tool_main(); |
267 | 20e5429c | Tom Mullins | eMBPoll(); |
268 | 532ba0bd | Tom Mullins | _delay_ms(50);
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269 | 20e5429c | Tom Mullins | } |
270 | |||
271 | return 0; |
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272 | } |