root / main.c @ 20e5429c
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| 1 | 20e5429c | Tom Mullins | #include <stdint.h> |
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| 2 | #include <util/delay.h> |
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| 3 | #include "mb.h" |
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| 4 | #include "mbport.h" |
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| 5 | #include "tooltron_mb.h" |
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| 6 | #include "serial.h" |
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| 7 | |||
| 8 | #define RFID_OK 1 |
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| 9 | |||
| 10 | static char rfid_read_cmd[] = {'!', 'R', 'W', 1, 32}; |
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| 11 | |||
| 12 | #define RFID_SERNO_SIZE 4 |
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| 13 | static char rfid_serno[RFID_SERNO_SIZE]; |
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| 14 | |||
| 15 | static void rfid_zero_serno() { |
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| 16 | int i;
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| 17 | for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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| 18 | rfid_serno[i] = 0;
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| 19 | } |
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| 20 | } |
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| 21 | |||
| 22 | static void rfid_read_serno() { |
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| 23 | int i;
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| 24 | for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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| 25 | rfid_serno[i] = serial_read_blocking(); |
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| 26 | } |
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| 27 | } |
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| 28 | |||
| 29 | static char rfid_check_serno() { |
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| 30 | int i;
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| 31 | for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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| 32 | if (rfid_serno[i] != serial_read_blocking()) {
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| 33 | return 0; |
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| 34 | } |
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| 35 | } |
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| 36 | return 1; |
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| 37 | } |
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| 38 | |||
| 39 | /*
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| 40 | * When reading, it must read the same value RFID_MIN_OK times. If it
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| 41 | * encounters RFID_MAX_ERRS read errors first, it will output all 0's.
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| 42 | */
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| 43 | #define RFID_MAX_ERRS 10 |
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| 44 | #define RFID_MIN_OK 5 |
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| 45 | |||
| 46 | static void rfid_read_safe() { |
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| 47 | char n_err = 0, n_ok = 0; |
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| 48 | while (1) { |
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| 49 | serial_write(rfid_read_cmd, sizeof(rfid_read_cmd));
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| 50 | if (serial_read_blocking() == RFID_OK) {
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| 51 | if (n_ok == 0) { |
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| 52 | rfid_read_serno(); |
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| 53 | } else if (!rfid_check_serno()) { |
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| 54 | rfid_zero_serno(); |
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| 55 | return;
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| 56 | } |
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| 57 | n_ok++; |
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| 58 | if (n_ok >= RFID_MIN_OK) {
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| 59 | return;
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| 60 | } |
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| 61 | } else {
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| 62 | n_err++; |
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| 63 | if (n_err >= RFID_MAX_ERRS) {
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| 64 | rfid_zero_serno(); |
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| 65 | return;
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| 66 | } |
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| 67 | } |
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| 68 | _delay_ms(50);
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| 69 | } |
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| 70 | } |
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| 71 | |||
| 72 | static void rfid_read() { |
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| 73 | while (1) { |
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| 74 | serial_write(rfid_read_cmd, sizeof(rfid_read_cmd));
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| 75 | if (serial_read_blocking() == RFID_OK) {
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| 76 | rfid_read_serno(); |
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| 77 | return;
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| 78 | } |
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| 79 | } |
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| 80 | } |
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| 81 | |||
| 82 | eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT num, |
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| 83 | eMBRegisterMode mode) {
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| 84 | if (mode == MB_REG_WRITE) {
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| 85 | return MB_ENOREG;
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| 86 | } else if (mode == MB_REG_READ) { |
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| 87 | return MB_ENOREG;
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| 88 | } else {
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| 89 | return MB_EIO;
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| 90 | } |
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| 91 | } |
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| 92 | |||
| 93 | eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT num) {
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| 94 | return MB_ENOREG;
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| 95 | } |
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| 96 | |||
| 97 | eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT num) {
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| 98 | int i;
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| 99 | switch (addr) {
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| 100 | case 0: |
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| 101 | // TODO #define addresses as TYPE_NAME, eg INPUT_SERNO1
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| 102 | // TODO test whether the following works as expected (8 or 16 bit buf?)
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| 103 | for (i = 0; i < 2*num; i++) { |
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| 104 | reg_buf[i] = i; |
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| 105 | } |
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| 106 | return MB_ENOERR;
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| 107 | default:
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| 108 | return MB_ENOREG;
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| 109 | } |
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| 110 | } |
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| 111 | |||
| 112 | eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT num, |
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| 113 | eMBRegisterMode mode) {
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| 114 | if (mode == MB_REG_WRITE) {
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| 115 | return MB_ENOREG;
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| 116 | } else if (mode == MB_REG_READ) { |
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| 117 | return MB_ENOREG;
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| 118 | } else {
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| 119 | return MB_EIO;
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| 120 | } |
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| 121 | } |
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| 122 | |||
| 123 | int main() {
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| 124 | // init rfid's serial
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| 125 | serial_init(); |
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| 126 | |||
| 127 | // init modbus and register callbacks
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| 128 | eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
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| 129 | eMBEnable(); |
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| 130 | |||
| 131 | while (1) { |
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| 132 | rfid_read(); |
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| 133 | eMBPoll(); |
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| 134 | _delay_ms(200);
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| 135 | } |
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| 136 | |||
| 137 | return 0; |
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| 138 | } |