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1	20e5429c	Tom Mullins	#include <stdint.h>
2	12ea39cc	Tom Mullins	#include <string.h>
3			#include <avr/io.h>
4	20e5429c	Tom Mullins	#include <util/delay.h>
5			#include "mb.h"
6			#include "mbport.h"
7			#include "tooltron_mb.h"
8	9b2b6d91	Tom Mullins	#include "rfid.h"
9	532ba0bd	Tom Mullins	#include "led.h"
10	10936c07	Tom Mullins	#include "current.h"
11	94548bf4	Tom Mullins	#include "time.h"
12	20e5429c	Tom Mullins
13	a96c5547	Tom Mullins	#if TOOL_ADDRESS < 0
14			#error Please define TOOL_ADDRESS
15			#endif
16
17	12ea39cc	Tom Mullins	enum toolstate_t {
18			TS_INIT,
19			TS_OFF,
20			TS_WAIT_ACCESS,
21	f5d1f56a	Tom Mullins	TS_DENY,
22	12ea39cc	Tom Mullins	TS_REQ_DIS,
23			TS_MISSING_ID,
24			TS_ON
25			};
26
27			static enum toolstate_t toolstate = TS_INIT;
28	6ca98a3f	Tom Mullins	static uint8_t coils;
29	1b054655	Tom Mullins	static uint8_t latest_reading[RFID_SERNO_SIZE];
30	6ca98a3f	Tom Mullins	static uint8_t current_user[RFID_SERNO_SIZE];
31	10936c07	Tom Mullins	static uint16_t current;
32	f4df665c	Tom Mullins	//static uint16_t current_max_warn, current_max_hard;
33	208a6fb2	Tom Mullins
34			static inline void set_coil(char coil, char bit) {
35	6ca98a3f	Tom Mullins	coils = (coils & ~(1 << coil)) \| (bit << coil);
36	208a6fb2	Tom Mullins	}
37	12ea39cc	Tom Mullins	static inline char get_coil(char coil) {
38			return (coils >> coil) & 1;
39			}
40
41			static inline void tool_init() {DDRA \|= _BV(DDA1);}
42			static inline void tool_enable() {PORTA \|= _BV(PA1);}
43	76915f20	Tom Mullins	static inline void tool_disable() {PORTA &= ~ _BV(PA1);}
44	12ea39cc	Tom Mullins
45	1085ef77	Tom Mullins	static inline void serno_zero(uint8_t *serno) {
46	1b054655	Tom Mullins	memset(serno, 0, RFID_SERNO_SIZE);
47			}
48
49			static char serno_is_nonzero(uint8_t *serno) {
50			int i;
51			for (i = 0; i < RFID_SERNO_SIZE; i++) {
52			if (serno[i]) {
53			return 1;
54			}
55			}
56			return 0;
57			}
58
59			static char serno_equal(uint8_t a, uint8_t b) {
60			return memcmp(a, b, RFID_SERNO_SIZE) == 0;
61			}
62
63			static void serno_cpy(uint8_t dest, uint8_t src) {
64			memcpy(dest, src, RFID_SERNO_SIZE);
65			}
66
67	94548bf4	Tom Mullins	static void tool_tick() {
68	12ea39cc	Tom Mullins
69			switch (toolstate) {
70
71			case TS_INIT:
72			if (get_coil(MB_COIL_INIT)) {
73			set_coil(MB_COIL_NEW, 0);
74			set_coil(MB_COIL_EN, 0);
75			set_coil(MB_COIL_REQ_DIS, 0);
76			toolstate = TS_OFF;
77			}
78			break;
79
80			case TS_OFF:
81	f5d1f56a	Tom Mullins	led_off();
82	4b7d087b	Tom Mullins	set_coil(MB_COIL_EN, 0);
83	1b054655	Tom Mullins	if (serno_is_nonzero(latest_reading)) {
84			serno_cpy(current_user, latest_reading);
85	12ea39cc	Tom Mullins	set_coil(MB_COIL_NEW, 1);
86			toolstate = TS_WAIT_ACCESS;
87			}
88			break;
89
90			case TS_WAIT_ACCESS:
91	1b054655	Tom Mullins	led_yellow();
92	12ea39cc	Tom Mullins	if (get_coil(MB_COIL_EN)) {
93			tool_enable();
94			toolstate = TS_ON;
95	dc472500	Tom Mullins	} else if (!get_coil(MB_COIL_NEW)) {
96	f5d1f56a	Tom Mullins	toolstate = TS_DENY;
97	4b7d087b	Tom Mullins	} else if (!serno_equal(current_user, latest_reading)) {
98			set_coil(MB_COIL_NEW, 0);
99			toolstate = TS_OFF;
100	12ea39cc	Tom Mullins	}
101			break;
102
103	f5d1f56a	Tom Mullins	case TS_DENY:
104			led_red();
105			if (!serno_equal(current_user, latest_reading)) {
106			toolstate = TS_OFF;
107			serno_zero(current_user);
108			}
109	bbf2f5ad	Tom Mullins	break;
110	f5d1f56a	Tom Mullins
111	12ea39cc	Tom Mullins	case TS_REQ_DIS:
112	e53aa5c5	Tom Mullins	if (!get_coil(MB_COIL_EN)) {
113			tool_disable();
114			toolstate = TS_OFF;
115			} else if (!get_coil(MB_COIL_REQ_DIS)) {
116			toolstate = TS_ON;
117			} else {
118			// TODO blink yellow for 10 seconds or something
119			set_coil(MB_COIL_EN, 0);
120			set_coil(MB_COIL_REQ_DIS, 0);
121			tool_disable();
122	1b054655	Tom Mullins	serno_zero(current_user);
123	e53aa5c5	Tom Mullins	toolstate = TS_OFF;
124			}
125	12ea39cc	Tom Mullins	break;
126
127			case TS_MISSING_ID:
128	e53aa5c5	Tom Mullins	if (!get_coil(MB_COIL_EN)) {
129			tool_disable();
130			toolstate = TS_OFF;
131			} else if (get_coil(MB_COIL_REQ_DIS)) {
132			toolstate = TS_REQ_DIS;
133	1b054655	Tom Mullins	} else if (serno_equal(current_user, latest_reading)) {
134	12ea39cc	Tom Mullins	toolstate = TS_ON;
135	bbf2f5ad	Tom Mullins	} else if (led_blink_done()) {
136			set_coil(MB_COIL_EN, 0);
137			tool_disable();
138			serno_zero(current_user);
139			toolstate = TS_OFF;
140	12ea39cc	Tom Mullins	}
141			break;
142
143			case TS_ON:
144	1b054655	Tom Mullins	led_green();
145	12ea39cc	Tom Mullins	if (!get_coil(MB_COIL_EN)) {
146			tool_disable();
147	1b054655	Tom Mullins	serno_zero(current_user);
148	12ea39cc	Tom Mullins	toolstate = TS_OFF;
149	e53aa5c5	Tom Mullins	} else if(get_coil(MB_COIL_REQ_DIS)) {
150	12ea39cc	Tom Mullins	toolstate = TS_REQ_DIS;
151	1b054655	Tom Mullins	} else if (!serno_equal(current_user, latest_reading)) {
152	12ea39cc	Tom Mullins	toolstate = TS_MISSING_ID;
153	bbf2f5ad	Tom Mullins	led_blink_start(500, 6, YELLOW); // TODO made 10 seconds
154	12ea39cc	Tom Mullins	}
155			break;
156
157			}
158
159			}
160	208a6fb2	Tom Mullins
161	04b8cd51	Tom Mullins	eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils,
162	20e5429c	Tom Mullins	eMBRegisterMode mode) {
163	208a6fb2	Tom Mullins
164	dc472500	Tom Mullins	addr--;
165
166	532ba0bd	Tom Mullins	if (addr+n_coils > N_COILS) {
167	20e5429c	Tom Mullins	return MB_ENOREG;
168	208a6fb2	Tom Mullins	}
169
170			if (mode == MB_REG_WRITE) {
171
172			switch (addr) {
173
174			case MB_COIL_NEW:
175			/* nop */
176			reg_buf[0] >>= 1;
177			n_coils--;
178			if (n_coils == 0) {
179			return MB_ENOERR;
180			}
181
182			case MB_COIL_EN:
183			set_coil(MB_COIL_NEW, 0);
184			set_coil(MB_COIL_EN, reg_buf[0] & 1);
185			reg_buf[0] >>= 1;
186			n_coils--;
187			if (n_coils == 0) {
188			return MB_ENOERR;
189			}
190
191			case MB_COIL_REQ_DIS:
192	12ea39cc	Tom Mullins	set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1);
193	208a6fb2	Tom Mullins	reg_buf[0] >>= 1;
194			n_coils--;
195			if (n_coils == 0) {
196			return MB_ENOERR;
197			}
198
199			case MB_COIL_INIT:
200			set_coil(MB_COIL_INIT, reg_buf[0] & 1);
201			reg_buf[0] >>= 1;
202			n_coils--;
203			if (n_coils == 0) {
204			return MB_ENOERR;
205			}
206			}
207
208	20e5429c	Tom Mullins	} else if (mode == MB_REG_READ) {
209	208a6fb2	Tom Mullins
210	dc472500	Tom Mullins	reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1);
211	208a6fb2	Tom Mullins	return MB_ENOERR;
212
213	20e5429c	Tom Mullins	}
214	208a6fb2	Tom Mullins
215			return MB_EIO;
216	20e5429c	Tom Mullins	}
217
218	04b8cd51	Tom Mullins	eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) {
219	20e5429c	Tom Mullins	return MB_ENOREG;
220			}
221
222	04b8cd51	Tom Mullins	eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
223
224	dc472500	Tom Mullins	addr--;
225
226	20e5429c	Tom Mullins	switch (addr) {
227	04b8cd51	Tom Mullins
228			case MB_INP_SERNOL:
229	76915f20	Tom Mullins	*reg_buf++ = current_user[0];
230			*reg_buf++ = current_user[1];
231	04b8cd51	Tom Mullins	n_regs--;
232			if (n_regs == 0) {
233			return MB_ENOERR;
234			}
235
236			case MB_INP_SERNOH:
237	76915f20	Tom Mullins	*reg_buf++ = current_user[2];
238			*reg_buf++ = current_user[3];
239	04b8cd51	Tom Mullins	n_regs--;
240			if (n_regs == 0) {
241			return MB_ENOERR;
242			}
243
244			case MB_INP_CURRENT:
245	10936c07	Tom Mullins	*reg_buf++ = (uint8_t)(current >> 8);
246			*reg_buf++ = (uint8_t)current;
247	04b8cd51	Tom Mullins	n_regs--;
248			if (n_regs == 0) {
249			return MB_ENOERR;
250	20e5429c	Tom Mullins	}
251	04b8cd51	Tom Mullins
252	20e5429c	Tom Mullins	default:
253			return MB_ENOREG;
254			}
255			}
256
257	04b8cd51	Tom Mullins	eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs,
258	20e5429c	Tom Mullins	eMBRegisterMode mode) {
259			if (mode == MB_REG_WRITE) {
260			return MB_ENOREG;
261			} else if (mode == MB_REG_READ) {
262			return MB_ENOREG;
263			} else {
264			return MB_EIO;
265			}
266			}
267
268			int main() {
269	36f3b65f	Tom Mullins	char rfid_ticks = 0;
270	12ea39cc	Tom Mullins
271	94548bf4	Tom Mullins	time_init();
272	532ba0bd	Tom Mullins	led_init();
273	12ea39cc	Tom Mullins	tool_init();
274	9b2b6d91	Tom Mullins	rfid_init();
275	94548bf4	Tom Mullins	current_init();
276	20e5429c	Tom Mullins
277	a96c5547	Tom Mullins	eMBInit(MB_RTU, TOOL_ADDRESS, 0, MB_BAUD, MB_PAR_NONE);
278	20e5429c	Tom Mullins	eMBEnable();
279
280	208a6fb2	Tom Mullins	sei();
281
282	532ba0bd	Tom Mullins	rfid_start_read();
283	20e5429c	Tom Mullins	while (1) {
284	bbf2f5ad	Tom Mullins	if (rfid_poll()) {
285			rfid_get_serno(latest_reading);
286			}
287	36f3b65f	Tom Mullins	if (++rfid_ticks >= RFID_PERIOD/TICK_MS)
288	94548bf4	Tom Mullins	{
289			rfid_ticks = 0;
290	bbf2f5ad	Tom Mullins	rfid_start_read();
291	532ba0bd	Tom Mullins	}
292	10936c07	Tom Mullins	current = current_read();
293	94548bf4	Tom Mullins	tool_tick();
294			led_tick();
295	20e5429c	Tom Mullins	eMBPoll();
296	94548bf4	Tom Mullins	time_wait();
297	20e5429c	Tom Mullins	}
298
299			return 0;
300			}

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root / toolbox / main.c @ 36f3b65f