root / toolbox / main.c @ 76915f20
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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 | 20e5429c | Tom Mullins | |
| 10 | 12ea39cc | Tom Mullins | enum toolstate_t {
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| 11 | TS_INIT, |
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| 12 | TS_OFF, |
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| 13 | TS_WAIT_ACCESS, |
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| 14 | TS_REQ_DIS, |
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| 15 | TS_MISSING_ID, |
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| 16 | TS_ON |
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| 17 | }; |
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| 18 | |||
| 19 | static enum toolstate_t toolstate = TS_INIT; |
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| 20 | 208a6fb2 | Tom Mullins | static char coils; |
| 21 | 12ea39cc | Tom Mullins | static char current_user[RFID_SERNO_SIZE]; |
| 22 | 208a6fb2 | Tom Mullins | |
| 23 | static inline void set_coil(char coil, char bit) { |
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| 24 | coils |= (bit << coil); |
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| 25 | } |
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| 26 | 12ea39cc | Tom Mullins | static inline char get_coil(char coil) { |
| 27 | return (coils >> coil) & 1; |
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| 28 | } |
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| 29 | |||
| 30 | static inline void tool_init() {DDRA |= _BV(DDA1);} |
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| 31 | static inline void tool_enable() {PORTA |= _BV(PA1);} |
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| 32 | 76915f20 | Tom Mullins | static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
| 33 | 12ea39cc | Tom Mullins | |
| 34 | static void tool_main() { |
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| 35 | |||
| 36 | switch (toolstate) {
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| 37 | |||
| 38 | case TS_INIT:
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| 39 | if (get_coil(MB_COIL_INIT)) {
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| 40 | set_coil(MB_COIL_NEW, 0);
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| 41 | set_coil(MB_COIL_EN, 0);
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| 42 | set_coil(MB_COIL_REQ_DIS, 0);
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| 43 | toolstate = TS_OFF; |
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| 44 | } |
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| 45 | break;
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| 46 | |||
| 47 | case TS_OFF:
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| 48 | if (rfid_nonzero()) {
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| 49 | rfid_get_serno(current_user); |
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| 50 | set_coil(MB_COIL_NEW, 1);
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| 51 | toolstate = TS_WAIT_ACCESS; |
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| 52 | } |
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| 53 | break;
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| 54 | |||
| 55 | case TS_WAIT_ACCESS:
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| 56 | if (get_coil(MB_COIL_EN)) {
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| 57 | tool_enable(); |
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| 58 | toolstate = TS_ON; |
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| 59 | } |
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| 60 | break;
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| 61 | |||
| 62 | case TS_REQ_DIS:
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| 63 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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| 64 | tool_disable(); |
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| 65 | toolstate = TS_OFF; |
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| 66 | } else if (!get_coil(MB_COIL_REQ_DIS)) { |
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| 67 | toolstate = TS_ON; |
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| 68 | } else {
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| 69 | // TODO blink yellow for 10 seconds or something
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| 70 | set_coil(MB_COIL_EN, 0);
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| 71 | set_coil(MB_COIL_REQ_DIS, 0);
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| 72 | tool_disable(); |
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| 73 | toolstate = TS_OFF; |
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| 74 | } |
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| 75 | 12ea39cc | Tom Mullins | break;
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| 76 | |||
| 77 | case TS_MISSING_ID:
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| 78 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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| 79 | tool_disable(); |
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| 80 | toolstate = TS_OFF; |
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| 81 | } else if (get_coil(MB_COIL_REQ_DIS)) { |
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| 82 | toolstate = TS_REQ_DIS; |
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| 83 | } else if (rfid_check_serno(current_user)) { |
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| 84 | 12ea39cc | Tom Mullins | toolstate = TS_ON; |
| 85 | } else {
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| 86 | // TODO blink yellow for 10 seconds or something
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| 87 | set_coil(MB_COIL_EN, 0);
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| 88 | tool_disable(); |
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| 89 | toolstate = TS_OFF; |
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| 90 | } |
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| 91 | break;
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| 92 | |||
| 93 | case TS_ON:
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| 94 | if (!get_coil(MB_COIL_EN)) {
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| 95 | tool_disable(); |
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| 96 | toolstate = TS_OFF; |
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| 97 | e53aa5c5 | Tom Mullins | } else if(get_coil(MB_COIL_REQ_DIS)) { |
| 98 | 12ea39cc | Tom Mullins | toolstate = TS_REQ_DIS; |
| 99 | e53aa5c5 | Tom Mullins | } else if (!rfid_check_serno(current_user)) { |
| 100 | 12ea39cc | Tom Mullins | toolstate = TS_MISSING_ID; |
| 101 | } |
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| 102 | break;
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| 103 | |||
| 104 | } |
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| 105 | |||
| 106 | } |
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| 107 | 208a6fb2 | Tom Mullins | |
| 108 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
| 109 | 20e5429c | Tom Mullins | eMBRegisterMode mode) {
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| 110 | 208a6fb2 | Tom Mullins | |
| 111 | 76915f20 | Tom Mullins | if (addr > N_COILS || n_coils >= N_COILS-addr) {
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| 112 | 20e5429c | Tom Mullins | return MB_ENOREG;
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| 113 | 208a6fb2 | Tom Mullins | } |
| 114 | |||
| 115 | if (mode == MB_REG_WRITE) {
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| 116 | |||
| 117 | switch (addr) {
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| 118 | |||
| 119 | case MB_COIL_NEW:
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| 120 | /* nop */
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| 121 | reg_buf[0] >>= 1; |
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| 122 | n_coils--; |
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| 123 | if (n_coils == 0) { |
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| 124 | return MB_ENOERR;
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| 125 | } |
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| 126 | |||
| 127 | case MB_COIL_EN:
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| 128 | set_coil(MB_COIL_NEW, 0);
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| 129 | set_coil(MB_COIL_EN, reg_buf[0] & 1); |
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| 130 | reg_buf[0] >>= 1; |
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| 131 | n_coils--; |
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| 132 | if (n_coils == 0) { |
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| 133 | return MB_ENOERR;
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| 134 | } |
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| 135 | |||
| 136 | case MB_COIL_REQ_DIS:
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| 137 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
| 138 | 208a6fb2 | Tom Mullins | reg_buf[0] >>= 1; |
| 139 | n_coils--; |
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| 140 | if (n_coils == 0) { |
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| 141 | return MB_ENOERR;
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| 142 | } |
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| 143 | |||
| 144 | case MB_COIL_INIT:
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| 145 | set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
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| 146 | reg_buf[0] >>= 1; |
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| 147 | n_coils--; |
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| 148 | if (n_coils == 0) { |
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| 149 | return MB_ENOERR;
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| 150 | } |
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| 151 | } |
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| 152 | |||
| 153 | 20e5429c | Tom Mullins | } else if (mode == MB_REG_READ) { |
| 154 | 208a6fb2 | Tom Mullins | |
| 155 | 76915f20 | Tom Mullins | reg_buf[0] = (coils >> (addr-1)) & ((1 << n_coils) - 1); |
| 156 | 208a6fb2 | Tom Mullins | return MB_ENOERR;
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| 157 | |||
| 158 | 20e5429c | Tom Mullins | } |
| 159 | 208a6fb2 | Tom Mullins | |
| 160 | return MB_EIO;
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| 161 | 20e5429c | Tom Mullins | } |
| 162 | |||
| 163 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) {
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| 164 | 20e5429c | Tom Mullins | return MB_ENOREG;
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| 165 | } |
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| 166 | |||
| 167 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
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| 168 | |||
| 169 | 20e5429c | Tom Mullins | switch (addr) {
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| 170 | 04b8cd51 | Tom Mullins | |
| 171 | case MB_INP_SERNOL:
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| 172 | // TODO check that these (and the ones in SERNOH) are in the right order
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| 173 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[0];
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| 174 | *reg_buf++ = current_user[1];
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| 175 | 04b8cd51 | Tom Mullins | n_regs--; |
| 176 | if (n_regs == 0) { |
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| 177 | return MB_ENOERR;
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| 178 | } |
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| 179 | |||
| 180 | case MB_INP_SERNOH:
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| 181 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[2];
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| 182 | *reg_buf++ = current_user[3];
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| 183 | 04b8cd51 | Tom Mullins | n_regs--; |
| 184 | if (n_regs == 0) { |
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| 185 | return MB_ENOERR;
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| 186 | } |
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| 187 | |||
| 188 | case MB_INP_CURRENT:
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| 189 | *reg_buf++ = 0;
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| 190 | *reg_buf++ = 0;
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| 191 | n_regs--; |
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| 192 | if (n_regs == 0) { |
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| 193 | return MB_ENOERR;
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| 194 | 20e5429c | Tom Mullins | } |
| 195 | 04b8cd51 | Tom Mullins | |
| 196 | 20e5429c | Tom Mullins | default:
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| 197 | return MB_ENOREG;
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| 198 | } |
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| 199 | } |
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| 200 | |||
| 201 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
| 202 | 20e5429c | Tom Mullins | eMBRegisterMode mode) {
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| 203 | if (mode == MB_REG_WRITE) {
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| 204 | return MB_ENOREG;
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| 205 | } else if (mode == MB_REG_READ) { |
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| 206 | return MB_ENOREG;
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| 207 | } else {
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| 208 | return MB_EIO;
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| 209 | } |
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| 210 | } |
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| 211 | |||
| 212 | int main() {
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| 213 | 12ea39cc | Tom Mullins | |
| 214 | tool_init(); |
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| 215 | 9b2b6d91 | Tom Mullins | rfid_init(); |
| 216 | 20e5429c | Tom Mullins | |
| 217 | eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
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| 218 | eMBEnable(); |
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| 219 | |||
| 220 | 208a6fb2 | Tom Mullins | sei(); |
| 221 | |||
| 222 | 20e5429c | Tom Mullins | while (1) { |
| 223 | rfid_read(); |
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| 224 | 12ea39cc | Tom Mullins | tool_main(); |
| 225 | 20e5429c | Tom Mullins | eMBPoll(); |
| 226 | 76915f20 | Tom Mullins | _delay_ms(100);
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| 227 | 20e5429c | Tom Mullins | } |
| 228 | |||
| 229 | return 0; |
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| 230 | } |