root / toolbox / main.c @ 94548bf4
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#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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#include "led.h" |
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#include "current.h" |
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#include "time.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_DENY, |
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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 uint8_t coils;
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static uint8_t latest_reading[RFID_SERNO_SIZE];
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static uint8_t current_user[RFID_SERNO_SIZE];
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static uint16_t current;
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static inline void set_coil(char coil, char bit) { |
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coils = (coils & ~(1 << coil)) | (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 inline void serno_zero(uint8_t *serno) { |
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memset(serno, 0, RFID_SERNO_SIZE);
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} |
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static char serno_is_nonzero(uint8_t *serno) { |
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int i;
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for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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if (serno[i]) {
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return 1; |
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} |
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} |
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return 0; |
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} |
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static char serno_equal(uint8_t *a, uint8_t *b) { |
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return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
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} |
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static void serno_cpy(uint8_t *dest, uint8_t *src) { |
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memcpy(dest, src, RFID_SERNO_SIZE); |
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} |
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static void tool_tick() { |
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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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led_off(); |
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set_coil(MB_COIL_EN, 0);
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if (serno_is_nonzero(latest_reading)) {
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serno_cpy(current_user, latest_reading); |
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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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led_yellow(); |
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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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} else if (!get_coil(MB_COIL_NEW)) { |
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toolstate = TS_DENY; |
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} else if (!serno_equal(current_user, latest_reading)) { |
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set_coil(MB_COIL_NEW, 0);
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toolstate = TS_OFF; |
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} |
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break;
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case TS_DENY:
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led_red(); |
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if (!serno_equal(current_user, latest_reading)) {
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toolstate = TS_OFF; |
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serno_zero(current_user); |
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} |
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case TS_REQ_DIS:
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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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} else if (!get_coil(MB_COIL_REQ_DIS)) { |
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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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set_coil(MB_COIL_REQ_DIS, 0);
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tool_disable(); |
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serno_zero(current_user); |
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toolstate = TS_OFF; |
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} |
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break;
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case TS_MISSING_ID:
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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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} else if (get_coil(MB_COIL_REQ_DIS)) { |
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toolstate = TS_REQ_DIS; |
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} else if (serno_equal(current_user, latest_reading)) { |
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toolstate = TS_ON; |
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} else {
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if (led_blink_done()) {
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set_coil(MB_COIL_EN, 0);
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tool_disable(); |
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serno_zero(current_user); |
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toolstate = TS_OFF; |
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} |
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} |
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break;
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case TS_ON:
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led_green(); |
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if (!get_coil(MB_COIL_EN)) {
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tool_disable(); |
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serno_zero(current_user); |
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toolstate = TS_OFF; |
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} else if(get_coil(MB_COIL_REQ_DIS)) { |
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toolstate = TS_REQ_DIS; |
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} else if (!serno_equal(current_user, latest_reading)) { |
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toolstate = TS_MISSING_ID; |
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led_blink_start(666, 15, YELLOW); |
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} |
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break;
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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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addr--; |
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if (addr+n_coils > N_COILS) {
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return MB_ENOREG;
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} |
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if (mode == MB_REG_WRITE) {
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switch (addr) {
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case MB_COIL_NEW:
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/* nop */
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reg_buf[0] >>= 1; |
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n_coils--; |
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if (n_coils == 0) { |
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return MB_ENOERR;
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} |
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case MB_COIL_EN:
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set_coil(MB_COIL_NEW, 0);
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set_coil(MB_COIL_EN, 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) { |
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return MB_ENOERR;
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} |
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case MB_COIL_REQ_DIS:
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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) { |
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return MB_ENOERR;
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} |
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case MB_COIL_INIT:
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set_coil(MB_COIL_INIT, 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) { |
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return MB_ENOERR;
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} |
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} |
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} else if (mode == MB_REG_READ) { |
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reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
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return MB_ENOERR;
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} |
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return MB_EIO;
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} |
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eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) {
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return MB_ENOREG;
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} |
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eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
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addr--; |
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switch (addr) {
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case MB_INP_SERNOL:
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*reg_buf++ = current_user[0];
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*reg_buf++ = current_user[1];
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n_regs--; |
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if (n_regs == 0) { |
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return MB_ENOERR;
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} |
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case MB_INP_SERNOH:
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*reg_buf++ = current_user[2];
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*reg_buf++ = current_user[3];
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n_regs--; |
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if (n_regs == 0) { |
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return MB_ENOERR;
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} |
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case MB_INP_CURRENT:
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*reg_buf++ = (uint8_t)(current >> 8);
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*reg_buf++ = (uint8_t)current; |
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n_regs--; |
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if (n_regs == 0) { |
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return MB_ENOERR;
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} |
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default:
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return MB_ENOREG;
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} |
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} |
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eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
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eMBRegisterMode mode) {
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if (mode == MB_REG_WRITE) {
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return MB_ENOREG;
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} else if (mode == MB_REG_READ) { |
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return MB_ENOREG;
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} else {
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return MB_EIO;
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} |
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} |
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int main() {
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char rfid_ticks = 0; |
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time_init(); |
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led_init(); |
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tool_init(); |
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rfid_init(); |
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current_init(); |
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eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
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eMBEnable(); |
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sei(); |
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rfid_start_read(); |
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while (1) { |
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if (++rfid_ticks >= RFID_PERIOD/TICK_MS)
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{
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rfid_ticks = 0;
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if (rfid_poll()) {
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rfid_get_serno(latest_reading); |
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rfid_start_read(); |
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} else {
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/* TODO count # times rfid_poll returns each value and see how often we
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* have to wait */
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} |
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} |
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current = current_read(); |
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tool_tick(); |
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led_tick(); |
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eMBPoll(); |
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time_wait(); |
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} |
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return 0; |
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} |