Revision 9b2b6d91
Moved rfid functions into their own file
| main.c | ||
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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 "serial.h" |
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#define RFID_OK 1 |
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static char rfid_read_cmd[] = {'!', 'R', 'W', 1, 32};
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#define RFID_SERNO_SIZE 4 |
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static char rfid_serno[RFID_SERNO_SIZE]; |
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static void rfid_zero_serno() {
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int i; |
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for (i = 0; i < RFID_SERNO_SIZE; i++) {
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rfid_serno[i] = 0; |
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} |
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} |
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static void rfid_read_serno() {
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int i; |
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for (i = 0; i < RFID_SERNO_SIZE; i++) {
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rfid_serno[i] = serial_read_blocking(); |
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} |
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} |
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static char rfid_check_serno() {
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int i; |
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for (i = 0; i < RFID_SERNO_SIZE; i++) {
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if (rfid_serno[i] != serial_read_blocking()) {
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return 0; |
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} |
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} |
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return 1; |
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} |
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/* |
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* When reading, it must read the same value RFID_MIN_OK times. If it |
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* encounters RFID_MAX_ERRS read errors first, it will output all 0's. |
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*/ |
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#define RFID_MAX_ERRS 10 |
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#define RFID_MIN_OK 5 |
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static void rfid_read_safe() {
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char n_err = 0, n_ok = 0; |
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while (1) {
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serial_write(rfid_read_cmd, sizeof(rfid_read_cmd)); |
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if (serial_read_blocking() == RFID_OK) {
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if (n_ok == 0) {
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rfid_read_serno(); |
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} else if (!rfid_check_serno()) {
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rfid_zero_serno(); |
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return; |
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} |
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n_ok++; |
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if (n_ok >= RFID_MIN_OK) {
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return; |
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} |
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} else {
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n_err++; |
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if (n_err >= RFID_MAX_ERRS) {
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rfid_zero_serno(); |
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return; |
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} |
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} |
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_delay_ms(50); |
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} |
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} |
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static void rfid_read() {
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while (1) {
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serial_write(rfid_read_cmd, sizeof(rfid_read_cmd)); |
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if (serial_read_blocking() == RFID_OK) {
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rfid_read_serno(); |
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return; |
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} |
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} |
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} |
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#include "rfid.h" |
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eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT num, |
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eMBRegisterMode mode) {
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| ... | ... | |
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int i; |
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switch (addr) {
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case 0: |
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// TODO #define addresses as TYPE_NAME, eg INPUT_SERNO1 |
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// TODO test whether the following works as expected (8 or 16 bit buf?) |
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for (i = 0; i < 2*num; i++) {
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reg_buf[i] = i; |
| ... | ... | |
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} |
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int main() {
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// init rfid's serial |
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serial_init(); |
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rfid_init(); |
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// init modbus and register callbacks |
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eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE); |
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eMBEnable(); |
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