/ - Diff - Tooltron - Robotics Club

mainbox/Makefile
1	1	SRC=main.c tool.c
2		HDR=tool.h
	2	HDR=tool.h ../tooltron_mb.h
3	3
4	4	FLAGS=-O2 -g -Wall -I.. `pkg-config --cflags --libs libmodbus`
5	5

     static void tool_grant_access(struct tool_t *tool) {
       printf("Granting access to %08x on %s\n", tool->user, tool->name);
       tool_write_coil(MB_COIL_EN, 1);
       tool->state = TS_ON;
+    }
     static void tool_deny_access(struct tool_t *tool) {
       printf("Denying access to %08x on %s\n", tool->user, tool->name);
       tool_write_coil(MB_COIL_EN, 0);
       tool->state = TS_OFF;
+    }
     void tool_request_disable(struct tool_t *tool) {
       printf("Requesting disable on %s\n", tool->name);
       tool_write_coil(MB_COIL_REQ_DIS, 1);
       tool->state = TS_REQ_DIS;
+    }
     void tool_poll(struct tool_t *tool) {
-...
         fprintf(stderr, "modbus_set_slave: %s\n", modbus_strerror(errno));
+      }
       tool_read_user(tool);
       printf("%08x\n", tool->user);
       return;
       if (modbus_read_bits(ctx, 0, N_COILS, status) == -1) {
         fprintf(stderr, "modbus_read_bits: %s\n", modbus_strerror(errno));
         return;
+      }
       printf("new:%d en:%d req_dis:%d init:%d\n", status[MB_COIL_NEW],
           status[MB_COIL_EN], status[MB_COIL_REQ_DIS], status[MB_COIL_INIT]);
       if (!status[MB_COIL_INIT]) {
         tool->state = TS_INIT;
+      }
-...
           if (status[MB_COIL_NEW]) {
             tool_read_user(tool);
             // TODO check actual credentials
             if (rand() & 1) {
             printf("user:%08x\n", tool->user);
             //if (rand() & 1) {
               tool_grant_access(tool);
             } else {
             /*} else {
               tool_deny_access(tool);
+            }
             }*/
+          }
           break;

     #include "led.h"
     #include <avr/io.h>
     #define PRESCALE 64
     #define CLOCK_SEL 3
     /* F_CPU / PRESCALE = OCR * 1000 + ERROR */
     #define OCR (F_CPU / PRESCALE / 1000UL)
     #define ERROR (F_CPU / PRESCALE - OCR * 1000UL)
     char count;
     uint16_t period;
     uint16_t ms;
     uint16_t error;
     static void blink() {
       count--;
       if (count % 2) {
         led_yellow();
       } else {
         led_off();
+      }
+    }
     ISR(TIMER0_COMPA_vect) {
       error += ERROR;
       if (error >= 1000) {
         error -= 1000;
       } else {
         ms++;
         if (ms == period) {
           blink();
           if (count = 0) {
             TCCR0B = 0;
+          }
           ms = 0;
+        }
+      }
+    }
     void led_blink_start(unsigned int period_ms, char n_times) {
       led_yellow();
       ms = 0;
       error = 0;
       count = n_times*2-1;
       period = period_ms;
       OCR0A = OCR;
       TCCR0A = _BV(WGM01);
       TCCR0B = CLOCK_SEL;
+    }
     char led_blink_done() {
       return count == 0;
+    }

     static inline void led_yellow() {PORTC |= _BV(PC1) | _BV(PC0);}
     static inline void led_green() {PORTC = (PORTC & ~_BV(PC1)) | _BV(PC0);}
     /* Starts LED blinking */
     void led_blink_start(unsigned int period_ms, char n_times);
     /* Returns nonzero if blinking has finished */
     char led_blink_done();
     #endif

           if (get_coil(MB_COIL_EN)) {
             tool_enable();
             toolstate = TS_ON;
           } else if (!get_coil(MB_COIL_NEW)) {
             toolstate = TS_OFF;
+          }
           break;
-...
           } else if (rfid_check_serno(current_user)) {
             toolstate = TS_ON;
           } else {
             // TODO blink yellow for 10 seconds or something
             set_coil(MB_COIL_EN, 0);
             tool_disable();
             toolstate = TS_OFF;
             if (led_blink_done()) {
               set_coil(MB_COIL_EN, 0);
               tool_disable();
               toolstate = TS_OFF;
+            }
+          }
           break;
-...
             toolstate = TS_REQ_DIS;
           } else if (!rfid_check_serno(current_user)) {
             toolstate = TS_MISSING_ID;
             led_blink_start();
+          }
           break;
-...
     eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils,
         eMBRegisterMode mode) {
       addr--;
       if (addr+n_coils > N_COILS) {
         return MB_ENOREG;
+      }
-...
       } else if (mode == MB_REG_READ) {
         reg_buf[0] = (coils >> (addr-1)) & ((1 << n_coils) - 1);
         reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1);
         return MB_ENOERR;
+      }
-...
     eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) {
       addr--;
       switch (addr) {
         case MB_INP_SERNOL:
-...
           rfid_get_serno(current_user);
           rfid_start_read();
+        }
         //tool_main();
         tool_main();
         eMBPoll();
         _delay_ms(50);
+      }

      */
     /* Serial number from rfid reader, or 0 if there is no rfid tag present */
     #define MB_INP_SERNOL  1
     #define MB_INP_SERNOH  2
     #define MB_INP_SERNOL  0
     #define MB_INP_SERNOH  1
     /* Value from current sensor */
     #define MB_INP_CURRENT 3
     #define MB_INP_CURRENT 2
     /*
      * Coils, 1 bit read/write
-...
     /* When 1, there is a new rfid tag in the tool. Automatically cleared when the
      * main box writes to MB_COIL_EN */
     #define MB_COIL_NEW     1
     #define MB_COIL_NEW     0
     /* When 1, the tool receives power. Write 1 or 0 to grant or deny an access
      * request, respectively. If the tool is running, write 0 to immediately shut
      * off the tool */
     #define MB_COIL_EN      2
     #define MB_COIL_EN      1
     /* Write 1 to request that the tool is disabled soon (what that means will be
      * determined later) */
     #define MB_COIL_REQ_DIS 3
     #define MB_COIL_REQ_DIS 2
     /* When 1, tool has been properly initialized. When 0, tool has lost power and
      * the main box should rewrite values for current limits (to be implemented
      * later) */
     #define MB_COIL_INIT    4
     #define MB_COIL_INIT    3
     /* Number of coils */
     #define N_COILS 4

ID	dc472500b5d9e2baef332e74a0ff124280767c6d
Parent	e1d61b43
Child	1b054655

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Revision dc472500