root / toolbox / main.c @ f5d1f56a
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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 | 532ba0bd | Tom Mullins | #include "led.h" |
10 | 20e5429c | Tom Mullins | |
11 | 12ea39cc | Tom Mullins | enum toolstate_t {
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12 | TS_INIT, |
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13 | TS_OFF, |
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14 | TS_WAIT_ACCESS, |
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15 | f5d1f56a | Tom Mullins | TS_DENY, |
16 | 12ea39cc | Tom Mullins | TS_REQ_DIS, |
17 | TS_MISSING_ID, |
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18 | TS_ON |
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19 | }; |
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20 | |||
21 | static enum toolstate_t toolstate = TS_INIT; |
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22 | 6ca98a3f | Tom Mullins | static uint8_t coils;
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23 | 1b054655 | Tom Mullins | static uint8_t latest_reading[RFID_SERNO_SIZE];
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24 | 6ca98a3f | Tom Mullins | static uint8_t current_user[RFID_SERNO_SIZE];
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25 | 208a6fb2 | Tom Mullins | |
26 | static inline void set_coil(char coil, char bit) { |
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27 | 6ca98a3f | Tom Mullins | coils = (coils & ~(1 << coil)) | (bit << coil);
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28 | 208a6fb2 | Tom Mullins | } |
29 | 12ea39cc | Tom Mullins | static inline char get_coil(char coil) { |
30 | return (coils >> coil) & 1; |
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31 | } |
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32 | |||
33 | static inline void tool_init() {DDRA |= _BV(DDA1);} |
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34 | static inline void tool_enable() {PORTA |= _BV(PA1);} |
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35 | 76915f20 | Tom Mullins | static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
36 | 12ea39cc | Tom Mullins | |
37 | 1085ef77 | Tom Mullins | static inline void serno_zero(uint8_t *serno) { |
38 | 1b054655 | Tom Mullins | memset(serno, 0, RFID_SERNO_SIZE);
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39 | } |
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40 | |||
41 | static char serno_is_nonzero(uint8_t *serno) { |
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42 | int i;
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43 | for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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44 | if (serno[i]) {
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45 | return 1; |
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46 | } |
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47 | } |
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48 | return 0; |
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49 | } |
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50 | |||
51 | static char serno_equal(uint8_t *a, uint8_t *b) { |
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52 | return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
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53 | } |
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54 | |||
55 | static void serno_cpy(uint8_t *dest, uint8_t *src) { |
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56 | memcpy(dest, src, RFID_SERNO_SIZE); |
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57 | } |
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58 | |||
59 | 12ea39cc | Tom Mullins | static void tool_main() { |
60 | |||
61 | switch (toolstate) {
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62 | |||
63 | case TS_INIT:
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64 | if (get_coil(MB_COIL_INIT)) {
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65 | set_coil(MB_COIL_NEW, 0);
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66 | set_coil(MB_COIL_EN, 0);
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67 | set_coil(MB_COIL_REQ_DIS, 0);
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68 | toolstate = TS_OFF; |
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69 | } |
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70 | break;
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71 | |||
72 | case TS_OFF:
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73 | f5d1f56a | Tom Mullins | led_off(); |
74 | 1b054655 | Tom Mullins | if (serno_is_nonzero(latest_reading)) {
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75 | serno_cpy(current_user, latest_reading); |
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76 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_NEW, 1);
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77 | toolstate = TS_WAIT_ACCESS; |
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78 | } |
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79 | break;
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80 | |||
81 | case TS_WAIT_ACCESS:
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82 | 1b054655 | Tom Mullins | led_yellow(); |
83 | 12ea39cc | Tom Mullins | if (get_coil(MB_COIL_EN)) {
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84 | tool_enable(); |
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85 | toolstate = TS_ON; |
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86 | dc472500 | Tom Mullins | } else if (!get_coil(MB_COIL_NEW)) { |
87 | f5d1f56a | Tom Mullins | toolstate = TS_DENY; |
88 | 12ea39cc | Tom Mullins | } |
89 | break;
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90 | |||
91 | f5d1f56a | Tom Mullins | case TS_DENY:
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92 | led_red(); |
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93 | if (!serno_equal(current_user, latest_reading)) {
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94 | toolstate = TS_OFF; |
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95 | serno_zero(current_user); |
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96 | } |
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97 | |||
98 | 12ea39cc | Tom Mullins | case TS_REQ_DIS:
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99 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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100 | tool_disable(); |
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101 | toolstate = TS_OFF; |
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102 | } else if (!get_coil(MB_COIL_REQ_DIS)) { |
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103 | toolstate = TS_ON; |
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104 | } else {
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105 | // TODO blink yellow for 10 seconds or something
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106 | set_coil(MB_COIL_EN, 0);
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107 | set_coil(MB_COIL_REQ_DIS, 0);
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108 | tool_disable(); |
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109 | 1b054655 | Tom Mullins | serno_zero(current_user); |
110 | e53aa5c5 | Tom Mullins | toolstate = TS_OFF; |
111 | } |
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112 | 12ea39cc | Tom Mullins | break;
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113 | |||
114 | case TS_MISSING_ID:
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115 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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116 | tool_disable(); |
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117 | toolstate = TS_OFF; |
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118 | } else if (get_coil(MB_COIL_REQ_DIS)) { |
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119 | toolstate = TS_REQ_DIS; |
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120 | 1b054655 | Tom Mullins | } else if (serno_equal(current_user, latest_reading)) { |
121 | 12ea39cc | Tom Mullins | toolstate = TS_ON; |
122 | } else {
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123 | dc472500 | Tom Mullins | if (led_blink_done()) {
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124 | set_coil(MB_COIL_EN, 0);
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125 | tool_disable(); |
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126 | 1b054655 | Tom Mullins | serno_zero(current_user); |
127 | dc472500 | Tom Mullins | toolstate = TS_OFF; |
128 | } |
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129 | 12ea39cc | Tom Mullins | } |
130 | break;
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131 | |||
132 | case TS_ON:
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133 | 1b054655 | Tom Mullins | led_green(); |
134 | 12ea39cc | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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135 | tool_disable(); |
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136 | 1b054655 | Tom Mullins | serno_zero(current_user); |
137 | 12ea39cc | Tom Mullins | toolstate = TS_OFF; |
138 | e53aa5c5 | Tom Mullins | } else if(get_coil(MB_COIL_REQ_DIS)) { |
139 | 12ea39cc | Tom Mullins | toolstate = TS_REQ_DIS; |
140 | 1b054655 | Tom Mullins | } else if (!serno_equal(current_user, latest_reading)) { |
141 | 12ea39cc | Tom Mullins | toolstate = TS_MISSING_ID; |
142 | 1085ef77 | Tom Mullins | led_blink_start(666, 15, YELLOW); |
143 | 12ea39cc | Tom Mullins | } |
144 | break;
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145 | |||
146 | } |
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147 | |||
148 | } |
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149 | 208a6fb2 | Tom Mullins | |
150 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
151 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
152 | 208a6fb2 | Tom Mullins | |
153 | dc472500 | Tom Mullins | addr--; |
154 | |||
155 | 532ba0bd | Tom Mullins | if (addr+n_coils > N_COILS) {
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156 | 20e5429c | Tom Mullins | return MB_ENOREG;
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157 | 208a6fb2 | Tom Mullins | } |
158 | |||
159 | if (mode == MB_REG_WRITE) {
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160 | |||
161 | switch (addr) {
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162 | |||
163 | case MB_COIL_NEW:
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164 | /* nop */
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165 | reg_buf[0] >>= 1; |
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166 | n_coils--; |
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167 | if (n_coils == 0) { |
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168 | return MB_ENOERR;
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169 | } |
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170 | |||
171 | case MB_COIL_EN:
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172 | set_coil(MB_COIL_NEW, 0);
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173 | set_coil(MB_COIL_EN, reg_buf[0] & 1); |
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174 | reg_buf[0] >>= 1; |
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175 | n_coils--; |
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176 | if (n_coils == 0) { |
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177 | return MB_ENOERR;
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178 | } |
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179 | |||
180 | case MB_COIL_REQ_DIS:
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181 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
182 | 208a6fb2 | Tom Mullins | reg_buf[0] >>= 1; |
183 | n_coils--; |
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184 | if (n_coils == 0) { |
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185 | return MB_ENOERR;
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186 | } |
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187 | |||
188 | case MB_COIL_INIT:
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189 | set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
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190 | reg_buf[0] >>= 1; |
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191 | n_coils--; |
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192 | if (n_coils == 0) { |
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193 | return MB_ENOERR;
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194 | } |
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195 | } |
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196 | |||
197 | 20e5429c | Tom Mullins | } else if (mode == MB_REG_READ) { |
198 | 208a6fb2 | Tom Mullins | |
199 | dc472500 | Tom Mullins | reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
200 | 208a6fb2 | Tom Mullins | return MB_ENOERR;
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201 | |||
202 | 20e5429c | Tom Mullins | } |
203 | 208a6fb2 | Tom Mullins | |
204 | return MB_EIO;
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205 | 20e5429c | Tom Mullins | } |
206 | |||
207 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) { |
208 | 20e5429c | Tom Mullins | return MB_ENOREG;
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209 | } |
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210 | |||
211 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) { |
212 | |||
213 | dc472500 | Tom Mullins | addr--; |
214 | |||
215 | 20e5429c | Tom Mullins | switch (addr) {
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216 | 04b8cd51 | Tom Mullins | |
217 | case MB_INP_SERNOL:
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218 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[0];
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219 | *reg_buf++ = current_user[1];
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220 | 04b8cd51 | Tom Mullins | n_regs--; |
221 | if (n_regs == 0) { |
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222 | return MB_ENOERR;
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223 | } |
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224 | |||
225 | case MB_INP_SERNOH:
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226 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[2];
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227 | *reg_buf++ = current_user[3];
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228 | 04b8cd51 | Tom Mullins | n_regs--; |
229 | if (n_regs == 0) { |
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230 | return MB_ENOERR;
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231 | } |
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232 | |||
233 | case MB_INP_CURRENT:
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234 | *reg_buf++ = 0;
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235 | *reg_buf++ = 0;
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236 | n_regs--; |
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237 | if (n_regs == 0) { |
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238 | return MB_ENOERR;
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239 | 20e5429c | Tom Mullins | } |
240 | 04b8cd51 | Tom Mullins | |
241 | 20e5429c | Tom Mullins | default:
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242 | return MB_ENOREG;
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243 | } |
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244 | } |
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245 | |||
246 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
247 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
248 | if (mode == MB_REG_WRITE) {
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249 | return MB_ENOREG;
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250 | } else if (mode == MB_REG_READ) { |
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251 | return MB_ENOREG;
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252 | } else {
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253 | return MB_EIO;
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254 | } |
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255 | } |
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256 | |||
257 | int main() {
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258 | 12ea39cc | Tom Mullins | |
259 | 532ba0bd | Tom Mullins | led_init(); |
260 | 12ea39cc | Tom Mullins | tool_init(); |
261 | 9b2b6d91 | Tom Mullins | rfid_init(); |
262 | 20e5429c | Tom Mullins | |
263 | eMBInit(MB_RTU, SLAVE_ADDR, 0, MB_BAUD, MB_PAR_NONE);
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264 | eMBEnable(); |
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265 | |||
266 | 208a6fb2 | Tom Mullins | sei(); |
267 | |||
268 | 532ba0bd | Tom Mullins | rfid_start_read(); |
269 | 20e5429c | Tom Mullins | while (1) { |
270 | 532ba0bd | Tom Mullins | if (rfid_poll()) {
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271 | 1b054655 | Tom Mullins | rfid_get_serno(latest_reading); |
272 | 532ba0bd | Tom Mullins | rfid_start_read(); |
273 | } |
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274 | dc472500 | Tom Mullins | tool_main(); |
275 | 20e5429c | Tom Mullins | eMBPoll(); |
276 | 532ba0bd | Tom Mullins | _delay_ms(50);
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277 | 20e5429c | Tom Mullins | } |
278 | |||
279 | return 0; |
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280 | } |