X-Git-Url: https://www.fi.muni.cz/~kas/git//home/kas/public_html/git/?a=blobdiff_plain;ds=inline;f=firmware%2Ffirmware.c;h=2019402b56c834bdeabf27899f311abe92615924;hb=1d97e30f53c89725c8acf446bac51f295193d41f;hp=9b925210d48cbceee072333ea204e34a77cbfaab;hpb=86f8e5bfd1c753034b9ca876dac7d18720ab8808;p=openparking.git

diff --git a/firmware/firmware.c b/firmware/firmware.c
old mode 100755
new mode 100644
index 9b92521..2019402
--- a/firmware/firmware.c
+++ b/firmware/firmware.c
@@ -10,7 +10,17 @@
 #define N_SENSORS 12
 #define N_TRIG_SENSORS 4
 
-static int16_t distances[N_SENSORS];
+// static int16_t distances[N_SENSORS];
+
+// hold_regs[0] is unit ID
+#define thresholds	(hold_regs+1)
+#define led1_sensors	(hold_regs[13])
+#define led2_sensors	(hold_regs[14])
+
+#define led_bitmap	(hold_regs[MB_N_HOLD_REGS_EEPROM])
+#define distances	(hold_regs+MB_N_HOLD_REGS_EEPROM+1)
+#define free_bitmap	(hold_regs[MB_N_HOLD_REGS_EEPROM+13])
+#define err_bitmap	(hold_regs[MB_N_HOLD_REGS_EEPROM+14])
 
 static void pull_trigger(uint8_t trig)
 {
@@ -87,31 +97,76 @@ static void led_set(uint8_t led, uint8_t state)
 {
 	if (led == 0) {
 		if (state) {
-			PORTD |= _BV(PD4);
-			// PORTC |= _BV(PC5);
+			PORTC |= _BV(PC5);
+			led_bitmap |= 1;
 		} else {
-			PORTD &= ~_BV(PD4);
-			// PORTC &= ~_BV(PC5);
+			PORTC &= ~_BV(PC5);
+			led_bitmap &= ~1;
 		}
 	} else {
 		if (state) {
 			PORTB |= _BV(PB5);
+			led_bitmap |= 2;
 		} else {
 			PORTB &= ~_BV(PB5);
+			led_bitmap &= ~2;
 		}
 	}
 }
 
+static void eval_bitmaps()
+{
+	uint16_t free_b = 0, err_b = 0, mask;
+	uint8_t i;
+
+	for (i = 0; i < N_SENSORS; i++) {
+		mask = 1 << i;
+
+		if (thresholds[i]) {
+			if (distances[i] == -1 || distances[i] == 0) {
+				err_b |= mask;
+			} else if (distances[i] > thresholds[i]) {
+				free_b |= mask;
+			}
+		}
+	}
+
+	free_bitmap = free_b;
+	err_bitmap  = err_b;
+
+	if (led1_sensors) {
+		if (led1_sensors & free_bitmap) {
+			led_set(0, 1);
+		} else {
+			led_set(0, 0);
+		}
+	}
+
+	if (led2_sensors) {
+		if (led2_sensors & free_bitmap) {
+			led_set(1, 1);
+		} else {
+			led_set(1, 0);
+		}
+	}
+}
+
+uint8_t hold_reg_is_valid(uint16_t reg, uint16_t val)
+{
+        if (reg == MB_HOLD_REGS_BASE) 
+                return val > 0 && val <= 247;
+
+        return 1;
+}
+
 int main()
 {
-	modbus_init();
+	modbus_init(0);
 
 	// output pins
 	DDRD |= _BV(PD7); // Trig D
 	DDRB |= _BV(PB4) | _BV(PB5); // Trig B, LED 2
 	DDRC |= _BV(PC4) | _BV(PC5); // Trig C, LED 1
-	// temporary LED
-	DDRD |= _BV(PD4);
 
 	// set up the timer
 	TCCR1A = 0;
@@ -121,10 +176,18 @@ int main()
 	sei();
 
 	while(1) {
-		// do_measurements();
-		modbus_poll();
-		led_set(0,
-			distances[4] > 100 || distances[11] > 100);
+		uint8_t trig;
+		for (trig = 0; trig < N_TRIGGERS; trig++) {
+			uint16_t now;
+			do_measurement(trig);
+			now = TCNT1;
+			while (TCNT1-now < 200)
+				modbus_poll();
+		}
+
+		eval_bitmaps();
+//		led_set(0,
+//			distances[4] > 100 || distances[11] > 100);
 	}
 }