X-Git-Url: https://www.fi.muni.cz/~kas/git//home/kas/public_html/git/?a=blobdiff_plain;f=firmware%2Ffirmware.c;h=c9c4317db1de3d1571498dde1ee45f975488aca4;hb=dc770d3e8804b9cb81fd1d0c7fc7336a14dd7c1f;hp=67508e62e8e0ce0ae09e9d93ddcf1634ed403e4f;hpb=4fe29561e6b7b4c0726dceb1a46569ed43afa376;p=openparking.git

diff --git a/firmware/firmware.c b/firmware/firmware.c
old mode 100755
new mode 100644
index 67508e6..c9c4317
--- a/firmware/firmware.c
+++ b/firmware/firmware.c
@@ -2,15 +2,28 @@
 #include <avr/interrupt.h>
 #include <util/delay.h>
 #include <stdio.h>
-#include "rs485.h"
+#include "clock.h"
+#include "modbus.h"
 
-#define TIMEOUT 0x2FF
+#define ECHO_TIMEOUT		(CLOCK_HZ/20)	// 50 ms
+#define MEASUREMENT_WAIT	(4*ECHO_TIMEOUT)
+#define MEASUREMENT_SHIFT	2		// running avg (1 << M_SHIFT)
 
 #define N_TRIGGERS 3
 #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)
 {
@@ -38,13 +51,13 @@ static void do_measurement(unsigned char trig)
 
 	pull_trigger(trig);
 
-	starttime = TCNT1;
+	starttime = get_clock();
 
 	while (to_start || to_measure) {
 		uint8_t bits = 0;
-		uint16_t now = TCNT1;
+		uint16_t now = get_clock();
 
-		if (now-starttime >= TIMEOUT)
+		if (now-starttime >= ECHO_TIMEOUT)
 			break;
 
 		bits = get_pin(trig);
@@ -58,10 +71,23 @@ static void do_measurement(unsigned char trig)
 				to_start &= ~mask;
 				to_measure |= mask;
 			} else if ((to_measure & mask) && !(bits & mask)) {
+				uint16_t old_d, new_d;
+				uint8_t idx = trig*N_TRIG_SENSORS+i;
 				// echo end
 				to_measure &= ~mask;
-				distances[trig*N_TRIG_SENSORS + i]
-					= now - starttimes[i];
+				new_d = now - starttimes[i];
+				old_d = distances[idx];
+
+				if (old_d == 0
+					|| old_d == -1) {
+					distances[idx] = new_d;
+				} else {
+					distances[idx] = (
+						(old_d << MEASUREMENT_SHIFT)
+						+ new_d
+						- old_d
+						) >> MEASUREMENT_SHIFT;
+				}
 			}
 		}
 	}
@@ -73,47 +99,123 @@ static void do_measurement(unsigned char trig)
 			distances[trig*N_TRIG_SENSORS + i] = 0;
 }
 
-static void do_measurements()
+static void led_set(uint8_t led, uint8_t state)
 {
-	uint8_t trig;
+	if (led == 0) {
+		switch (state) {
+		case 0:
+			led_bitmap &= ~1;
+			led_bitmap &= ~2;
+			break;
+		case 1:
+			led_bitmap |= 1;
+			led_bitmap &= ~2;
+			break;
+		default: // error
+			led_bitmap |= 2;
+			break;
+		}
+	} else {
+		switch (state) {
+		case 0:
+			led_bitmap &= ~4;
+			led_bitmap &= ~8;
+			break;
+		case 1:
+			led_bitmap |= 4;
+			led_bitmap &= ~8;
+			break;
+		default:
+			led_bitmap |= 8;
+			break;
+		}
+	}
+}
 
-	for (trig = 0; trig < N_TRIGGERS; trig++) {
-		do_measurement(trig);
-		_delay_ms(200);
+static void leds_update()
+{
+	if (led_bitmap & 1) {
+		PORTC |= _BV(PC5);
+	} else {
+		PORTC &= ~_BV(PC5);
+	}
+
+	if (led_bitmap & 2) {
+		DDRC &= ~_BV(PC5);
+	} else {
+		DDRC |= _BV(PC5);
+	}
+
+	if (led_bitmap & 4) {
+		PORTB |= _BV(PB5);
+	} else {
+		PORTB &= ~_BV(PB5);
+	}
+
+	if (led_bitmap & 8) {
+		DDRB |= _BV(PB5);
+	} else {
+		DDRB &= ~_BV(PB5);
 	}
 }
 
-static void led_set(uint8_t led, uint8_t state)
+static void eval_bitmaps()
 {
-	if (led == 0) {
-		if (state) {
-			PORTD |= _BV(PD4);
-			// PORTC |= _BV(PC5);
+	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 & err_bitmap) {
+			led_set(0, 2);
+		} else if (led1_sensors & free_bitmap) {
+			led_set(0, 1);
 		} else {
-			PORTD &= ~_BV(PD4);
-			// PORTC &= ~_BV(PC5);
+			led_set(0, 0);
 		}
-	} else {
-		if (state) {
-			PORTB |= _BV(PB5);
+	}
+
+	if (led2_sensors) {
+		if (led2_sensors & err_bitmap) {
+			led_set(1, 2);
+		} else if (led2_sensors & free_bitmap) {
+			led_set(1, 1);
 		} else {
-			PORTB &= ~_BV(PB5);
+			led_set(1, 0);
 		}
 	}
 }
 
-int main()
+uint8_t hold_reg_is_valid(uint16_t reg, uint16_t val)
 {
-	char obuf[120];
+        if (reg == MB_HOLD_REGS_BASE) 
+                return val > 0 && val <= 247;
 
-	rs485_init();
+        return 1;
+}
+
+int main()
+{
+	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;
@@ -123,17 +225,19 @@ int main()
 	sei();
 
 	while(1) {
-		do_measurements();
-
-		sprintf(obuf, "%3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d %3d\r\n",
-			distances[0], distances[1], distances[2],
-			distances[3], distances[4], distances[5],
-			distances[6], distances[7], distances[8],
-			distances[9], distances[10], distances[11]);
+		uint8_t trig;
+		for (trig = 0; trig < N_TRIGGERS; trig++) {
+			uint16_t now;
+			do_measurement(trig);
+			now = get_clock();
+			while (get_clock()-now < MEASUREMENT_WAIT)
+				modbus_poll();
+		}
 
-		rs485_send(obuf);
-		led_set(0,
-			distances[4] > 100 || distances[11] > 100);
+		eval_bitmaps();
+		leds_update(); // might be written from modbus
+//		led_set(0,
+//			distances[4] > 100 || distances[11] > 100);
 	}
 }