X-Git-Url: https://www.fi.muni.cz/~kas/git//home/kas/public_html/git/?a=blobdiff_plain;f=firmware%2Ffirmware.c;h=ce4a91486cda276c43235dca59fd77b373af6bd3;hb=e9281b1cc49e6f5f43e45038f8f90f6f75c8a4a0;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..ce4a914
--- a/firmware/firmware.c
+++ b/firmware/firmware.c
@@ -2,7 +2,7 @@
 #include <avr/interrupt.h>
 #include <util/delay.h>
 #include <stdio.h>
-#include "rs485.h"
+#include "modbus.h"
 
 #define TIMEOUT 0x2FF
 
@@ -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)
 {
@@ -89,24 +99,71 @@ static void led_set(uint8_t led, uint8_t state)
 		if (state) {
 			PORTD |= _BV(PD4);
 			// PORTC |= _BV(PC5);
+			led_bitmap |= 1;
 		} else {
 			PORTD &= ~_BV(PD4);
 			// PORTC &= ~_BV(PC5);
+			led_bitmap &= ~1;
 		}
 	} else {
 		if (state) {
 			PORTB |= _BV(PB5);
+			led_bitmap |= 2;
 		} else {
 			PORTB &= ~_BV(PB5);
+			led_bitmap &= ~2;
 		}
 	}
 }
 
-int main()
+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)
 {
-	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
@@ -123,17 +180,18 @@ 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 = TCNT1;
+			while (TCNT1-now < 200)
+				modbus_poll();
+		}
 
-		rs485_send(obuf);
-		led_set(0,
-			distances[4] > 100 || distances[11] > 100);
+		eval_bitmaps();
+//		led_set(0,
+//			distances[4] > 100 || distances[11] > 100);
 	}
 }