avr/cerebrum_firmware.c

   1 /*
   2  Copyright (C) 2012 jaseg <s@jaseg.de>
   3
   4  This program is free software; you can redistribute it and/or
   5  modify it under the terms of the GNU General Public License
   6  version 3 as published by the Free Software Foundation.
   7  */
   8
   9 #include "config.h"
  10 #include <avr/io.h>
  11 #include <util/delay.h>
  12 #include <avr/pgmspace.h>
  13 #include <avr/interrupt.h>
  14 #include "uart.h"
  15 #include "util.h"
  16 #include "r0ketbeam.h"
  17 #include "7seg.h"
  18 #include "led.h"
  19 #include "pwm.h"
  20 #include "input.h"
  21
  22 void setup(void);
  23 void loop(void);
  24
  25 int main(void){
  26     setup();
  27     for(;;) loop();
  28 }
  29
  30 void setup(){
  31     uart_init(UART_BAUD_SELECT_DOUBLE_SPEED(57600, F_CPU));
  32     //FIXME what was the following line for?
  33     //DDRD |= 0x02;
  34     pwm_setup();
  35     l7seg_setup();
  36     r0ketbeam_setup();
  37     input_setup();
  38     led_setup();
  39     config_setup();
  40     sei();
  41 }
  42
  43 char nbuf;
  44 char bpos;
  45 int state = 0;
  46 uint8_t somecycle = 0; //FIXME debug value
  47
  48 void loop(){ //one frame
  49     static uint8_t escape_state = 0;
  50     uint16_t receive_state = 1;
  51     //primitive somewhat messy state machine of the uart interface
  52     do{ //Always empty the receive buffer since there are _delay_xxs in the following code and thus this might not run all that often.
  53         receive_state = uart_getc();
  54         char c = receive_state&0xFF;
  55         receive_state &= 0xFF00;
  56         //escape code format:
  57         // \\   - backslash
  58         // \n   - newline
  59         // \[x] - x
  60         //eats [n] commands:   's' (0x73) led value                         sets led number [led] to [value]
  61         //                     'b' (0x62) buffer buffer buffer buffer       sets the whole frame buffer
  62         //                     'a' (0x61) meter value                       sets analog meter number [meter] to [value]
  63         //                     'r' (0x72)                                   read the frame buffer
  64         //                     'd' (0x64) display digit digit digit digit   sets the 7-segment display (CAUTION: "display" currently is ignored)
  65         //this device will utter a "'c' (0x63) num state" when switch [num] changes state to [state]
  66         //commands are terminated by \n
  67         if(!receive_state){
  68             if(!escape_state){
  69                 if(c == '\\'){
  70                     receive_state |= 0x02;
  71                     escape_state = 1;
  72                 }else if(c == '\n'){
  73                     receive_state |= 0x02;
  74                     state = 0;
  75                 }
  76             }else{
  77                 receive_state = 0;
  78                 escape_state = 0;
  79                 switch(c){
  80                     case '\\':
  81                         break;
  82                     case 'n':
  83                         c = '\n';
  84                         break;
  85                 }
  86             }
  87         }
  88         if(!receive_state){
  89             switch(state){
  90                 case 0: //Do not assume anything about the variables used
  91                     //command char
  92                     switch(c){
  93 #ifdef HAS_LED_SUPPORT
  94                         case 's':
  95                             state = 2;
  96                             break;
  97                         case 'b':
  98                             nbuf = 0;
  99                             state = 4;
 100                             break;
 101 #endif//HAS_LED_SUPPORT
 102 #ifdef HAS_PWM_SUPPORT
 103                         case 'a':
 104                             state = 5;
 105                             nbuf = 0;
 106                             break;
 107 #endif//HAS_PWM_SUPPORT
 108 #ifdef HAS_NOISE_MAKER_SUPPORT
 109                         case 'x':
 110                             //DDRF |= 0x01;
 111                             //PORTF |= 0x01;
 112                             break;
 113                         case 'X':
 114                             //DDRF &= 0xFE;
 115                             //PORTF &= 0xFE;
 116                             break;
 117 #endif//HAS_NOISE_MAKER_SUPPORT
 118 #ifdef HAS_LED_SUPPORT
 119                         case 'r':
 120                             uart_putc('r');
 121                             for(uint8_t i=0; i<sizeof(frameBuffer); i++){
 122                                 uart_puthex(frameBuffer[i]);
 123                             }
 124                             uart_putc('\n');
 125                             break;
 126 #endif//HAS_LED_SUPPORT
 127 #ifdef HAS_7SEG_SUPPORT
 128                         case 'd':
 129                             nbuf = 0;
 130                             bpos = 0;
 131                             state = 7;
 132 #endif//HAS_7SEG_SUPPORT
 133                     }
 134                     break;
 135 #ifdef HAS_LED_SUPPORT
 136                 case 2:
 137                     nbuf=c;
 138                     state = 3;
 139                     break;
 140                 case 3:
 141                     setLED(nbuf, c);
 142                     state = 0;
 143                     break;
 144                 case 4:
 145                     secondFrameBuffer[(uint8_t) nbuf] = c;
 146                     nbuf++;
 147                     if(nbuf == 7){
 148                         swapBuffers();
 149                         state = 0;
 150                     }
 151                     break;
 152 #endif//HAS_LED_SUPPORT
 153 #ifdef HAS_PWM_SUPPORT
 154                 case 5:
 155                     if(c > PWM_COUNT)
 156                         c = 0;
 157                     nbuf = c;
 158                     if(nbuf >= PWM_COUNT)
 159                         nbuf = 0;
 160                     state = 6;
 161                     break;
 162                 case 6:
 163                     pwm_val[(uint8_t) nbuf] = c;
 164                     uart_puts_p(PSTR("ACK\n"));
 165                     state = 0;
 166                     break;
 167 #endif//HAS_PWM_SUPPORT
 168 #ifdef HAS_7SEG_SUPPORT
 169                 case 7:
 170                     nbuf = c;
 171                     state = 8;
 172                     break;
 173                 case 8:
 174                     l7seg_buf[(uint8_t)bpos] = c;
 175                     bpos++;
 176                     if(bpos == 4){
 177                         state = 0;
 178                     }
 179                     break;
 180 #endif//HAS_7SEG_SUPPORT
 181             }
 182         }
 183     }while(!receive_state);
 184     led_loop();
 185     r0ketbeam_loop();
 186     l7seg_loop();
 187     input_loop();
 188     pwm_loop();
 189     config_loop();
 190     _delay_ms(1);
 191 }