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(115200, F_CPU));
  32     pwm_setup();
  33     l7seg_setup();
  34     r0ketbeam_setup();
  35     input_setup();
  36     led_setup();
  37     config_setup();
  38     sei();
  39 }
  40
  41 char nbuf;
  42 char bpos;
  43 int state = 0;
  44
  45 void loop(){ //one frame
  46     static uint8_t escape_state = 0;
  47     uint16_t receive_state = 1;
  48     //primitive somewhat messy state machine of the uart interface
  49     do{ //Always empty the receive buffer since there are _delay_xxs in the following code and thus this might not run all that often.
  50         receive_state = uart_getc();
  51         char c = receive_state&0xFF;
  52         receive_state &= 0xFF00;
  53         //escape code format:
  54         // \\   - backslash
  55         // \n   - newline
  56         // \[x] - x
  57         //eats [n] commands:   's' (0x73) led value                         sets led number [led] to [value]
  58         //                     'b' (0x62) buffer buffer buffer buffer       sets the whole frame buffer
  59         //                     'a' (0x61) meter value                       sets analog meter number [meter] to [value]
  60         //                     'r' (0x72)                                   read the frame buffer
  61         //                     'd' (0x64) display digit digit digit digit   sets the 7-segment display (CAUTION: "display" currently is ignored)
  62         //this device will utter a "'c' (0x63) num state" when switch [num] changes state to [state]
  63         //commands are terminated by \n
  64         if(!receive_state){
  65             if(!escape_state){
  66                 if(c == '\\'){
  67                     receive_state |= 0x02;
  68                     escape_state = 1;
  69                 }else if(c == '\n'){
  70                     receive_state |= 0x02;
  71                     state = 0;
  72                 }
  73             }else{
  74                 receive_state = 0;
  75                 escape_state = 0;
  76                 switch(c){
  77                     case '\\':
  78                         break;
  79                     case 'n':
  80                         c = '\n';
  81                         break;
  82                 }
  83             }
  84         }
  85         if(!receive_state){
  86             switch(state){
  87                 case 0: //Do not assume anything about the variables used
  88                     //command char
  89                     switch(c){
  90 #ifdef HAS_LED_SUPPORT
  91                         case 's':
  92                             state = 2;
  93                             break;
  94                         case 'b':
  95                             nbuf = 0;
  96                             state = 4;
  97                             break;
  98 #endif//HAS_LED_SUPPORT
  99 #ifdef HAS_PWM_SUPPORT
 100                         case 'a':
 101                             state = 5;
 102                             nbuf = 0;
 103                             break;
 104 #endif//HAS_PWM_SUPPORT
 105 #ifdef HAS_LED_SUPPORT
 106                         case 'r':
 107                             uart_putc('r');
 108                             for(uint8_t i=0; i<sizeof(frameBuffer); i++){
 109                                 uart_puthex(frameBuffer[i]);
 110                             }
 111                             uart_putc('\n');
 112                             break;
 113 #endif//HAS_LED_SUPPORT
 114 #ifdef HAS_7SEG_SUPPORT
 115                         case 'd':
 116                             nbuf = 0;
 117                             bpos = 0;
 118                             state = 7;
 119 #endif//HAS_7SEG_SUPPORT
 120                     }
 121                     break;
 122 #ifdef HAS_LED_SUPPORT
 123                 case 2:
 124                     nbuf=c;
 125                     state = 3;
 126                     break;
 127                 case 3:
 128                     setLED(nbuf, c);
 129                     state = 0;
 130                     break;
 131                 case 4:
 132                     secondFrameBuffer[(uint8_t) nbuf] = c;
 133                     nbuf++;
 134                     if(nbuf == 7){
 135                         swapBuffers();
 136                         state = 0;
 137                     }
 138                     break;
 139 #endif//HAS_LED_SUPPORT
 140 #ifdef HAS_PWM_SUPPORT
 141                 case 5:
 142                     if(c > PWM_COUNT)
 143                         c = 0;
 144                     nbuf = c;
 145                     state = 6;
 146                     break;
 147                 case 6:
 148                     pwm_val[(uint8_t) nbuf] = c;
 149                     state = 0;
 150                     break;
 151 #endif//HAS_PWM_SUPPORT
 152 #ifdef HAS_7SEG_SUPPORT
 153                 case 7:
 154                     nbuf = c;
 155                     state = 8;
 156                     break;
 157                 case 8:
 158                     l7seg_buf[(uint8_t)bpos] = c;
 159                     bpos++;
 160                     if(bpos == 4){
 161                         state = 0;
 162                     }
 163                     break;
 164 #endif//HAS_7SEG_SUPPORT
 165             }
 166         }
 167     }while(!receive_state);
 168     led_loop();
 169     r0ketbeam_loop();
 170     l7seg_loop();
 171     input_loop();
 172     pwm_loop();
 173     _delay_ms(1);
 174 }