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     DDRD |= 0x02;
  33     pwm_setup();
  34     l7seg_setup();
  35     r0ketbeam_setup();
  36     input_setup();
  37     led_setup();
  38     config_setup();
  39     sei();
  40 }
  41
  42 char nbuf;
  43 char bpos;
  44 int state = 0;
  45 uint8_t somecycle = 0; //FIXME debug value
  46
  47 void loop(){ //one frame
  48     static uint8_t escape_state = 0;
  49     uint16_t receive_state = 1;
  50     //primitive somewhat messy state machine of the uart interface
  51     do{ //Always empty the receive buffer since there are _delay_xxs in the following code and thus this might not run all that often.
  52         receive_state = uart_getc();
  53         char c = receive_state&0xFF;
  54         receive_state &= 0xFF00;
  55         //escape code format:
  56         // \\   - backslash
  57         // \n   - newline
  58         // \[x] - x
  59         //eats [n] commands:   's' (0x73) led value                         sets led number [led] to [value]
  60         //                     'b' (0x62) buffer buffer buffer buffer       sets the whole frame buffer
  61         //                     'a' (0x61) meter value                       sets analog meter number [meter] to [value]
  62         //                     'r' (0x72)                                   read the frame buffer
  63         //                     'd' (0x64) display digit digit digit digit   sets the 7-segment display (CAUTION: "display" currently is ignored)
  64         //this device will utter a "'c' (0x63) num state" when switch [num] changes state to [state]
  65         //commands are terminated by \n
  66         if(!receive_state){
  67             if(!escape_state){
  68                 if(c == '\\'){
  69                     receive_state |= 0x02;
  70                     escape_state = 1;
  71                 }else if(c == '\n'){
  72                     receive_state |= 0x02;
  73                     state = 0;
  74                 }
  75             }else{
  76                 receive_state = 0;
  77                 escape_state = 0;
  78                 switch(c){
  79                     case '\\':
  80                         break;
  81                     case 'n':
  82                         c = '\n';
  83                         break;
  84                 }
  85             }
  86         }
  87         if(!receive_state){
  88             switch(state){
  89                 case 0: //Do not assume anything about the variables used
  90                     //command char
  91                     switch(c){
  92 #ifdef HAS_LED_SUPPORT
  93                         case 's':
  94                             state = 2;
  95                             break;
  96                         case 'b':
  97                             nbuf = 0;
  98                             state = 4;
  99                             break;
 100 #endif//HAS_LED_SUPPORT
 101 #ifdef HAS_PWM_SUPPORT
 102                         case 'a':
 103                             state = 5;
 104                             nbuf = 0;
 105                             break;
 106 #endif//HAS_PWM_SUPPORT
 107 #ifdef HAS_LED_SUPPORT
 108                         case 'r':
 109                             uart_putc('r');
 110                             for(uint8_t i=0; i<sizeof(frameBuffer); i++){
 111                                 uart_puthex(frameBuffer[i]);
 112                             }
 113                             uart_putc('\n');
 114                             break;
 115 #endif//HAS_LED_SUPPORT
 116 #ifdef HAS_7SEG_SUPPORT
 117                         case 'd':
 118                             nbuf = 0;
 119                             bpos = 0;
 120                             state = 7;
 121 #endif//HAS_7SEG_SUPPORT
 122                     }
 123                     break;
 124 #ifdef HAS_LED_SUPPORT
 125                 case 2:
 126                     nbuf=c;
 127                     state = 3;
 128                     break;
 129                 case 3:
 130                     setLED(nbuf, c);
 131                     state = 0;
 132                     break;
 133                 case 4:
 134                     secondFrameBuffer[(uint8_t) nbuf] = c;
 135                     nbuf++;
 136                     if(nbuf == 7){
 137                         swapBuffers();
 138                         state = 0;
 139                     }
 140                     break;
 141 #endif//HAS_LED_SUPPORT
 142 #ifdef HAS_PWM_SUPPORT
 143                 case 5:
 144                     if(c > PWM_COUNT)
 145                         c = 0;
 146                     nbuf = c;
 147                     if(nbuf >= PWM_COUNT)
 148                         nbuf = 0;
 149                     state = 6;
 150                     break;
 151                 case 6:
 152                     pwm_val[(uint8_t) nbuf] = c;
 153                     uart_puts_p(PSTR("ACK\n"));
 154                     state = 0;
 155                     break;
 156 #endif//HAS_PWM_SUPPORT
 157 #ifdef HAS_7SEG_SUPPORT
 158                 case 7:
 159                     nbuf = c;
 160                     state = 8;
 161                     break;
 162                 case 8:
 163                     l7seg_buf[(uint8_t)bpos] = c;
 164                     bpos++;
 165                     if(bpos == 4){
 166                         state = 0;
 167                     }
 168                     break;
 169 #endif//HAS_7SEG_SUPPORT
 170             }
 171         }
 172     }while(!receive_state);
 173     led_loop();
 174     r0ketbeam_loop();
 175     l7seg_loop();
 176     input_loop();
 177     pwm_loop();
 178     _delay_ms(1);
 179 }