#define LIMIT_CLOSED_PIN 19 // A5: limit switch for close
#define AJAR_PIN 14 // input pin for reed relais (door ajar/shut)
-boolean ajar_last_state = false;
-boolean ajar_state_changed = false;
+#define SHUT 10
+#define AJAR 5
+byte ajar_last_state = SHUT;
+#define AJAR_LOW_PASS_TAU 200
+byte ajar_low_pass_counter = 0;
+byte ajar_low_pass_last_value = ajar_last_state;
#define MANUAL_OPEN_PIN 12 // keys for manual open and close
#define MANUAL_CLOSE_PIN 13 //
//**********//
-void init_ajar()
+byte get_ajar_status()
{
- pinMode(AJAR_PIN, INPUT); // set pin to input
- digitalWrite(AJAR_PIN, HIGH); // turn on pullup resistors
- ajar_last_state = digitalRead(AJAR_PIN);
+ byte b = (digitalRead(AJAR_PIN) == LOW) ? SHUT : AJAR;
+ ajar_low_pass_counter = (b == ajar_low_pass_last_value) ? ajar_low_pass_counter+1 : 0;
+ ajar_low_pass_last_value = b;
+ if(ajar_low_pass_counter >= AJAR_LOW_PASS_TAU) {
+ ajar_low_pass_counter = 0;
+ return b;
+ }
+ else
+ return ajar_last_state;
}
-boolean get_ajar_status() // shut = true, ajar = false
+void init_ajar()
{
- if(digitalRead(AJAR_PIN))
- return false;
-
- return true;
+ pinMode(AJAR_PIN, INPUT); // set pin to input
+ digitalWrite(AJAR_PIN, HIGH); // turn on pullup resistors
+ ajar_last_state = get_ajar_status();
}
//**********//
else if(is_closed())
Serial.print("closed");
Serial.print(", idle");
- if(get_ajar_status())
+ if(get_ajar_status() == SHUT)
Serial.println(", shut");
else
Serial.println(", ajar");
// while running this gets called every ~10ms
ISR(TIMER2_COMPA_vect)
{
- boolean a = get_ajar_status();
- if(a != ajar_last_state)
- ajar_state_changed = true;
- ajar_last_state = a;
heartbeat_cnt++;
if(heartbeat_cnt == HEARTBEAT_DURATION)
heartbeat_off();
start_step_timer();
}
-void print_status()
+void print_status(byte as)
{
Serial.print("Status: ");
if(is_opened())
case WAIT: Serial.print(", waiting"); break;
default: Serial.print(", <undefined state>"); break;
}
- if(get_ajar_status())
+ if(as == SHUT)
Serial.println(", shut");
else
Serial.println(", ajar");
Serial.println("Error: Operation in progress");
}
else if (command == CMD_STATUS)
- print_status();
+ print_status(get_ajar_status());
else
Serial.println("Error: unknown command");
}
PORTD = LEDS_ON;
}
}
- if(ajar_state_changed) {
- ajar_state_changed = false;
- print_status();
+ byte a = get_ajar_status();
+ if(a != ajar_last_state) {
+ print_status(a);
+ ajar_last_state = a;
}
}