#define CMD_OPEN 'o'
#define CMD_CLOSE 'c'
+#define CMD_TOGGLE 't'
#define CMD_STATUS 's'
#define CMD_RESET 'r'
TCCR0A = 0; // no prescaler, WGM = 0 (normal)
TCCR0B = 1<<CS00; //
OCR0A = 255; // 1+255 = 256 -> 16us @ 16 MHz
+ //OCR0A = 255; // 1+255 = 256 -> 12.8us @ 20 MHz
TCNT0 = 0; // reseting timer
TIMSK0 = 1<<OCF0A; // enable Interrupt
TCCR1A = 0; // prescaler 1:256, WGM = 4 (CTC)
TCCR1B = 1<<WGM12 | 1<<CS12; //
OCR1A = 124; // (1+124)*256 = 32000 -> 2 ms @ 16 MHz
+ //OCR1A = 155; // (1+155)*256 = 40000 -> 2 ms @ 20 MHz
TCNT1 = 0; // reseting timer
TIMSK1 = 1<<OCIE1A; // enable Interrupt
}
TCCR1A = 0; // prescaler 1:256, WGM = 0 (normal)
TCCR1B = 1<<CS12; //
OCR1A = 15624; // (1+15624)*256 = 4000000 -> 250 ms @ 16 MHz
+ //OCR1A = 19530; // (1+19530)*256 = 5000000 -> 250 ms @ 20 MHz
TCNT1 = 0; // reseting timer
TIMSK1 = 1<<OCIE1A; // enable Interrupt
}
TCCR1A = 0; // prescaler 1:256, WGM = 4 (CTC)
TCCR1B = 1<<WGM12 | 1<<CS12; //
OCR1A = 31249; // (1+31249)*256 = 8000000 -> 500 ms @ 16 MHz
+ //OCR1A = 39061; // (1+39061)*256 = 10000000 -> 500 ms @ 20 MHz
TCNT1 = 0; // reseting timer
TIMSK1 = 1<<OCIE1A; // enable Interrupt
}
stop_timer();
reset_stepper();
current_state = IDLE;
+ Serial.print("Status: ");
+ if(is_opened())
+ Serial.print("opened");
+ else if(is_closed())
+ Serial.print("closed");
+ Serial.println(", idle");
return;
}
else if(current_state == ERROR) {
TCCR2A = 1<<WGM21; // prescaler 1:1024, WGM = 2 (CTC)
TCCR2B = 1<<CS22 | 1<<CS21 | 1<<CS20; //
OCR2A = 155; // (1+155)*1024 = 159744 -> ~10 ms @ 16 MHz
+ //OCR2A = 194; // (1+194)*1024 = 199680 -> ~10 ms @ 20 MHz
TCNT2 = 0; // reseting timer
TIMSK2 = 1<<OCIE2A; // enable Interrupt
heartbeat_on();
void start_open()
{
- if(is_opened()) {
- Serial.println("Already open");
- return;
- }
-
reset_stepper();
reset_leds();
leds_green();
current_state = OPENING;
start_step_timer();
- Serial.println("Ok");
}
void start_close()
{
- if(is_closed()) {
- Serial.println("Already closed");
- return;
- }
-
reset_stepper();
reset_leds();
leds_red();
current_state = CLOSING;
start_step_timer();
- Serial.println("Ok");
}
void print_status()
char command = Serial.read();
if(current_state == ERROR && command != CMD_RESET) {
- Serial.println("Error: last open/close operation took to long!");
+ Serial.println("Error: last open/close operation took too long!");
}
else if (command == CMD_RESET) {
reset_after_error();
}
else if (command == CMD_OPEN) {
- if(current_state == IDLE)
- start_open();
+ if(current_state == IDLE) {
+ if(is_opened())
+ Serial.println("Already open");
+ else {
+ start_open();
+ Serial.println("Ok");
+ }
+ }
else
Serial.println("Error: Operation in progress");
}
else if (command == CMD_CLOSE) {
- if(current_state == IDLE)
- start_close();
+ if(current_state == IDLE) {
+ if(is_closed())
+ Serial.println("Already closed");
+ else {
+ start_close();
+ Serial.println("Ok");
+ }
+ }
+ else
+ Serial.println("Error: Operation in progress");
+ }
+ else if (command == CMD_TOGGLE) {
+ if(current_state == IDLE) {
+ if(is_closed())
+ start_open();
+ else
+ start_close();
+ Serial.println("Ok");
+ }
else
Serial.println("Error: Operation in progress");
}
else
Serial.println("Error: unknown command");
}
- if(manual_open() && !is_opened() && current_state == IDLE) {
+ if(manual_open() && !is_opened() && (current_state == IDLE || current_state == ERROR)) {
Serial.println("open forced manually");
start_open();
}
- if(manual_close() && !is_closed() && current_state == IDLE) {
+ if(manual_close() && !is_closed() && (current_state == IDLE || current_state == ERROR)) {
Serial.println("close forced manually");
start_close();
}