X-Git-Url: https://git.realraum.at/?a=blobdiff_plain;f=firmware%2Ftuer.pde;h=3813e0022cae357795f76df688659e47c4095a90;hb=d5e72b4ce575bcec2699edad4c9420cbc05855a3;hp=6c966a25b5d35390b440966b3dfe8485ce11a8e5;hpb=a3b81ec5089fbd974fff0f711c093c2033b1615a;p=svn42.git

diff --git a/firmware/tuer.pde b/firmware/tuer.pde
index 6c966a2..3813e00 100644
--- a/firmware/tuer.pde
+++ b/firmware/tuer.pde
@@ -20,6 +20,11 @@ byte next_led = 0;
 #define LIMIT_OPENED_PIN 18 // A4: limit switch for open
 #define LIMIT_CLOSED_PIN 19 // A5: limit switch for close
 
+#define AJAR_PIN 14 // input pin for reed relais (door ajar/shut)
+#define SHUT 0
+#define AJAR 1
+byte ajar_last_state = SHUT;
+
 #define MANUAL_OPEN_PIN 12  // keys for manual open and close
 #define MANUAL_CLOSE_PIN 13 // 
 #define DEBOUNCE_DELAY 6250  // * 16us = 100ms
@@ -77,6 +82,23 @@ boolean is_closed()
 
 //**********//
 
+byte get_ajar_status()
+{
+  if(digitalRead(AJAR_PIN) == LOW)
+    return SHUT;
+  
+  return AJAR;
+}
+
+void init_ajar()
+{
+  pinMode(AJAR_PIN, INPUT);      // set pin to input
+  digitalWrite(AJAR_PIN, HIGH);  // turn on pullup resistors  
+  ajar_last_state = get_ajar_status();
+}
+
+//**********//
+
 void init_manual()
 {
   pinMode(MANUAL_OPEN_PIN, INPUT);      // set pin to input
@@ -112,6 +134,7 @@ void start_debounce_timer()  // this breaks millis() function, but who cares
   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
 
@@ -281,6 +304,7 @@ void start_step_timer()
   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
 }
@@ -291,6 +315,7 @@ void start_wait_timer()
   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
 }
@@ -301,6 +326,7 @@ void start_error_timer()
   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
 }
@@ -365,7 +391,11 @@ ISR(TIMER1_COMPA_vect)
       Serial.print("opened");
     else if(is_closed())
       Serial.print("closed");
-    Serial.println(", idle");
+    Serial.print(", idle");
+    if(get_ajar_status() == SHUT)
+      Serial.println(", shut");
+    else
+      Serial.println(", ajar");
     return;
   }
   else if(current_state == ERROR) {
@@ -423,6 +453,7 @@ void init_heartbeat()
   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();
@@ -488,13 +519,16 @@ void print_status()
     Serial.print("<->");
 
   switch(current_state) {
-  case IDLE: Serial.println(", idle"); break;
-  case OPENING: Serial.println(", opening"); break;
-  case CLOSING: Serial.println(", closing"); break;
-  case WAIT: Serial.println(", waiting"); break;
-  default: Serial.println(", <undefined state>"); break;
+  case IDLE: Serial.print(", idle"); break;
+  case OPENING: Serial.print(", opening"); break;
+  case CLOSING: Serial.print(", closing"); break;
+  case WAIT: Serial.print(", waiting"); break;
+  default: Serial.print(", <undefined state>"); break;
   }
-  
+  if(get_ajar_status() == SHUT)
+    Serial.println(", shut");
+  else
+    Serial.println(", ajar");
 }
 
 //**********//
@@ -502,6 +536,7 @@ void print_status()
 void setup()
 {
   init_limits();
+  init_ajar();
   init_stepper();
   init_leds();
   init_heartbeat();
@@ -518,6 +553,7 @@ void setup()
     current_state = CLOSING;
     start_step_timer();
   }
+  Serial.println("init complete");
 }
 
 void loop()
@@ -533,8 +569,8 @@ void loop()
     }
     else if (command == CMD_OPEN) {
       if(current_state == IDLE) {
-	if(is_opened())
-	  Serial.println("Already open");
+        if(is_opened())
+          Serial.println("Already open");
         else {
           start_open();
           Serial.println("Ok");
@@ -545,8 +581,8 @@ void loop()
     }
     else if (command == CMD_CLOSE) {
       if(current_state == IDLE) {
-	if(is_closed())
-	  Serial.println("Already closed");
+        if(is_closed())
+          Serial.println("Already closed");
         else {
           start_close();
           Serial.println("Ok");
@@ -557,11 +593,11 @@ void loop()
     }
     else if (command == CMD_TOGGLE) {
       if(current_state == IDLE) {
-	if(is_closed())
-	  start_open();
-	else
-	  start_close();
-	Serial.println("Ok");
+        if(is_closed())
+          start_open();
+        else
+          start_close();
+        Serial.println("Ok");
       }
       else
         Serial.println("Error: Operation in progress");
@@ -579,7 +615,7 @@ void loop()
     Serial.println("close forced manually");
     start_close();
   }
-  if (current_state == IDLE) {
+  if(current_state == IDLE) {
     if(is_opened()) {
       leds_green();
       PORTD = LEDS_ON;
@@ -589,4 +625,10 @@ void loop()
       PORTD = LEDS_ON;
     }
   }
+  byte a = get_ajar_status();
+  if(a != ajar_last_state)
+  {
+    print_status();
+    ajar_last_state = a;
+  }
 }