+++ /dev/null
-#include <avr/io.h>
-#include <avr/interrupt.h>
-
-//********************************************************************//
-
-#define HEARTBEAT_PIN 15 // blinking led indicating that system is active
-#define HEARTBEAT_DURATION 10 // *10 ms, duration of heartbeat pulse
-#define HEARTBEAT_DELAY 200 // *10 ms, 1/heartbeat-frequency
-int heartbeat_cnt = 0;
-
-#define LEDS_ON 0xFC
-#define LEDS_OFF 0x00
-
-#define LEDS_GREEN_COMMON_PIN 16
-#define LEDS_RED_COMMON_PIN 17
-#define LED_DELAY 50 // *2 ms, between led shifts
-int led_delay_cnt = 0;
-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 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 //
-#define DEBOUNCE_DELAY 6250 // * 16us = 100ms
-#define DEBOUNCE_IDLE 0 // currently no debouncing
-#define DEBOUNCE_OPEN 1 // debouncing open key
-#define DEBOUNCE_CLOSE 2 // debouncing close key
-#define DEBOUNCE_FINISHED 4 // debouncing finished
-byte debounce_state;
-int debounce_cnt = 0;
-
-#define IDLE 0 // close and open may be called
-#define OPENING 1 // opening, only 's' command is allowed
-#define CLOSING 2 // closing, onyl 's' command is allowed
-#define WAIT 3 // wait some time after open or close and hold last step
-#define ERROR 4 // an error occured
-
-#define CMD_OPEN 'o'
-#define CMD_CLOSE 'c'
-#define CMD_TOGGLE 't'
-#define CMD_STATUS 's'
-#define CMD_RESET 'r'
-
-#define STEPPER_OFF 0x30
-byte current_state = IDLE; // current state of internal state machine
-byte next_step = 0; // step counter 0 .. 3
-#define MOVING_TIMEOUT 1600 // *2 ms, in case limit switches don't work stop and report an error
-int timeout_cnt = 0; // counts up to MOVING_TIMEOUT
-
-//********************************************************************//
-
-void init_limits()
-{
- pinMode(LIMIT_OPENED_PIN, INPUT); // set pin to input
- digitalWrite(LIMIT_OPENED_PIN, HIGH); // turn on pullup resistors
-
- pinMode(LIMIT_CLOSED_PIN, INPUT); // set pin to input
- digitalWrite(LIMIT_CLOSED_PIN, HIGH); // turn on pullup resistors
-}
-
-boolean is_opened()
-{
- if(digitalRead(LIMIT_OPENED_PIN))
- return false;
-
- return true;
-}
-
-boolean is_closed()
-{
- if(digitalRead(LIMIT_CLOSED_PIN))
- return false;
-
- return true;
-}
-
-//**********//
-
-byte get_ajar_status()
-{
- 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;
-}
-
-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
- digitalWrite(MANUAL_OPEN_PIN, HIGH); // turn on pullup resistors
-
- pinMode(MANUAL_CLOSE_PIN, INPUT); // set pin to input
- digitalWrite(MANUAL_CLOSE_PIN, HIGH); // turn on pullup resistors
-
- debounce_state = DEBOUNCE_IDLE;
- debounce_cnt = DEBOUNCE_DELAY;
-}
-
-boolean manual_open_pressed()
-{
- if(digitalRead(MANUAL_OPEN_PIN))
- return false;
-
- return true;
-}
-
-boolean manual_close_pressed()
-{
- if(digitalRead(MANUAL_CLOSE_PIN))
- return false;
-
- return true;
-}
-
-void start_debounce_timer() // this breaks millis() function, but who cares
-{
- debounce_cnt = DEBOUNCE_DELAY;
-
- 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
-
-}
-
-void stop_debounce_timer()
-{
- // timer0
- TCCR0B = 0; // no clock source
- TIMSK0 = 0; // disable timer interrupt
-}
-
-ISR(TIMER0_COMPA_vect)
-{
- if(((debounce_state & DEBOUNCE_OPEN) && manual_open_pressed()) ||
- ((debounce_state & DEBOUNCE_CLOSE) && manual_close_pressed())) {
- if(debounce_cnt) {
- debounce_cnt--;
- return;
- }
- debounce_state |= DEBOUNCE_FINISHED;
- }
- debounce_cnt = DEBOUNCE_DELAY;
-}
-
-boolean manual_open()
-{
- if(manual_open_pressed()) {
- if(debounce_state & DEBOUNCE_CLOSE) {
- stop_debounce_timer();
- debounce_state = DEBOUNCE_IDLE;
- return false;
- }
-
- if(debounce_state == DEBOUNCE_IDLE) {
- debounce_state = DEBOUNCE_OPEN;
- start_debounce_timer();
- }
- else if(debounce_state & DEBOUNCE_FINISHED) {
- stop_debounce_timer();
- debounce_state = DEBOUNCE_IDLE;
- return true;
- }
- }
- else if(debounce_state & DEBOUNCE_OPEN) {
- stop_debounce_timer();
- debounce_state = DEBOUNCE_IDLE;
- }
-
- return false;
-}
-
-boolean manual_close()
-{
- if(manual_close_pressed()) {
- if(debounce_state & DEBOUNCE_OPEN) {
- stop_debounce_timer();
- debounce_state = DEBOUNCE_IDLE;
- return false;
- }
-
- if(debounce_state == DEBOUNCE_IDLE) {
- debounce_state = DEBOUNCE_CLOSE;
- start_debounce_timer();
- }
- else if(debounce_state & DEBOUNCE_FINISHED) {
- stop_debounce_timer();
- debounce_state = DEBOUNCE_IDLE;
- return true;
- }
- }
- else if(debounce_state & DEBOUNCE_CLOSE) {
- stop_debounce_timer();
- debounce_state = DEBOUNCE_IDLE;
- }
-
- return false;
-}
-
-//********************************************************************//
-
-void reset_stepper()
-{
- next_step = 0;
- PORTB = STEPPER_OFF;
- timeout_cnt = 0;
-}
-
-void init_stepper()
-{
- DDRB = 0x0F; // set PortB 3:0 as output
- reset_stepper();
-}
-
-byte step_table(byte step)
-{
- switch(step) { // 0011 xxxx, manual keys pull-ups stay active
- case 0: return 0x33;
- case 1: return 0x36;
- case 2: return 0x3C;
- case 3: return 0x39;
- }
- return STEPPER_OFF;
-}
-
-//**********//
-
-void reset_leds()
-{
- led_delay_cnt = 0;
- next_led = 0;
- PORTD = LEDS_OFF;
- digitalWrite(LEDS_GREEN_COMMON_PIN, HIGH);
- digitalWrite(LEDS_RED_COMMON_PIN, HIGH);
-}
-
-void init_leds()
-{
- DDRD = 0xFC;
- pinMode(LEDS_GREEN_COMMON_PIN, OUTPUT);
- pinMode(LEDS_RED_COMMON_PIN, OUTPUT);
- reset_leds();
-}
-
-byte led_table(byte led)
-{
- switch(led) { // xxxx xx00, leave RxD and TxD to 0
- case 0: return 0x04;
- case 1: return 0x08;
- case 2: return 0x10;
- case 3: return 0x20;
- case 4: return 0x40;
- case 5: return 0x80;
- }
- return LEDS_OFF;
-}
-
-void leds_green()
-{
- digitalWrite(LEDS_GREEN_COMMON_PIN, LOW);
- digitalWrite(LEDS_RED_COMMON_PIN, HIGH);
-}
-
-void leds_red()
-{
- digitalWrite(LEDS_GREEN_COMMON_PIN, HIGH);
- digitalWrite(LEDS_RED_COMMON_PIN, LOW);
-}
-
-void leds_toggle()
-{
- if(digitalRead(LEDS_GREEN_COMMON_PIN) == HIGH) {
- digitalWrite(LEDS_GREEN_COMMON_PIN, LOW);
- digitalWrite(LEDS_RED_COMMON_PIN, HIGH);
- }
- else {
- digitalWrite(LEDS_GREEN_COMMON_PIN, HIGH);
- digitalWrite(LEDS_RED_COMMON_PIN, LOW);
- }
-}
-
-//**********//
-
-void start_step_timer()
-{
- // timer 1: 2 ms, between stepper output state changes
- 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
-}
-
-void start_wait_timer()
-{
- // timer1: 250 ms, minimal delay between subsequent open/close
- 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
-}
-
-void start_error_timer()
-{
- // timer1: 500 ms, blinking leds with 1 Hz
- 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
-}
-
-void stop_timer() // stop the timer
-{
- // timer1
- TCCR1B = 0; // no clock source
- TIMSK1 = 0; // disable timer interrupt
-}
-
-ISR(TIMER1_COMPA_vect)
-{
- // check if limit switch is active
- if((current_state == OPENING && is_opened()) ||
- (current_state == CLOSING && is_closed()))
- {
- stop_timer();
- reset_leds();
- if(current_state == OPENING)
- leds_green();
- else
- leds_red();
- PORTD = LEDS_ON;
- current_state = WAIT;
- start_wait_timer();
- return;
- }
-
- if(current_state == OPENING || current_state == CLOSING) {
- timeout_cnt++;
- if(timeout_cnt >= MOVING_TIMEOUT) {
- reset_stepper();
- stop_timer();
- current_state = ERROR;
- Serial.println("Error: open/close took too long!");
- start_error_timer();
- leds_green();
- PORTD = LEDS_ON;
- }
- }
-
- if(current_state == OPENING) { // next step (open)
- PORTB = step_table(next_step);
- next_step++;
- if(next_step >= 4)
- next_step = 0;
- }
- else if(current_state == CLOSING) { // next step (close)
- PORTB = step_table(next_step);
- if(next_step == 0)
- next_step = 3;
- else
- next_step--;
- }
- else if(current_state == WAIT) { // wait after last open/close finished -> idle
- stop_timer();
- reset_stepper();
- current_state = IDLE;
- Serial.print("Status: ");
- if(is_opened())
- Serial.print("opened");
- else if(is_closed())
- Serial.print("closed");
- Serial.print(", idle");
- if(get_ajar_status() == SHUT)
- Serial.println(", shut");
- else
- Serial.println(", ajar");
- return;
- }
- else if(current_state == ERROR) {
- leds_toggle();
- return;
- }
- else { // timer is useless stop it
- stop_timer();
- return;
- }
-
- led_delay_cnt++;
- if(led_delay_cnt >= LED_DELAY) {
- led_delay_cnt = 0;
-
- PORTD = led_table(next_led);
-
- if(current_state == OPENING) {
- if(next_led == 0)
- next_led = 5;
- else
- next_led--;
- }
- else if(current_state == CLOSING) {
- next_led++;
- if(next_led >= 6)
- next_led = 0;
- }
- }
-}
-
-//********************************************************************//
-
-void reset_heartbeat()
-{
- digitalWrite(HEARTBEAT_PIN, HIGH);
- heartbeat_cnt = 0;
-}
-
-void heartbeat_on()
-{
- digitalWrite(HEARTBEAT_PIN, LOW);
-}
-
-void heartbeat_off()
-{
- digitalWrite(HEARTBEAT_PIN, HIGH);
-}
-
-void init_heartbeat()
-{
- pinMode(HEARTBEAT_PIN, OUTPUT);
- reset_heartbeat();
- // timer 2: ~10 ms, timebase for heartbeat signal
- 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();
-}
-
-// while running this gets called every ~10ms
-ISR(TIMER2_COMPA_vect)
-{
- heartbeat_cnt++;
- if(heartbeat_cnt == HEARTBEAT_DURATION)
- heartbeat_off();
- else if(heartbeat_cnt >= HEARTBEAT_DELAY) {
- heartbeat_on();
- heartbeat_cnt = 0;
- }
-}
-
-//********************************************************************//
-
-void reset_after_error()
-{
- stop_timer();
- reset_leds();
-
- leds_red();
- if(is_closed()) {
- current_state = IDLE;
- PORTD = LEDS_ON;
- }
- else {
- current_state = CLOSING;
- start_step_timer();
- }
- Serial.println("Ok, closing now");
-}
-
-void start_open()
-{
- reset_stepper();
- reset_leds();
- leds_green();
- current_state = OPENING;
- start_step_timer();
-}
-
-void start_close()
-{
- reset_stepper();
- reset_leds();
- leds_red();
- current_state = CLOSING;
- start_step_timer();
-}
-
-void print_status(byte as)
-{
- Serial.print("Status: ");
- if(is_opened())
- Serial.print("opened");
- else if(is_closed())
- Serial.print("closed");
- else
- Serial.print("<->");
-
- switch(current_state) {
- 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(as == SHUT)
- Serial.println(", shut");
- else
- Serial.println(", ajar");
-}
-
-//**********//
-
-void setup()
-{
- init_limits();
- init_ajar();
- init_stepper();
- init_leds();
- init_heartbeat();
-
- Serial.begin(9600);
-
- current_state = IDLE;
-
- // make sure door is locked after reset
- leds_red();
- if(is_closed())
- PORTD = LEDS_ON;
- else {
- current_state = CLOSING;
- start_step_timer();
- }
- Serial.println("init complete");
-}
-
-void loop()
-{
- if(Serial.available()) {
- char command = Serial.read();
-
- if(current_state == ERROR && command != CMD_RESET) {
- 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) {
- 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) {
- 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 if (command == CMD_STATUS)
- print_status(get_ajar_status());
- else
- Serial.println("Error: unknown command");
- }
- 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 || current_state == ERROR)) {
- Serial.println("close forced manually");
- start_close();
- }
- if(current_state == IDLE) {
- if(is_opened()) {
- leds_green();
- PORTD = LEDS_ON;
- }
- if(is_closed()) {
- leds_red();
- PORTD = LEDS_ON;
- }
- }
- byte a = get_ajar_status();
- if(a != ajar_last_state) {
- print_status(a);
- ajar_last_state = a;
- }
-}
projects / svn42.git / blobdiff