#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 CMD_OPEN 'o'
#define CMD_CLOSE 'c'
+#define CMD_TOGGLE 't'
#define CMD_STATUS 's'
#define CMD_RESET 'r'
//**********//
+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
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()
+boolean manual_open_pressed()
{
if(digitalRead(MANUAL_OPEN_PIN))
return false;
return true;
}
-boolean manual_close()
+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()
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.print(", idle");
+ if(get_ajar_status() == SHUT)
+ Serial.println(", shut");
+ else
+ Serial.println(", ajar");
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()
+void print_status(byte as)
{
Serial.print("Status: ");
if(is_opened())
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(as == SHUT)
+ Serial.println(", shut");
+ else
+ Serial.println(", ajar");
}
//**********//
void setup()
{
init_limits();
+ init_ajar();
init_stepper();
init_leds();
init_heartbeat();
current_state = CLOSING;
start_step_timer();
}
+ Serial.println("init complete");
}
void loop()
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 if (command == CMD_STATUS)
- print_status();
+ print_status(get_ajar_status());
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();
}
- if (current_state == IDLE) {
+ if(current_state == IDLE) {
if(is_opened()) {
leds_green();
PORTD = LEDS_ON;
PORTD = LEDS_ON;
}
}
+ byte a = get_ajar_status();
+ if(a != ajar_last_state) {
+ print_status(a);
+ ajar_last_state = a;
+ }
}
projects / svn42.git / blobdiff