firmware: reset with manual keys

[svn42.git] / firmware / tuer.pde

diff --git a/firmware/tuer.pde b/firmware/tuer.pde
index 1808c88..6c966a2 100644 (file)
--- a/firmware/tuer.pde
+++ b/firmware/tuer.pde
@@ -22,6 +22,13 @@ byte next_led = 0;
 
 #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
@@ -31,6 +38,7 @@ byte next_led = 0;
 
 #define CMD_OPEN 'o'
 #define CMD_CLOSE 'c'
+#define CMD_TOGGLE 't'
 #define CMD_STATUS 's'
 #define CMD_RESET 'r'
 
@@ -76,9 +84,12 @@ void init_manual()
 
   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;
@@ -86,7 +97,7 @@ boolean manual_open()
   return true;
 }
 
-boolean manual_close()
+boolean manual_close_pressed()
 {
   if(digitalRead(MANUAL_CLOSE_PIN))
      return false;
@@ -94,6 +105,92 @@ boolean manual_close()
   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
+  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()
@@ -263,6 +360,12 @@ ISR(TIMER1_COMPA_vect)
     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) {
@@ -358,32 +461,20 @@ void reset_after_error()
 
 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()
@@ -435,20 +526,43 @@ 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");
     }
@@ -457,11 +571,11 @@ void loop()
     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();
   }