added ajar sensor to door firmware

[svn42.git] / firmware / tuer.pde

diff --git a/firmware/tuer.pde b/firmware/tuer.pde
index 6c966a2..c4bfcb4 100644 (file)
--- a/firmware/tuer.pde
+++ b/firmware/tuer.pde
@@ -20,6 +20,8 @@ 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 MANUAL_OPEN_PIN 12  // keys for manual open and close
 #define MANUAL_CLOSE_PIN 13 // 
 #define DEBOUNCE_DELAY 6250  // * 16us = 100ms
@@ -77,6 +79,22 @@ boolean is_closed()
 
 //**********//
 
+void init_ajar()
+{
+  pinMode(AJAR_PIN, INPUT);      // set pin to input
+  digitalWrite(AJAR_PIN, HIGH);  // turn on pullup resistors  
+}
+
+boolean get_ajar_status()  // shut = true, ajar = false
+{
+  if(digitalRead(AJAR_PIN))
+     return false;
+     
+  return true;
+}
+
+//**********//
+
 void init_manual()
 {
   pinMode(MANUAL_OPEN_PIN, INPUT);      // set pin to input
@@ -112,6 +130,7 @@ 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 +300,7 @@ 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 +311,7 @@ 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 +322,7 @@ 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 +387,11 @@ ISR(TIMER1_COMPA_vect)
       Serial.print("opened");
     else if(is_closed())
       Serial.print("closed");
-    Serial.println(", idle");
+    Serial.print(", idle");
+    if(get_ajar_status())
+      Serial.println(", shut");
+    else
+      Serial.println(", ajar");
     return;
   }
   else if(current_state == ERROR) {
@@ -423,6 +449,7 @@ 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 +515,16 @@ 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())
+    Serial.println(", shut");
+  else
+    Serial.println(", ajar");
 }
 
 //**********//
@@ -502,6 +532,7 @@ void print_status()
 void setup()
 {
   init_limits();
+  init_ajar();
   init_stepper();
   init_leds();
   init_heartbeat();