X-Git-Url: https://git.realraum.at/?p=svn42.git;a=blobdiff_plain;f=firmware%2Ftuer.pde;fp=firmware%2Ftuer.pde;h=0000000000000000000000000000000000000000;hp=0fea4da927b21c34ce4d3c0be7b229b0a124e49e;hb=ce52b2a412383c7958cbd6f0dc8251fbf28b3c08;hpb=4ee2501ff864b8e15202ee814e8bafcc0c2adf6c

diff --git a/firmware/tuer.pde b/firmware/tuer.pde
deleted file mode 100644
index 0fea4da..0000000
--- a/firmware/tuer.pde
+++ /dev/null
@@ -1,641 +0,0 @@
-#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;
-  }
-}