X-Git-Url: https://git.realraum.at/?p=svn42.git;a=blobdiff_plain;f=firmware%2Ftuer.pde;h=0fea4da927b21c34ce4d3c0be7b229b0a124e49e;hp=10efc920a6790a86aa16c6c904c62cd671601bc0;hb=4ee2501ff864b8e15202ee814e8bafcc0c2adf6c;hpb=23bca293edd1f88e9bed2930e216ee4d0c38bcb0

diff --git a/firmware/tuer.pde b/firmware/tuer.pde
index 10efc92..0fea4da 100644
--- a/firmware/tuer.pde
+++ b/firmware/tuer.pde
@@ -21,8 +21,12 @@ byte next_led = 0;
 #define LIMIT_CLOSED_PIN 19 // A5: limit switch for close
 
 #define AJAR_PIN 14 // input pin for reed relais (door ajar/shut)
-boolean ajar_last_state = false;
-boolean ajar_state_changed = false;
+#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 // 
@@ -81,19 +85,24 @@ boolean is_closed()
 
 //**********//
 
-void init_ajar()
+byte get_ajar_status()
 {
-  pinMode(AJAR_PIN, INPUT);      // set pin to input
-  digitalWrite(AJAR_PIN, HIGH);  // turn on pullup resistors  
-  ajar_last_state = digitalRead(AJAR_PIN);
+  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;
 }
 
-boolean get_ajar_status()  // shut = true, ajar = false
+void init_ajar()
 {
-  if(digitalRead(AJAR_PIN))
-     return false;
-     
-  return true;
+  pinMode(AJAR_PIN, INPUT);      // set pin to input
+  digitalWrite(AJAR_PIN, HIGH);  // turn on pullup resistors  
+  ajar_last_state = get_ajar_status();
 }
 
 //**********//
@@ -391,7 +400,7 @@ ISR(TIMER1_COMPA_vect)
     else if(is_closed())
       Serial.print("closed");
     Serial.print(", idle");
-    if(get_ajar_status())
+    if(get_ajar_status() == SHUT)
       Serial.println(", shut");
     else
       Serial.println(", ajar");
@@ -461,19 +470,12 @@ void init_heartbeat()
 // while running this gets called every ~10ms
 ISR(TIMER2_COMPA_vect)
 {
-  boolean a = get_ajar_status();
   heartbeat_cnt++;
-  if(heartbeat_cnt == HEARTBEAT_DURATION) {
+  if(heartbeat_cnt == HEARTBEAT_DURATION)
     heartbeat_off();
-    if(a != ajar_last_state) 
-      ajar_state_changed = true;
-    ajar_last_state = a;
-  } else if(heartbeat_cnt >= HEARTBEAT_DELAY) {
+  else if(heartbeat_cnt >= HEARTBEAT_DELAY) {
     heartbeat_on();
     heartbeat_cnt = 0;
-    if(a != ajar_last_state)
-      ajar_state_changed = true;
-    ajar_last_state = a;
   }
 }
 
@@ -514,7 +516,7 @@ void start_close()
   start_step_timer();
 }
 
-void print_status()
+void print_status(byte as)
 {
   Serial.print("Status: ");
   if(is_opened())
@@ -531,7 +533,7 @@ void print_status()
   case WAIT: Serial.print(", waiting"); break;
   default: Serial.print(", <undefined state>"); break;
   }
-  if(get_ajar_status())
+  if(as == SHUT)
     Serial.println(", shut");
   else
     Serial.println(", ajar");
@@ -609,7 +611,7 @@ void loop()
         Serial.println("Error: Operation in progress");
     }
     else if (command == CMD_STATUS)
-      print_status();
+      print_status(get_ajar_status());
     else
       Serial.println("Error: unknown command");
   }
@@ -631,8 +633,9 @@ void loop()
       PORTD = LEDS_ON;
     }
   }
-  if(ajar_state_changed) {
-    ajar_state_changed = false;
-    print_status();
+  byte a = get_ajar_status();
+  if(a != ajar_last_state) {
+    print_status(a);
+    ajar_last_state = a;
   }
 }