X-Git-Url: https://git.realraum.at/?p=svn42.git;a=blobdiff_plain;f=firmware%2Ftuer.pde;h=0fea4da927b21c34ce4d3c0be7b229b0a124e49e;hp=1808c883ee888c4ca7943b26e0c39d5d2ce54a27;hb=4ee2501ff864b8e15202ee814e8bafcc0c2adf6c;hpb=2099456b39e30a6baa1e31cdd2be5c1f26b5faeb diff --git a/firmware/tuer.pde b/firmware/tuer.pde index 1808c88..0fea4da 100644 --- a/firmware/tuer.pde +++ b/firmware/tuer.pde @@ -20,8 +20,23 @@ 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 @@ -31,6 +46,7 @@ byte next_led = 0; #define CMD_OPEN 'o' #define CMD_CLOSE 'c' +#define CMD_TOGGLE 't' #define CMD_STATUS 's' #define CMD_RESET 'r' @@ -69,6 +85,28 @@ boolean is_closed() //**********// +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 @@ -76,9 +114,12 @@ 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 +127,7 @@ boolean manual_open() return true; } -boolean manual_close() +boolean manual_close_pressed() { if(digitalRead(MANUAL_CLOSE_PIN)) return false; @@ -94,6 +135,93 @@ 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< 16us @ 16 MHz + //OCR0A = 255; // 1+255 = 256 -> 12.8us @ 20 MHz + TCNT0 = 0; // reseting timer + TIMSK0 = 1< 2 ms @ 16 MHz + //OCR1A = 155; // (1+155)*256 = 40000 -> 2 ms @ 20 MHz TCNT1 = 0; // reseting timer TIMSK1 = 1< 250 ms @ 16 MHz + //OCR1A = 19530; // (1+19530)*256 = 5000000 -> 250 ms @ 20 MHz TCNT1 = 0; // reseting timer TIMSK1 = 1< 500 ms @ 16 MHz + //OCR1A = 39061; // (1+39061)*256 = 10000000 -> 500 ms @ 20 MHz TCNT1 = 0; // reseting timer TIMSK1 = 1< ~10 ms @ 16 MHz + //OCR2A = 194; // (1+194)*1024 = 199680 -> ~10 ms @ 20 MHz TCNT2 = 0; // reseting timer TIMSK2 = 1<"); 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(", "); 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(", "); break; } - + if(as == SHUT) + Serial.println(", shut"); + else + Serial.println(", ajar"); } //**********// @@ -411,6 +544,7 @@ void print_status() void setup() { init_limits(); + init_ajar(); init_stepper(); init_leds(); init_heartbeat(); @@ -427,6 +561,7 @@ void setup() current_state = CLOSING; start_step_timer(); } + Serial.println("init complete"); } void loop() @@ -435,37 +570,60 @@ 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; @@ -475,4 +633,9 @@ void loop() PORTD = LEDS_ON; } } + byte a = get_ajar_status(); + if(a != ajar_last_state) { + print_status(a); + ajar_last_state = a; + } }