X-Git-Url: https://git.realraum.at/?p=svn42.git;a=blobdiff_plain;f=firmware%2Ftuer.pde;h=0fea4da927b21c34ce4d3c0be7b229b0a124e49e;hp=c404b74f82a57e4b7a544dcdecb4aac4bdce79b0;hb=4ee2501ff864b8e15202ee814e8bafcc0c2adf6c;hpb=40a91b04f102cebd67f17a4c6258cd9c0010c228

diff --git a/firmware/tuer.pde b/firmware/tuer.pde
index c404b74..0fea4da 100644
--- a/firmware/tuer.pde
+++ b/firmware/tuer.pde
@@ -20,6 +20,14 @@ 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
@@ -38,6 +46,7 @@ int debounce_cnt = 0;
 
 #define CMD_OPEN 'o'
 #define CMD_CLOSE 'c'
+#define CMD_TOGGLE 't'
 #define CMD_STATUS 's'
 #define CMD_RESET 'r'
 
@@ -76,6 +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
@@ -111,6 +142,7 @@ 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
 
@@ -280,6 +312,7 @@ 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
 }
@@ -290,6 +323,7 @@ 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
 }
@@ -300,6 +334,7 @@ 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
 }
@@ -359,6 +394,16 @@ 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.print(", idle");
+    if(get_ajar_status() == SHUT)
+      Serial.println(", shut");
+    else
+      Serial.println(", ajar");
     return;
   }
   else if(current_state == ERROR) {
@@ -416,6 +461,7 @@ 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();
@@ -470,7 +516,7 @@ void start_close()
   start_step_timer();
 }
 
-void print_status()
+void print_status(byte as)
 {
   Serial.print("Status: ");
   if(is_opened())
@@ -481,13 +527,16 @@ 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(as == SHUT)
+    Serial.println(", shut");
+  else
+    Serial.println(", ajar");
 }
 
 //**********//
@@ -495,6 +544,7 @@ void print_status()
 void setup()
 {
   init_limits();
+  init_ajar();
   init_stepper();
   init_leds();
   init_heartbeat();
@@ -511,6 +561,7 @@ void setup()
     current_state = CLOSING;
     start_step_timer();
   }
+  Serial.println("init complete");
 }
 
 void loop()
@@ -519,15 +570,15 @@ 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) {
-	if(is_opened())
-	  Serial.println("Already open");
+        if(is_opened())
+          Serial.println("Already open");
         else {
           start_open();
           Serial.println("Ok");
@@ -538,8 +589,8 @@ void loop()
     }
     else if (command == CMD_CLOSE) {
       if(current_state == IDLE) {
-	if(is_closed())
-	  Serial.println("Already closed");
+        if(is_closed())
+          Serial.println("Already closed");
         else {
           start_close();
           Serial.println("Ok");
@@ -548,20 +599,31 @@ void loop()
       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;
@@ -571,4 +633,9 @@ void loop()
       PORTD = LEDS_ON;
     }
   }
+  byte a = get_ajar_status();
+  if(a != ajar_last_state) {
+    print_status(a);
+    ajar_last_state = a;
+  }
 }