X-Git-Url: https://git.realraum.at/?p=svn42.git;a=blobdiff_plain;f=firmware%2Ftuer.pde;h=10efc920a6790a86aa16c6c904c62cd671601bc0;hp=1808c883ee888c4ca7943b26e0c39d5d2ce54a27;hb=23bca293edd1f88e9bed2930e216ee4d0c38bcb0;hpb=2099456b39e30a6baa1e31cdd2be5c1f26b5faeb

diff --git a/firmware/tuer.pde b/firmware/tuer.pde
index 1808c88..10efc92 100644
--- a/firmware/tuer.pde
+++ b/firmware/tuer.pde
@@ -20,8 +20,19 @@ 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)
+boolean ajar_last_state = false;
+boolean ajar_state_changed = false;
+
 #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 +42,7 @@ 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 +81,23 @@ boolean is_closed()
 
 //**********//
 
+void init_ajar()
+{
+  pinMode(AJAR_PIN, INPUT);      // set pin to input
+  digitalWrite(AJAR_PIN, HIGH);  // turn on pullup resistors  
+  ajar_last_state = digitalRead(AJAR_PIN);
+}
+
+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
@@ -76,9 +105,12 @@ 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 +118,7 @@ boolean manual_open()
   return true;
 }
 
-boolean manual_close()
+boolean manual_close_pressed()
 {
   if(digitalRead(MANUAL_CLOSE_PIN))
      return false;
@@ -94,6 +126,93 @@ 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<<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()
@@ -184,6 +303,7 @@ 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
 }
@@ -194,6 +314,7 @@ 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
 }
@@ -204,6 +325,7 @@ 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
 }
@@ -263,6 +385,16 @@ 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())
+      Serial.println(", shut");
+    else
+      Serial.println(", ajar");
     return;
   }
   else if(current_state == ERROR) {
@@ -320,6 +452,7 @@ 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();
@@ -328,12 +461,19 @@ 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();
-  else if(heartbeat_cnt >= HEARTBEAT_DELAY) {
+    if(a != ajar_last_state) 
+      ajar_state_changed = true;
+    ajar_last_state = a;
+  } else if(heartbeat_cnt >= HEARTBEAT_DELAY) {
     heartbeat_on();
     heartbeat_cnt = 0;
+    if(a != ajar_last_state)
+      ajar_state_changed = true;
+    ajar_last_state = a;
   }
 }
 
@@ -358,32 +498,20 @@ void reset_after_error()
 
 void start_open()
 {
-  if(is_opened()) {
-    Serial.println("Already open");
-    return;
-  }
-
   reset_stepper();
   reset_leds();
   leds_green();
   current_state = OPENING;
   start_step_timer();
-  Serial.println("Ok");
 }
 
 void start_close()
 {
-  if(is_closed()) {
-    Serial.println("Already closed");
-    return;
-  }
-    
   reset_stepper();
   reset_leds();
   leds_red();
   current_state = CLOSING;
   start_step_timer();
-  Serial.println("Ok");
 }
 
 void print_status()
@@ -397,13 +525,16 @@ 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");
 }
 
 //**********//
@@ -411,6 +542,7 @@ void print_status()
 void setup()
 {
   init_limits();
+  init_ajar();
   init_stepper();
   init_leds();
   init_heartbeat();
@@ -427,6 +559,7 @@ void setup()
     current_state = CLOSING;
     start_step_timer();
   }
+  Serial.println("init complete");
 }
 
 void loop()
@@ -435,20 +568,43 @@ 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");
     }
@@ -457,15 +613,15 @@ void loop()
     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 +631,8 @@ void loop()
       PORTD = LEDS_ON;
     }
   }
+  if(ajar_state_changed) {
+    ajar_state_changed = false;
+    print_status();
+  }
 }