void door_init(void)
{
door_doorstate = 0;
PIN_CLEAR(DOOR_HBRIDGE_ENABLE);
PIN_CLEAR(DOOR_HBRIDGE_IN1);
PIN_CLEAR(DOOR_HBRIDGE_IN2);
DDR_CONFIG_OUT(DOOR_HBRIDGE_ENABLE);
DDR_CONFIG_OUT(DOOR_HBRIDGE_IN1);
DDR_CONFIG_OUT(DOOR_HBRIDGE_IN2);
locking = false;
unlocking = false;
#if 0
int i;
while(1){
door_turnLeft();
for(i=0; i<25; i++) _delay_ms(1);
while(1){
for(i=0; i<5; i++) _delay_ms(1);
if(adc_getChannel(7) > 1000) {
break;
}
}
door_stop();
for(i=0; i<1000; i++) _delay_ms(1);
door_turnRight();
for(i=0; i<25; i++) _delay_ms(1);
while(1){
for(i=0; i<5; i++) _delay_ms(1);
if(adc_getChannel(7) > 1000) {
break;
}
}
door_stop();
for(i=0; i<1000; i++) _delay_ms(1);
}
#endif
}
static void door_startUnlock(void)
{
int i;
door_turnLeft();
for(i=0; i<30; i++) _delay_ms(1);
if(adc_getChannel(7) > 1000) {
door_stop();
return;
}
unlocking = true;
locking = false;
locked = false;
unlocked = false;
}
void door_tick(void)
{
door_update_inputs();
if( door_desiredState == DOOR_LOCK_LOCKED && !locking && !locked ){
door_startLock();
}else if( door_desiredState == DOOR_LOCK_UNLOCKED && !unlocking && !unlocked){
door_startUnlock();
}
if(adc_getChannel(7) > 1000) {
door_stop();
if(locking) {
locking = false;
locked = true;
unlocked = false;
}
if(unlocking) {
unlocking = false;
unlocked = true;
locked = false;
}
}
}
static void power_update(void)
{
power_inputVoltage = adc_getChannel(POWER_INPUT_VOLTAGE_CHANNEL);
power_inputVoltage *= 11;
}
/** main function
*/
int main(void) {
// SPCR &= ~(1<<SPE);
// TIMSK0 &= ~(1<<TOIE1);
wdt_disable();
/* Clear WDRF in MCUSR */
MCUSR &= ~(1<<WDRF);
/* Write logical one to WDCE and WDE */
/* Keep old prescaler setting to prevent unintentional time-out */
WDTCSR |= (1<<WDCE) | (1<<WDE);
/* Turn off WDT */
WDTCSR = 0x00;
//volatile long l;
// for(l=0;l<1000000;l++);
DDR_CONFIG_IN(CONFIG1);
PIN_SET(CONFIG1);
wdt_enable(WDTO_2S);
wdt_reset();
volatile unsigned long l;
for(l=0;l<10;l++);
if( !PIN_HIGH(CONFIG1) ){
global.config = 30;
}else{
global.config = 21;
}
leds_init();
wdt_reset();
if( global.config == 21 ){
DDR_CONFIG_IN(JUMPER1C1);
PIN_SET(JUMPER1C1);
}else if( global.config == 30 ){
DDR_CONFIG_IN(JUMPER1C2);
PIN_SET(JUMPER1C2);
adc_init();
uint16_t bat = adc_getChannel(6);
if( bat < ADC_MINBATIDLE ){
//global.flags.lowbat = 1;
}
}
wdt_reset();
init_pwm();
#if SERIAL_UART
uart1_init( UART_BAUD_SELECT(UART_BAUDRATE,F_CPU));
stdout = &mystdout;
#endif
#if RC5_DECODER
rc5_init();
#endif
wdt_reset();
#if STATIC_SCRIPTS
init_script_threads();
#endif
settings_read();
//if((global.config == 21 && !PIN_HIGH(JUMPER1C1)) || (global.config== 30 && !PIN_HIGH(JUMPER1C2)))
// interfaces_setEnabled(IFACE_RF,0);
control_init();
wdt_reset();
#if RS485_CTRL
rs485_init();
zbus_core_init();
#endif
//rf_init();
packet_init(idbuf[0],0);
wdt_reset();
srandom(random_seed);
random_seed = random();
/* enable interrupts globally */
sei();
// global.state = STATE_RUNNING;
// global.state = STATE_PAUSE;
// global.flags.running = 0;
while (1) {
wdt_reset();
//leds_main();
#if 1
packet_tick();
#else
if(packetbase ){//> 32){
packetbase = 0;
packet_tick();
//if(main_reset++ > 16000)
// jump_to_bootloader();
//uint16_t bat = adc_getChannel(6);
/*if( bat < ADC_MINBATIDLE ){
global.flags.lowbat = 1;
}*/
}
#endif
//if( global.flags.lowbat ){
// control_lowbat();
//}
if( global.flags.timebase ){
//control_tick();
global.flags.timebase=0;
}
/* after the last pwm timeslot, rebuild the timeslot table */
//if (global.flags.last_pulse) {
// global.flags.last_pulse = 0;
//if(global.flags.running)
//update_pwm_timeslots();
//}
/* at the beginning of each pwm cycle, call the fading engine and
* execute all script threads */
if (global.flags.new_cycle) {
global.flags.new_cycle = 0;
if(control_faderunning)
update_brightness();
if(global.flags.running){
#if STATIC_SCRIPTS
// execute_script_threads();
#endif
}
//continue;
}
#if RC5_DECODER
#endif
#if RS485_CTRL
rs485_process();
#endif
#if SERIAL_UART
//serial_process();
#endif
}
}
uint8_t cmd_handler(uint8_t cmd, uint8_t * param, uint8_t * result)
{
if(cmd == CMD_BRIGHTNESS_DOWN){
if(global_pwm.dim > 0){
global_pwm.dim--;
}
}else if(cmd == CMD_BRIGHTNESS_UP){
if(global_pwm.dim < 255){
global_pwm.dim++;
}
}else if(cmd == CMD_FULL_BRIGHTNESS){
global_pwm.dim=255;
}else if(cmd == CMD_ZERO_BRIGHTNESS){
global_pwm.dim=0;
}else if(cmd == CMD_POWER){
if(global.state != STATE_STANDBY){
global.nextstate = global.state;
if(global.nextstate == STATE_SLEEP)
global.nextstate = STATE_RUNNING;
//global.state = STATE_ENTERSTANDBY;
control_standby(0);
}else{
global.state = STATE_LEAVESTANDBY;
}
}else if(cmd == CMD_SET_SCRIPT){
if(sizeof(global_playlist)/(sizeof(struct playlist_t)) > param[0])
cmd_setscript(
global_playlist[param[0]].execute, global_playlist[param[0]].position);
}else if(cmd == CMD_FASTER){
if(script_threads[0].speed_adjustment < 8){
script_threads[0].speed_adjustment++;
respeed(&script_threads[0]);
//update_brightness();
//execute_script_threads();
}
}else if(cmd == CMD_SLOWER){
if(script_threads[0].speed_adjustment > -8){
script_threads[0].speed_adjustment--;
respeed(&script_threads[0]);
//update_brightness();
//execute_script_threads();
}
}else if(cmd == CMD_PAUSE){
if(global.state != STATE_PAUSE)
global.state = STATE_PAUSE;
else
global.state = STATE_RUNNING;
}else if(cmd == CMD_SAVE){
settings_save();
}else if(cmd == CMD_SLEEP){
global.state = STATE_ENTERSLEEP;
}else if(cmd == CMD_RED){
global_pwm.channel_modifier = 0;
}else if(cmd == CMD_GREEN){
global_pwm.channel_modifier = 1;
}else if(cmd == CMD_BLUE){
global_pwm.channel_modifier = 2;
}else if(cmd == CMD_COLOR_UP){
global_pwm.channels[global_pwm.channel_modifier].brightness++;
}else if(cmd == CMD_COLOR_DOWN){
global_pwm.channels[global_pwm.channel_modifier].brightness--;
}else if(cmd == CMD_COLOR_FULL){
global_pwm.channels[global_pwm.channel_modifier].brightness=255;
}else if(cmd == CMD_COLOR_ZERO){
global_pwm.channels[global_pwm.channel_modifier].brightness=0;
}else if(cmd == CMD_GET_VERSION){
//strcpy((char *) result,"D=");
//strcat((char *) result,__DATE__);
//strcat((char *) result,"H=");
//strcpy((char *) result, "D="__DATE__"H=");
//strcat((char *) result,__DATE__);
if( result == NULL ) return 0;
sprintf((char *)result,"D="__DATE__" H=%d",global.config);
return strlen((char *)result);
}else if(cmd == CMD_GET_STATE){
if( result == NULL ) return 0;
result[0] = global.state;
result[1] = script_threads[0].speed_adjustment;
result[2] = global_pwm.dim;
return 3;
}else if(cmd == CMD_SET_SPEED){
script_threads[0].speed_adjustment = param[0];
}else if(cmd == CMD_SET_STATE){
global.state = param[0];
}else if(cmd == CMD_SET_BRIGHTNESS){
global_pwm.dim = param[0];
}else if(cmd == CMD_SET_COLOR){
control_setColor(param[0],param[1],param[2]);
}else if(cmd == CMD_RESET){
jump_to_bootloader();
}else if(cmd == CMD_FADE){
uint16_t speed = (param[3]<<8)+param[4];
control_fade(param[0],param[1],param[2],speed);
}else if(cmd == CMD_FADEMS){
uint16_t time = (param[3]<<8)+param[4];
control_fadems(param[0],param[1],param[2],time);
}else if(cmd == CMD_FADEMSALT){
uint16_t time = (param[3]<<8)+param[4];
control_fademsalt(param[0],param[1],param[2],time);
}else if(cmd == CMD_GET_VOLTAGE){
if( result == NULL ) return 0;
uint16_t adc = adc_getChannel(6);
sprintf((char *)result,"V=%u",adc);
return strlen((char *)result);
}else if(cmd == CMD_GET_COLOR){
if( result == NULL ) return 0;
result[0] = global_pwm.channels[0].brightness;
result[1] = global_pwm.channels[1].brightness;
result[2] = global_pwm.channels[2].brightness;
return 3;
}else if(cmd == CMD_FLASH){
uint16_t time = (param[3]<<8)+param[4];
control_flash(param[0],param[1],param[2],time);
}
return 0;
}
