void read_button(void){
_delay_ms(200);
uint32_t lock_timer=0;
start_timer();
if(LEFT_PRESSED){
old_led_selected = led_selected;
led_selected = 0;
RED_OFF;GREEN_OFF;BLUE_ON;
if(power_mode==MODE_OFF){
if(unlock_stage==0 || unlock_stage==2){
unlock_stage+=1;
old_led_selected = 1;
}
}else{
if(power_mode>MODE_LOW){
power_mode-=1;
}else{
power_mode=1;
}
}
apply_power();
while(LEFT_PRESSED){lock_timer+=1;if(lock_timer==100000){all_off();}};
apply_led(old_led_selected);
_delay_ms(200);
return;
}
if(RIGHT_PRESSED){
old_led_selected = led_selected;
led_selected = 0;
RED_OFF;GREEN_OFF;BLUE_ON;
if(power_mode==MODE_OFF){
if(unlock_stage==1){
unlock_stage+=1;
old_led_selected = 1;
}
}else{
if(power_mode>=MODE_LOW){ // проскакиваем аварийные режимы
power_mode+=1;
}else{
power_mode=MODE_LOW;
}
}
apply_power();
while(RIGHT_PRESSED){};
apply_led(old_led_selected);
_delay_ms(200);
}
}
void all_off(){
stop_timer();
unlock_stage = 0;
seconds = 0;
d_seconds = 0;
apply_led(0);
power_mode = MODE_OFF;
apply_power();
DRIVER_OFF;
OCR0B=0;
led_selected = 0;
old_led_selected = 0;
disable_adc();
clean_times_occured();
}
void move(double theta)
{
double left_power = 0.0;
double right_power = 0.0;
if (theta >= ANGLE_TOL)
{
left_power = MOVE_SPEED;
right_power = cos(theta ) * MOVE_SPEED;
}
else if (theta <= -ANGLE_TOL)
{
right_power = MOVE_SPEED;
left_power = cos(theta ) * MOVE_SPEED;
}
else
{
left_power = MOVE_SPEED;
right_power = MOVE_SPEED;
}
apply_power(my_round(left_power), my_round(right_power));
}
int main(void){
// PA0 - ADC IN
// PA2 - RED
// PA3 - GREEN
// PA4 - BLUE
// PA7(OC0B) - PWM output.
// PB0 - out (EN)
// PB1 - hall1, PB2 - hall2
DDRA = 0b11111110;
PORTA = 0b00000000;
DDRB = 0b0001;
PORTB = 0b0110;
TCCR0A = (1 << COM0B1) | (1 << WGM00);// | (1 << WGM01); // PWM mode
TCCR0B = (1 << CS01); // clock source = CLK/8, start PWM
PCMSK1 = (1<<PCINT9) | (1<<PCINT10);
GIMSK = (1<<PCIE1);//interrupt on pin change0
ADMUX = 0b10000000; // ADC0 - int
apply_led(1);
DRIVER_ON;
OCR0B = 8;
_delay_ms(500);
all_off();
eeprom_read_block(&seconds_on, &nv_seconds_on, sizeof(seconds_on));
eeprom_read_block(×_on, &nv_times_on, sizeof(times_on) );
eeprom_read_block(&max_on, &nv_max_on, sizeof(max_on) );
prev_power_mode = MODE_OFF;
sei();
while(1){
// ADC8 = 330 - ~70 degrees Celcium
// 9V = 714
// 10V = 793
// 11V = 872
// 12V = 951
// 12.6V = 999
if(power_mode==MODE_OFF && unlock_stage==0){
seconds = 0;
d_seconds = 0;
stop_timer();
disable_adc();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_enable();
sleep_bod_disable();
sleep_cpu();
sleep_disable();
}
if(seconds>1 && power_mode==MODE_OFF){
all_off();
}
if(unlock_stage==0 && power_mode!=MODE_OFF){
if(d_seconds==0){
adc_channel = 0;
ADMUX = 0b10000000; // ADC0 - int
}
if(d_seconds==5){
adc_channel = 1;
ADMUX = 0b10100010; // int reference and temp sensor
}
if(seconds%2==0){
if(power_mode==MODE_LOW_VOLTAGE){
RED_ON;GREEN_OFF;BLUE_OFF;
}
if(power_mode==MODE_OVERTEMP){
RED_ON;GREEN_ON;BLUE_OFF;
}
}else{
if(power_mode==MODE_OVERTEMP||power_mode==MODE_LOW_VOLTAGE){
apply_led(0);
}
}
// if((seconds%5==0) && ADMUX == 0b10000000){ //measure voltage in active mode
if(adc_channel ==0 && d_seconds == 4){ //measure voltage in active mode
if(val<LIMIT_9V){
if(check_and_set_times(0)){
all_off();//completely discharged. turning off
}
}
else if(power_mode!=MODE_OVERTEMP && power_mode!=MODE_LOW_VOLTAGE && power_mode>=MODE_IDLE){ //show voltage always, except overtemp
if(val<((LIMIT_9V+LIMIT_10V)/2)){
if(power_mode>=MODE_LOW && check_and_set_times(1)){ // усвловие нужно, чтобы не задалбывать функцию - в ней будут логи
apply_led(0);
power_mode = MODE_LOW_VOLTAGE;//low voltage
apply_power();
}
}else if(val<LIMIT_10V){
if(led_selected==0 || check_and_set_times(2) ){
apply_led(1);
}
led_selected = 1;
}else if(val<LIMIT_11V){
if(led_selected==0 || check_and_set_times(3)){
apply_led(2);
}
led_selected = 2;
}else{
if(led_selected==0 || check_and_set_times(4)){
apply_led(3);
}
led_selected = 3;
}
}
}
while(d_seconds==4){}
if(adc_channel ==1 && d_seconds == 8){ //measure temp in active mode
if(val>330 && power_mode>=MODE_LOW && check_and_set_times(5)){// усвловие нужно, чтобы не задалбывать функцию - в ней будут логи
power_mode = MODE_OVERTEMP;
apply_power(); //overtemp. reduce current cunsumption
}
}
while(d_seconds==8){}
if(power_mode==MODE_IDLE && seconds>=7200){ //выключение через два часа из режима простоя
all_off();
}
// if(seconds==0 && d_seconds<5 && power_mode>=MODE_LOW){
// GIMSK = 0;//вырубим прерывания на первые 500мс, чтобы не кнопать кнопкой сильно часто
// }else{
// GIMSK = (1<<PCIE1);//interrupt on pin change0
// }
}
}
}
