int main(void)
{
init_other_hw(); /* Must call this first */
init_timer();
init_audio();
init_turnled();
init_inputs();
enable_task(TURNLED_TASK);
enable_task(AUDIO_TASK);
enable_task(INPUTS_TASK);
enable_task(COUNTDOWN_TASK);
/* initialize display, cursor off */
lcd_init(LCD_DISP_ON);
init_clock();
/* Enable interrupts */
sei();
for (;;) { /* loop forever */
poll_inputs();
poll_clock();
sleep_until_interrupt();
} /* end loop forever */
}
int main(void)
{
setup();
uint16_t increment = 0;
//DDRD &= ~(1<<PD4); no longer needed
//PORTD |= (1<<PD4);
while(1)
{
/* measure supply voltage and warn user if voltage drops too low */
if(ISR_flag.check_supply) //measure supply voltage every 10ms
{
check_supply_voltage();
ISR_flag.check_supply = 0; //clear flag
}
/* poll the inputs and look for any falling edges indicating button presses or other input signals */
if(ISR_flag.check_inputs)
{
poll_inputs();
ISR_flag.check_inputs = 0; //clear flag
/* Detect a long button press by incrementing a variable every ms the button is pressed
* This is necessary to avoid false triggering due to EMI from the motor lines.
*/
if(!(DOOR_BUTTON_PINREG & (1<<DOOR_BUTTON_PIN)))
{
increment++;
}else{
increment = 0; // reset the count if the button is released.
}
}
/* check for a 1000ms long button press
* Again, this is necessary to avoid false triggering due to motor interference
*/
if(increment >= 1000)
{
increment = 0;
command.delayed_lock = 1; //activate the delayed lock sequence
delayed_lock_tick = 0; //reset the timer for the delayed lock sequence
}
/* check, if status is unknown or a reference command has been issued
* If that is the case, ignore any other commands and find the reference point first!
*
* Note, that command.reference is not implemented yet. There was no need for this until now (10/Aug/15)
*/
if( ((!status.locked) && (!status.unlocked)) || (command.reference) )
{
if((command.lock)||(command.unlock)||(command.reference))
{
if(input_status_current[6]) //find out, if gear magnet is already near the reed contact
{
find_reference(0,500,2000);
}else{
find_reference(1,500,2000);
}
command.lock = 0;
command.unlock = 0;
command.reference = 0;
command.delayed_lock = 0;
}
}else
{
/* open the door */
if (command.unlock && !command.block_unlock && !command.reference)
{
command.block_lock = 1; //prevent any other lock commands while this is active
enable_stepper(1);
if(!status.open) //Door is not open yet, move to "open" position
{
if(move_to_position(OPEN)==1) //set status.open once at "open" position
{
status.open = 1;
}
ms_100_tick = 0; //reset the 100ms tick until at "open" position
}else if(ms_100_tick<=35)
{
//wait 3.5s at "open" position before turning back to "neutral". This lets the user open the door by pushing it
}
if((ms_100_tick>35)&&(status.open)) //Door is "open" and we waited for 3.5s
{
if(move_to_position(NEUTRAL)==1) //move back to "neutral" position and reset all status and command bits.
{
command.unlock = 0;
command.block_lock = 0;
status.open = 0;
status.locked = 0;
status.unlocked = 1;
status.error = 0;
status.reached_endstop = 0;
command.delayed_lock = 0;
enable_stepper(0);
}
}
} else
/* lock the door */
if (command.lock && !command.block_lock && !command.reference)
{
/* locking is the same as a reference turn, so we use every lock command to re-reference our position
* to account for stupid users turning the gear by hand
*/
enable_stepper(1);
command.block_unlock = 1; //block any other actions while locking the door
if(!status.reached_endstop && (position > (-2000))) //turn CCW until either endstop is reached or 2000 steps have passed
{
move_to_position(-2000);
ms_100_tick = 0;
}
else if (position <= (-2000)) //2000 steps have passed without reaching the endstop -> something went wrong
{
command.lock = 0;
command.block_unlock = 0;
status.locked = 0;
status.unlocked = 0;
status.error = 1;
command.delayed_lock = 0;
enable_stepper(0);
}
else if(ms_100_tick<=1){ //endstop reached, reset the position to 0 while waiting a bit
position = 0;
}
if((ms_100_tick>3)&&(status.reached_endstop)) //return to "neutral" position after 300ms
{
if(move_to_position(NEUTRAL)==1) //reset status and command bits after coming back to the "neutral" position
{
command.lock = 0;
command.block_unlock = 0;
status.reached_endstop = 0;
status.locked = 1;
status.unlocked = 0;
status.error = 0;
enable_stepper(0);
command.delayed_lock = 0;
}
}
}
else
/* someone locked the door by hand and triggered the endstop. Set status to "locked" */
if (!command.lock && !command.unlock && !command.reference)
{
if(status.reached_endstop)
{
status.open = 0;
status.unlocked = 0;
status.locked = 1;
}
}
}
/* delayed lock has been triggered. Start the countdown */
if (command.delayed_lock && status.unlocked && !status.open && !command.block_unlock && !command.block_lock && !command.lock && !command.unlock)
{
if(delayed_lock_tick < 150) //wait for 15s and set "status.delayed_lock". This triggers the flashing yellow LED
{
status.delayed_lock = 1;
switch_LED(0,'B');
}else
{
status.delayed_lock = 0;
command.delayed_lock = 0;
command.lock = 1; //15s have passed, give the "lock" command to lock the door
}
}
/* Switch LEDs according to the status bits.
*
* This needs to be streamlined, it is way to complicated
*/
if(status.delayed_lock) //Override any other LED configurations while "status.delayed_lock" is active
{
flash_LED(25,(180-delayed_lock_tick),'Y');
switch_LED(0,'B');
}else
{
if(status.error || ( (!status.unlocked)&&(!status.locked)))
{
flash_LED(10,20,'Y');
flash_LED(10,20,'B');
set_status('E');
}
if(status.open)
{
flash_LED(25,40,'B');
switch_LED(0,'Y');
set_status('U');
}
if(status.unlocked && !status.open)
{
switch_LED(0,'Y');
switch_LED(1,'B');
set_status('U');
}
if(status.locked && !status.open)
{
switch_LED(0,'B');
switch_LED(1,'Y');
set_status('L');
}
}
}
}
