Added new AVR software

avr-code/io.h

@@ -0,0 +1,106 @@
+#ifndef IO_H
+#define IO_H
+
+#include <stdbool.h>
+#include <avr/io.h>
+
+/*
+ * Macros
+ */
+#define PIN(x) (*(&x - 2)) // Address Of Data Direction Register Of Port x 
+#define DDR(x) (*(&x - 1)) // Address Of Input Register Of Port x
+
+/*
+ * Outputs
+ */
+#define PORT_BOLZEN    PORTB
+#define PIN_BOLZEN     PB0
+
+#define PORT_SCHNAPPER PORTB
+#define PIN_SCHNAPPER  PB1
+
+#define PORT_STATUS    PORTB
+#define PIN_STATUS     PB2
+
+/*
+ * Inputs
+ */
+#define PORT_BUTTON_LOCK      PORTD
+#define PIN_BUTTON_LOCK		  PD2
+
+#define PORT_BUTTON_UNLOCK    PORTD
+#define PIN_BUTTON_UNLOCK	  PD3
+
+#define PORT_EMERGENCY_UNLOCK PORTD
+#define PIN_EMERGENCY_UNLOCK  PD4
+
+static inline bool is_emergency_unlock(void)
+{
+	return !(PIN(PORT_EMERGENCY_UNLOCK) & (1<<PIN_EMERGENCY_UNLOCK));
+}
+
+static inline bool is_button_unlock(void)
+{
+	return !(PIN(PORT_BUTTON_UNLOCK) & (1<<PIN_BUTTON_UNLOCK));
+}
+
+static inline bool is_button_lock(void)
+{
+	return !(PIN(PORT_BUTTON_LOCK) & (1<<PIN_BUTTON_LOCK));
+}
+
+
+static inline void schnapper_off(void)
+{
+	PORT_SCHNAPPER &= ~(1<<PIN_SCHNAPPER);
+}
+
+static inline void schnapper_on(void)
+{
+	PORT_SCHNAPPER |= (1<<PIN_SCHNAPPER);
+}
+
+static inline void bolzen_off(void)
+{
+	PORT_BOLZEN &= ~(1<<PIN_BOLZEN);
+}
+
+static inline void bolzen_on(void)
+{
+	PORT_BOLZEN |= (1<<PIN_BOLZEN);
+}
+
+static inline void status_off(void)
+{
+	PORT_STATUS &= ~(1<<PIN_STATUS);
+}
+
+static inline void status_on(void)
+{
+	PORT_STATUS |= (1<<PIN_STATUS);
+}
+
+static inline void io_init(void)
+{
+	// Set output directions
+	DDR(PORT_SCHNAPPER) |= (1<<PIN_SCHNAPPER);
+	schnapper_off();
+
+	DDR(PORT_SCHNAPPER) |= (1<<PIN_BOLZEN);
+	bolzen_off();
+
+	DDR(PORT_STATUS) |= (1<<PIN_STATUS);
+	status_off();
+
+	// Set input directions and activate pull-ups
+	DDR(PORT_BUTTON_UNLOCK) &= ~(1<<PIN_BUTTON_UNLOCK);
+	PORT_BUTTON_UNLOCK |= (1<<PIN_BUTTON_UNLOCK);
+
+	DDR(PORT_BUTTON_LOCK) &= ~(1<<PIN_BUTTON_LOCK);
+	PORT_BUTTON_LOCK |= (1<<PIN_BUTTON_LOCK);
+	
+	DDR(PORT_EMERGENCY_UNLOCK) &= ~(1<<PIN_EMERGENCY_UNLOCK);
+	PORT_EMERGENCY_UNLOCK |= (1<<PIN_EMERGENCY_UNLOCK);
+}
+
+#endif

avr-code/main.c

@@ -2,142 +2,159 @@
  * ralf@binary-kitchen.de
  */
 
+#include <stdbool.h>
+
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
-#include <avr/sleep.h>
-#include <string.h>
 
-#define GREEN_ON (PORTB &= ~(1<<PB1))
+#include "io.h"
-#define GREEN_OFF (PORTB |= (1<<PB1))
+#include "uart.h"
 
-#define RED_ON (PORTB &= ~(1<<PB0))
+static volatile enum {LOCKED, UNLOCKED} state = LOCKED;
-#define RED_OFF (PORTB |= (1<<PB0))
+static volatile bool schnapper = false;
 
-#define DOORLIGHT_ON (PORTD |= (1<<PD6))
+static inline void reset_timeout(void)
-#define DOORLIGHT_OFF (PORTD &= ~(1<<PD6))
-
-#define OPEN_BOLZEN (PORTD &= ~(1<<PD4))
-#define CLOSE_BOLZEN (PORTD |= (1<<PD4))
-
-#define OPEN_SCHNAPPER (PORTD |= (1<<PD5))
-#define CLOSE_SCHNAPPER (PORTD &= ~(1<<PD5))
-
-#define IS_RESCUE (!(PIND & (1<<PD3)))
-#define IS_SWITCH (!(PIND & (1<<PD2)))
-
-static uint8_t open = 0;
-static uint8_t klacker = 0;
-
-void open_door()
 {
-    RED_OFF;
+	TCNT1 = 0;
-    GREEN_ON;
-    OPEN_BOLZEN;
-    DOORLIGHT_ON;
 }
 
-void close_door()
+void uart_handler(const unsigned char c)
 {
-    RED_ON;
+	char retval = c;
-    GREEN_OFF;
+	switch ((char)c) {
-    DOORLIGHT_OFF;
+		case 'u':
-    CLOSE_SCHNAPPER;
+			state = UNLOCKED;
-    CLOSE_BOLZEN;
+			reset_timeout();
-}
+			break;
-
+
-void schnapper(unsigned int i)
+		case 'l':
-{
+			state = LOCKED;
-    OPEN_SCHNAPPER;
+			break;
-    while (i--) {
+
-        _delay_ms(1000);
+		case 'p':
-    }
+			break;
-    CLOSE_SCHNAPPER;
+
-    _delay_ms(100);
+		case 's':
-}
+			if (state == UNLOCKED)
-
+				schnapper = true;
-ISR(USI_OVERFLOW_vect)
+			else
-{
+				retval = '?';
-    // Clear interrupt flag
+			break;
-    USISR |= (1<<USIOIF);
+
-    // Reset counter
+		case 'i':
-    TCNT1 = 0;
+			retval = (state == LOCKED) ? 'l' : 'u';
-    open = 1;
+			break;
-
+
-    uint8_t in = USIDR;
+		default:
-    // Depending on the clock, a klacker either can be 10101010 or 01010101
+			retval = '?';
-    if (in == 0x55 || in == 0xAA)
+			break;
-    {
+	}
-        klacker = 1;
+
-    }
+	uart_putc(retval);
 }
 
+// Alle 1.137 Sekunden
 ISR(TIMER1_OVF_vect)
 {
-    open = 0;
+	state = LOCKED;
 }
 
-int main(void) {
+// Notzu
-    // disable all interrupts
+ISR(INT0_vect)
-    cli();
+{
+	cli();
 
-    // PD4-6 as Output
+	// This code is used to prevent spurious interrupts
-    DDRD = (1<<PD5)|(1<<PD4)|(1<<PD6);
+	_delay_ms(50);
-    // PD2,3 Pullup
+	if (!is_button_lock())
-    PORTD |= (1<<PD2)|(1<<PD3);
+		goto out;
 
-    // PB0-1 as Output
+	uart_putc('L');
-    DDRB = (1<<PB0)|(1<<PB1);
+	state = LOCKED;
-    // PB5,7 Pullup
-    PORTB |= (1<<PB7)|(1<<PB5);
 
-    // first action: close door
+out:
-    close_door();
+	sei();
-
+}
-    // Configure USI
+
-    USICR = (1<<USICS1) | (1<<USIOIE) | (1<<USIWM0);
+// Notauf
-
+ISR(INT1_vect)
-    // Configure Timer
+{
-    TIMSK |= (1<<TOIE1);
+	cli();
-    TIFR |= (1<<TOV1);
+
-    TCNT1 = 0;
+	// This code is used to prevent spurious interrupts
-    TCCR1A = 0;
+	_delay_ms(50);
-    TCCR1B = (1<<CS01)|(1<<CS00);
+	if (!is_button_unlock())
-
+		goto out;
-    // wait a bit to settle down
+
-    _delay_ms(1000);
+	uart_putc('U');
-
+
-    // enable interrupts
+	bolzen_off();
-    sei();
+	schnapper_on();
-
+
-    for(;;) {
+	_delay_ms(3000);
-	if (open == 0) {
+
-	    close_door();
+	schnapper_off();
-	} else if (open == 1) {
+
-	    open_door();
+out:
-	    if (klacker == 1)
+	sei();
-  	    {
+}
-	        schnapper(3);
+
-	        klacker = 0;
+int main(void)
-	    }
+{
-        }
+	cli();
-
+	io_init();
-        if (IS_RESCUE) {
+
-            cli();
+	// Wait a bit to settle down
-            open_door();
+	_delay_ms(1000);
-	    schnapper(3);
+	uart_init();
-            sei();
+	uart_set_recv_handler(uart_handler);
-        } else if (IS_SWITCH && open == 0) {
+
-            _delay_ms(300);
+	// Timer config
-            if(IS_SWITCH && open == 0) {
+	TIMSK |= (1<<TOIE1);
-	        cli();
+	TIFR |= (1<<TOV1);
-		open_door();
+	TCCR1A = 0;
-		schnapper(5);
+	TCCR1B = (1<<CS12);
-		sei();
+
-            }
+	TCNT1 = 0;
-	} 
+
-        _delay_ms(50);
+	// falling edge
-    }
+	MCUCR = (1<<ISC11)|(1<<ISC01);
-
+	GIMSK |= (1<<INT0)|(1<<INT1);
-    return 0;
+
+	sei();
+
+	for(;;) {
+		if (state == LOCKED) {
+			bolzen_on();
+			schnapper = false;
+			if (is_emergency_unlock()) {
+				_delay_ms(200);
+				if (is_emergency_unlock()) {
+					uart_putc('N');
+					cli();
+
+					bolzen_off();
+					schnapper_on();
+
+					_delay_ms(3000);
+
+					schnapper_off();
+					bolzen_on();
+
+					sei();
+				}
+			}
+		} else if (state == UNLOCKED) {
+			bolzen_off();
+			if (schnapper == true) {
+				schnapper = false;
+				schnapper_on();
+				_delay_ms(2000);
+				schnapper_off();
+			}
+		}
+	}
+
+	return 0;
 }

avr-code/uart.c

@@ -0,0 +1,53 @@
+#include <stddef.h>
+#include <avr/interrupt.h>
+#include <avr/io.h>
+
+#include "uart.h"
+
+#define UBRR_VAL ((F_CPU+BAUD*8)/(BAUD*16)-1)
+#define BAUD_REAL (F_CPU/(16*(UBRR_VAL+1)))
+#define BAUD_ERROR ((BAUD_REAL*1000)/BAUD)
+ 
+#if ((BAUD_ERROR<990) || (BAUD_ERROR>1010))
+  #error Choose another crystal. Baud error too high.
+#endif
+
+static void (*recv_handler)(unsigned char c) = NULL;
+
+ISR(USART_RX_vect)
+{
+	cli();
+	if(recv_handler)
+		recv_handler(UDR);
+	sei();
+}
+
+void uart_init()
+{
+	// Enable receive and transmit
+	UCSRB = (1<<RXEN)|(1<<TXEN)|(1<<RXCIE);
+
+	// Asynchronous mode, 8N1
+	UCSRC = (1<<UCSZ1)|(1<<UCSZ0);
+
+	UBRRH = UBRR_VAL >> 8;
+	UBRRL = UBRR_VAL & 0xFF;	
+}
+
+void uart_set_recv_handler(void (*handler)(unsigned char c))
+{
+	recv_handler = handler;
+}
+
+void uart_putc(const char c)
+{
+	while ( !(UCSRA & (1<<UDRE)) );
+	UDR = (const unsigned char)c;
+}
+
+void uart_puts(const char* str)
+{
+	do {
+		uart_putc(*str);
+	} while(*++str);
+}

avr-code/uart.h

@@ -0,0 +1,13 @@
+#ifndef UART_H
+#define UART_H
+
+#define BAUD 9600UL
+
+void uart_set_recv_handler(void (*handler)(unsigned char c));
+
+void uart_init(void);
+
+void uart_putc(const char c);
+void uart_puts(const char* str);
+
+#endif