Flash LED using CTC.

Flash LED using CTC.

1 files changed, 102 insertions, 91 deletions

diff --git a/main.c b/main.c
index 9efbffa..116fcc3 100644
--- a/main.c
+++ b/main.c
@@ -1,5 +1,4 @@
 #include <stdint.h>
-#include <stdlib.h>
 #include <avr/wdt.h>
 #include <avr/sleep.h>
 #include <avr/interrupt.h>
@@ -8,55 +7,65 @@
 #include "fpm.h"
 #include "uart.h"
 
-#define BATMIN             5100
-
-#define SERVO_PIN          PB1
-#define SERVO_DDR          DDRB
-
-#define PWM_MIN            500
-#define PWM_MID            1600
-#define PWM_MAX            2550
-#define PWM_TOP            19999
-
-#define LED_PIN            PB5
-#define LED_DDR            DDRB
-#define LED_PORT           PORTB
-
-#define PWR_BATCHK         PB2
-#define PWR_SERVO          PB3
-#define PWR_FPM            PB4
-#define PWR_DDR            DDRB
-#define PWR_PORT           PORTB
-
-#define FRONT_UNLOCK_PIN   PD2
-#define FRONT_LOCK_PIN     PD3
-#define ENROLL_PIN         PD4
-#define BACK_LOCK_PIN      PD5
-#define BACK_UNLOCK_PIN    PD6
-
-#define INPUT_DDR          DDRD
-#define INPUT_PORT         PORTD
-
-#define FPM_UNLOCK_INT     INT0
-#define FPM_INT_VEC        INT0_vect
-
-#define FRONT_LOCK_INT     PCINT19
-#define ENROLL_INT         PCINT20
-#define BACK_LOCK_INT      PCINT21
-#define BACK_UNLOCK_INT    PCINT22
-#define BTN_INT_VEC        PCINT2_vect
+#define BAT_MIN    5100
+
+#define SRVO_PIN   PB1
+#define SRVO_DDR   DDRB
+
+#define PWM_MIN    500
+#define PWM_MID    1600
+#define PWM_MAX    2550
+#define PWM_TOP    19999
+
+#define LED_PIN    PD6
+#define LED_DDR    DDRD
+#define LED_PORT   PORTD
+
+#define PWR_BAT    PB2
+#define PWR_SRVO   PB3
+#define PWR_FPM    PB4
+#define PWR_DDR    DDRB
+#define PWR_PORT   PORTB
+
+#define FPM_UNLOCK_PIN    PC1    /*back up for FPM's touch sensor */
+#define FPM_LOCK_PIN      PC2
+#define ENROLL_PIN        PC3
+#define BACK_LOCK_PIN     PC4
+#define BACK_UNLOCK_PIN   PC5
+#define INPUT_DDR         DDRC
+#define INPUT_PORT        PORTC
+
+#define FPM_UNLOCK_INT    PCINT9
+#define FPM_LOCK_INT      PCINT10
+#define ENROLL_INT        PCINT11
+#define BACK_LOCK_INT     PCINT12
+#define BACK_UNLOCK_INT   PCINT13
+#define INPUT_INT         PCIE1
+#define INPUT_INT_MSK     PCMSK1
+#define INPUT_INT_VEC     PCINT1_vect
 
 enum CTRL { 
 	NONE = 0, 
-	LOCK_FRONT = 1, 
+	LOCK_FPM = 1, 
 	LOCK_BACK = 2, 
-	UNLOCK_FRONT = 3, 
-	UNLOCK_BACK = 4, 
-	ENROLL = 5 
+	UNLOCK_FPM = 3, 
+	UNLOCK_BACK = 4,
+	UNLOCK_FPM_2 = 5, 
+	ENROLL = 6 
 }; 
 
 static volatile enum CTRL cmd = NONE;
 
+static inline void pwron_bat(void)
+{
+	PWR_PORT &= ~(1 << PWR_BAT);
+}
+
+static inline void pwroff_bat(void)
+{
+	PWR_PORT |= (1 << PWR_BAT);
+}
+
 static inline void pwron_fpm(void)
 {
 	PWR_PORT &= ~(1 << PWR_FPM);
@@ -68,57 +77,51 @@ static inline void pwroff_fpm(void)
 	PWR_PORT |= (1 << PWR_FPM);
 }
 
-static inline void pwron_servo(void)
+static inline void pwron_srvo(void)
 {
-	PWR_PORT |= (1 << PWR_SERVO);
+	PWR_PORT |= (1 << PWR_SRVO);
 }
 
-static inline void pwroff_servo(void)
+static inline void pwroff_srvo(void)
 {
-	PWR_PORT &= ~(1 << PWR_SERVO);
+	PWR_PORT &= ~(1 << PWR_SRVO);
 }
 
 static inline void lock(void)
 {
-	pwron_servo();
+	pwron_srvo();
 	OCR1A = PWM_MID;
 	_delay_ms(500);
-	pwroff_servo();
+	pwroff_srvo();
 }
 
 static inline void unlock(void)
 {
-	pwron_servo();
+	pwron_srvo();
 	OCR1A = PWM_MAX;
 	_delay_ms(500);
-	pwroff_servo();
+	pwroff_srvo();
 }
 
 static inline void flash_led(void)
 {
-	for (int i = 0; i < 4; i++) {
-		LED_PORT |= (1 << LED_PIN);
-		_delay_ms(70);
-		LED_PORT &= ~(1 << LED_PIN);
-		_delay_ms(70);
-	}
-}
-
-static inline void pwron_batchk(void)
-{
-	PWR_PORT &= ~(1 << PWR_BATCHK);
+	TCCR0A = (1 << COM0A0) | (1 << WGM01);
+	OCR0A = 255;
+	TCCR0B = (1 << CS02) | (1 << CS00);
 }
 
-static inline void pwroff_batchk(void)
+static inline void stop_led(void)
 {
-	PWR_PORT |= (1 << PWR_BATCHK);
+	TCCR0B = 0;
+	TCCR0A = 0;
+	LED_PORT &= ~(1 << LED_PIN);
 }
 
 static void check_bat(void)
 {
 	uint16_t vbg, vcc;
 
-	pwron_batchk();
+	pwron_bat();
 
 	ADMUX |= (1 << REFS1) | (1 << REFS0);
 	ADCSRA |= (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); /* clk: 50-200 kHz */
@@ -133,10 +136,10 @@ static void check_bat(void)
 	vbg = (1100UL * ADC) / 1024;
 	ADCSRA &= ~(1 << ADEN);
 	
-	pwroff_batchk();
+	pwroff_bat();
 
 	vcc = (vbg * 66) / 10; /* 56k/10k divider */
-	if (vcc < BATMIN)
+	if (vcc < BAT_MIN)
 		flash_led();
 }
 
@@ -151,8 +154,8 @@ int main(void)
 	WDTCSR |= (1 << WDCE) | (1 << WDE);
 	WDTCSR = 0x00;
 
-	PWR_DDR |= (1 << PWR_BATCHK) | (1 << PWR_FPM) | (1 << PWR_SERVO);
-	pwroff_batchk();
+	PWR_DDR |= (1 << PWR_BAT) | (1 << PWR_FPM) | (1 << PWR_SRVO);
+	pwroff_bat();
 
 	uart_init();
 	pwron_fpm();
@@ -164,40 +167,43 @@ int main(void)
 	TCCR1B |= (1 << CS11);
 	ICR1 = PWM_TOP;
 	TCCR1A |= (1 << COM1A1);
-	SERVO_DDR |= (1 << SERVO_PIN);
+	SRVO_DDR |= (1 << SRVO_PIN);
 
-	/* battery check */
+	/* bat check */
 	LED_DDR |= (1 << LED_PIN);
 	LED_PORT &= ~(1 << LED_PIN);
 
-	/* input ports */
-	INPUT_DDR &= ~((1 << BACK_LOCK_PIN) | (1 << BACK_UNLOCK_PIN) | 
-	               (1 << FRONT_LOCK_PIN) | (1 << FRONT_UNLOCK_PIN) | 
-	               (1 << ENROLL_PIN));
+	DDRD &= ~(1 << PD2); /* FPM unlock pin */
+	PORTD |= (1 << PD2); /* FPM unlock pin internal pull-up */
+	EICRA = 0b00000000;  
+	EIMSK = (1 << INT0); /* FPM unlock interrupt */
 
-	INPUT_PORT |= ((1 << BACK_LOCK_PIN) | (1 << BACK_UNLOCK_PIN) | 
-	               (1 << FRONT_LOCK_PIN) | (1 << FRONT_UNLOCK_PIN) | 
+	INPUT_DDR &= ~((1 << FPM_LOCK_PIN) | (1 << FPM_UNLOCK_PIN) | 
+                   (1 << BACK_LOCK_PIN) | (1 << BACK_UNLOCK_PIN) |
 	               (1 << ENROLL_PIN));
 
-	EICRA = 0b00000000;
-	EIMSK = (1 << FPM_UNLOCK_INT);
+	INPUT_PORT |= ((1 << FPM_LOCK_PIN) | (1 << FPM_UNLOCK_PIN) | 
+                   (1 << BACK_LOCK_PIN) | (1 << BACK_UNLOCK_PIN) | 
+	               (1 << ENROLL_PIN));
 
-	PCICR |= (1 << PCIE2);
-	PCMSK2 |= ((1 << FRONT_LOCK_INT) | (1 << ENROLL_INT) | 
-	           (1 << BACK_LOCK_INT) | (1 << BACK_UNLOCK_INT));
+	PCICR |= (1 << INPUT_INT);
+	INPUT_INT_MSK |= ((1 << FPM_LOCK_INT) | (1 << FPM_UNLOCK_INT) | 
+	                  (1 << BACK_LOCK_INT) | (1 << BACK_UNLOCK_INT) |
+                      (1 << ENROLL_INT));
 
 	for (;;) {
 		check_bat();
 
 		switch(cmd) {
-		case LOCK_FRONT:
+		case LOCK_FPM:
 			lock();
 			fpm_led(FLASH, RED, 1);
 			break;
 		case LOCK_BACK:
 			lock();
 			break;
-		case UNLOCK_FRONT:
+		case UNLOCK_FPM:
+		case UNLOCK_FPM_2:
 			if (fpm_match()) {
 				fpm_led(BREATHE, BLUE, 1);
 				unlock();
@@ -228,6 +234,8 @@ int main(void)
 		_delay_ms(500);
 
 		pwroff_fpm();
+		stop_led();
+
 		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
 		sleep_enable();
 		sleep_bod_disable();
@@ -239,36 +247,39 @@ int main(void)
 		pwron_fpm();
 		fpm_init();
 	}
-
 	return 0;
 }
 
 static inline int is_pressed(uint8_t btn)
 {
-	if (!((PIND >> btn) & 0x01)) {
+	if (!((PINC >> btn) & 0x01)) {
 		_delay_ms(50);
-		return !((PIND >> btn) & 0x01);
+		return !((PINC >> btn) & 0x01);
 	}
 	return 0;
 }
 
-ISR(FPM_INT_VEC)
+ISR(INT0_vect)
 {
-	cmd = UNLOCK_FRONT;
+	cmd = UNLOCK_FPM;
 }
 
-ISR(BTN_INT_VEC)
+ISR(INPUT_INT_VEC)
 {
 	cli();
 
-	if (is_pressed(FRONT_LOCK_PIN))
-		cmd = LOCK_FRONT;
+	if (is_pressed(FPM_LOCK_PIN))
+		cmd = LOCK_FPM;
+	else if (is_pressed(FPM_UNLOCK_PIN))
+		cmd = UNLOCK_FPM_2;
 	else if (is_pressed(BACK_LOCK_PIN))
 		cmd = LOCK_BACK;
 	else if (is_pressed(BACK_UNLOCK_PIN))
 		cmd = UNLOCK_BACK;
 	else if (is_pressed(ENROLL_PIN))
 		cmd = ENROLL;
+	else
+		cmd = NONE;
 
 	sei();
 }