Restore main loop and add bat check.

1 files changed, 107 insertions, 22 deletions

diff --git a/main.c b/main.c
index 6967083..5ecccb5 100644
--- a/main.c
+++ b/main.c
@@ -8,6 +8,8 @@
 #include "fpm.h"
 #include "uart.h"
 
+#define BATMIN             5300
+
 #define SERVO_PIN          PB1
 #define SERVO_DDR          DDRB
 
@@ -102,21 +104,23 @@ static inline void flash_led(void)
 	}
 }
 
-static inline void pwr_batchk_on(void)
+static inline void pwron_batchk(void)
 {
 	PWR_PORT &= ~(1 << PWR_BATCHK);
 }
 
-static inline void pwr_batchk_off(void)
+static inline void pwroff_batchk(void)
 {
 	PWR_PORT |= (1 << PWR_BATCHK);
 }
 
-static inline uint16_t getbat(void)
+static void check_bat(void)
 {
-	uint16_t vbg;
+	char s[5];
+	s[4] = 0;
+	uint16_t vbg, vcc;
 
-	pwr_batchk_on();
+	pwron_batchk();
 
 	ADMUX |= (1 << REFS1) | (1 << REFS0);
 	ADCSRA |= (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); /* clk: 50-200 kHz */
@@ -132,38 +136,119 @@ static inline uint16_t getbat(void)
 	vbg = (1100UL * ADC) / 1024;
 	ADCSRA &= ~(1 << ADEN);
 	
-	pwr_batchk_off();
+	pwroff_batchk();
 
 	// 56k/10k voltage divider
-	return (vbg * 66) / 10;
+	vcc = (vbg * 66) / 10; 
+
+	itoa(vcc, s, 10);
+	for (int i = 0; i < 4; i++)
+		uart_send((uint8_t)s[i]);
+	uart_send('\r');
+	uart_send('\n');
+
+	if (vcc < BATMIN)
+		flash_led();
 }
 
 int main(void)
 {
 	uint16_t id;
 
-	uart_init();
-	
-	PWR_DDR |= (1 << PWR_BATCHK);
-	pwr_batchk_off();
+	/* disable watchdog timer */
+	cli();
+	wdt_reset();
+	MCUSR &= ~(1 << WDRF);
+	WDTCSR |= (1 << WDCE) | (1 << WDE);
+	WDTCSR = 0x00;
+
+	PWR_DDR |= (1 << PWR_BATCHK) | (1 << PWR_FPM) | (1 << PWR_SERVO);
+	pwroff_batchk();
 
-	/* bat check */
+	uart_init();
+	pwron_fpm();
+	fpm_init();
+
+	/* servo */
+	TCCR1A |= (1 << WGM11);
+	TCCR1B |= (1 << WGM12) | (1 << WGM13);
+	TCCR1B |= (1 << CS11);
+	ICR1 = PWM_TOP;
+	TCCR1A |= (1 << COM1A1);
+	SERVO_DDR |= (1 << SERVO_PIN);
+
+	/* battery check */
 	LED_DDR |= (1 << LED_PIN);
 	LED_PORT &= ~(1 << LED_PIN);
 
-	flash_led();
+	/* input ports */
+	INPUT_DDR &= ~((1 << BACK_LOCK_PIN) | (1 << BACK_UNLOCK_PIN) | 
+	               (1 << FRONT_LOCK_PIN) | (1 << FRONT_UNLOCK_PIN) | 
+	               (1 << ENROLL_PIN));
 
-	char s[5];
-	s[4] = 0;
+	INPUT_PORT |= ((1 << BACK_LOCK_PIN) | (1 << BACK_UNLOCK_PIN) | 
+	               (1 << FRONT_LOCK_PIN) | (1 << FRONT_UNLOCK_PIN) | 
+	               (1 << ENROLL_PIN));
+
+	EICRA = 0b00000000;
+	EIMSK = (1 << FPM_UNLOCK_INT);
+
+	PCICR |= (1 << PCIE2);
+	PCMSK2 |= ((1 << FRONT_LOCK_INT) | (1 << ENROLL_INT) | 
+	           (1 << BACK_LOCK_INT) | (1 << BACK_UNLOCK_INT));
 
 	for (;;) {
-		id = getbat();
-		itoa(id, s, 10);
-		for (int i = 0; i < 4; i++)
-			uart_send((uint8_t)s[i]);
-		uart_send('\r');
-		uart_send('\n');
-		_delay_ms(1000);
+		check_bat();
+
+		switch(cmd) {
+		case LOCK_FRONT:
+			lock();
+			fpm_led(FLASH, RED, 1);
+			break;
+		case LOCK_BACK:
+			lock();
+			break;
+		case UNLOCK_FRONT:
+			if (fpm_match()) {
+				fpm_led(BREATHE, BLUE, 1);
+				unlock();
+			} else {
+				fpm_led(BREATHE, RED, 1);
+			}
+			break;
+		case UNLOCK_BACK:
+			unlock();
+			fpm_led(FLASH, BLUE, 1);
+			break;
+		case ENROLL:
+			id = fpm_match();
+			if (id == 1 || id == 2) {
+				fpm_led(BREATHE, BLUE, 1);
+				_delay_ms(1000);
+				if (fpm_enroll())
+					fpm_led(BREATHE, BLUE, 1);
+				else
+					fpm_led(BREATHE, RED, 1);
+			}
+			break;
+		default:
+			break;
+		}
+
+		cmd = NONE;
+		_delay_ms(500);
+
+		pwroff_fpm();
+		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+		sleep_enable();
+		sleep_bod_disable();
+		sei();
+		sleep_cpu();
+
+		cli();
+		sleep_disable();
+		pwron_fpm();
+		fpm_init();
 	}
 
 	return 0;