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#include <stdint.h>
#include <stdlib.h>
#include <avr/wdt.h>
#include <avr/sleep.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "fpm.h"
#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 SERVO_PIN PB1
#define SERVO_DDR DDRB
#define PWM_MIN 500
#define PWM_MID 1600
#define PWM_MAX 2550
#define PWM_TOP 20000
#define VCC_MIN 4900
#define LED_PIN PB5
#define LED_DDR DDRB
#define LED_PORT PORTB
/* Measure vcc by measuring known internal 1.1v bandgap
* reference voltage against AVCC.
*/
uint16_t getvcc(void)
{
uint16_t vcc;
ADMUX |= (1 << REFS0);
ADMUX |= (1 << MUX3) | (1 << MUX2) | (1 << MUX1);
ADCSRA |= (1 << ADEN) | (1 << ADPS2) | (1 << ADPS0);
// https://www.sciencetronics.com/greenphotons/?p=1521
_delay_us(500);
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC))
;
vcc = (1100UL * 1023 / ADC);
ADCSRA &= ~(1 << ADEN);
return vcc;
}
static inline void lock(void)
{
OCR1A = PWM_MID;
_delay_ms(100);
OCR1A = PWM_TOP;
}
static inline void unlock(void)
{
OCR1A = PWM_MAX;
_delay_ms(100);
OCR1A = PWM_TOP;
}
int main(void)
{
/* disable watchdog timer */
cli();
wdt_reset();
MCUSR &= ~(1 << WDRF);
WDTCSR |= (1 << WDCE) | (1 << WDE);
WDTCSR = 0x00;
/* battery check */
LED_DDR |= (1 << LED_PIN);
LED_PORT &= ~(1 << LED_PIN);
for (int i = 0; i < 4; i++) {
LED_PORT |= (1 << LED_PIN);
_delay_ms(70);
LED_PORT &= ~(1 << LED_PIN);
_delay_ms(70);
}
/* init input ports */
INPUT_DDR &= ~((1 << BACK_LOCK_PIN) | (1 << BACK_UNLOCK_PIN) |
(1 << FRONT_LOCK_PIN) | (1 << FRONT_UNLOCK_PIN) |
(1 << ENROLL_PIN));
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));
/* init servo */
ICR1 = PWM_TOP;
TCCR1A |= (1 << WGM11) | (1 << COM1A1);
TCCR1B |= (1 << WGM13) | (1 << CS11);
SERVO_DDR |= (1 << SERVO_PIN);
fpm_init();
sei();
for (;;) {
if (getvcc() < VCC_MIN)
LED_PORT |= (1 << LED_PIN);
sleep_bod_disable();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_mode();
}
return 0;
}
static inline int is_pressed(uint8_t btn)
{
if (!((PIND >> btn) & 0x01)) {
_delay_ms(50);
return !((PIND >> btn) & 0x01);
}
return 0;
}
ISR(FPM_INT_VEC)
{
cli();
if (fpm_match()) {
unlock();
fpm_led(BREATHE, BLUE, 1);
} else {
fpm_led(BREATHE, RED, 1);
}
sei();
}
ISR(BTN_INT_VEC)
{
uint16_t id;
cli();
if (is_pressed(FRONT_LOCK_PIN)) {
lock();
fpm_led(FLASH, RED, 1);
} else if (is_pressed(BACK_LOCK_PIN)) {
lock();
fpm_led(FLASH, RED, 1);
} else if (is_pressed(BACK_UNLOCK_PIN)) {
unlock();
fpm_led(FLASH, BLUE, 1);
} else if (is_pressed(ENROLL_PIN)) {
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);
} else
fpm_led(BREATHE, RED, 1);
}
sei();
}
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