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#include <stdint.h>
#include <avr/wdt.h>
#include <avr/sleep.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "fpm.h"
#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_SERVO PC4
#define PWR_FPM PC5
#define PWR_DDR DDRC
#define PWR_PORT PORTC
#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
enum CTRL {
NONE = 0,
LOCK_FRONT = 1,
LOCK_BACK = 2,
UNLOCK_FRONT = 3,
UNLOCK_BACK = 4,
ENROLL = 5
};
static volatile enum CTRL cmd = NONE;
static inline void lock(void)
{
OCR1A = PWM_MID;
_delay_ms(500);
}
static inline void unlock(void)
{
OCR1A = PWM_MAX;
_delay_ms(500);
}
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 pwr_fpm_servo_on(void)
{
PWR_PORT |= (1 << PWR_FPM) | (1 << PWR_SERVO);
}
static inline void pwr_fpm_servo_off(void)
{
PWR_PORT &= ~((1 << PWR_FPM) | (1 << PWR_SERVO));
}
int main(void)
{
uint16_t id;
/* disable watchdog timer */
cli();
wdt_reset();
MCUSR &= ~(1 << WDRF);
WDTCSR |= (1 << WDCE) | (1 << WDE);
WDTCSR = 0x00;
/* power on peripherals */
PWR_DDR |= (1 << PWR_FPM) | (1 << PWR_SERVO);
pwr_fpm_servo_on();
/* UART for FPM */
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
UCSR0B = (1 << TXEN0) | (1 << RXEN0);
UCSR0C = (1 << UCSZ01) | (1 << UCSZ00);
/* 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);
/* 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));
flash_led();
for (;;) {
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);
pwr_fpm_servo_off();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_enable();
sleep_bod_disable();
sei();
sleep_cpu();
cli();
sleep_disable();
pwr_fpm_servo_on();
}
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)
{
cmd = UNLOCK_FRONT;
}
ISR(BTN_INT_VEC)
{
cli();
if (is_pressed(FRONT_LOCK_PIN))
cmd = LOCK_FRONT;
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;
sei();
}
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