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#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "cmd.h"
#include "serial.h"
#define PWM_MIN 1200
#define PWM_MID 3000
#define PWM_MAX 5000
#define SERVO_PIN PB1
#define LOCK_BTN PD6
#define UNLOCK_BTN PD7
static inline void lock(void)
{
OCR1A = PWM_MID;
}
static inline void unlock(void)
{
OCR1A = PWM_MIN;
}
static inline int is_btn_pressed(unsigned char btn)
{
return !((PIND >> btn) & 0x01);
}
static inline void pcint2_init(void)
{
PCICR |= (1 << PCIE2);
PCMSK2 |= ((1 << PCINT22) | (1 << PCINT23));
}
static inline void servo_init(void)
{
DDRB |= 1 << SERVO_PIN;
TCCR1A |= (1 << WGM11) | (1 << COM1A1);
TCCR1B |= (1 << WGM12) | (1 << WGM13) | (1 << CS11);
ICR1 = 40000;
DDRD &= ~((1 << LOCK_BTN) | (1 << UNLOCK_BTN));
PORTD |= (1 << LOCK_BTN) | (1 << UNLOCK_BTN);
}
int main(void)
{
char *s;
servo_init();
pcint2_init();
serial_init();
sei();
for(;;) {
s = cmd_hash(DOOR_UNLOCK);
if (cmd_cmp(s, DOOR_UNLOCK))
serial_write_line("unlock");
else
serial_write_line("do not unlock");
_delay_ms(1000);
}
return 0;
}
ISR(PCINT2_vect)
{
if (is_btn_pressed(LOCK_BTN))
lock();
if (is_btn_pressed(UNLOCK_BTN))
unlock();
}
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