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/* Lock back, connected to the servo */
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "nrfm.h"
#include "uart.h"
#include "util.h"
#define PWM_MIN 500
#define PWM_MID 1500
#define PWM_MAX 2500
#define PWM_TOP 20000
#define SERVO_PIN PB1
#define LOCK_PIN PD2
#define UNLOCK_PIN PD3
#define RX_PIN PD7
#define RX_DDR DDRD
#define RX_PORT PORTD
#define RX_PCIE PCIE2
#define RX_PCINT PCINT23
#define RX_PCMSK PCMSK2
#define RX_PCINTVEC PCINT2_vect
static char tab[] = {
'0', '8', '3', '6', 'a', 'Z', '$', '4', 'v', 'R', '@',
'E', '1', 'o', '#', ')', '2', '5', 'q', ';', '.', 'I',
'c', '7', '9', '*', 'L', 'V', '&', 'k', 'K', '!', 'm',
'N', '(', 'O', 'Q', 'A', '>', 'T', 't', '?', 'S', 'h',
'w', '/', 'n', 'W', 'l', 'M', 'e', 'H', 'j', 'g', '[',
'P', 'f', ':', 'B', ']', 'Y', '^', 'F', '%', 'C', 'x'
};
static uint8_t sync = 0;
static volatile uint8_t rxd = 0;
static uint16_t tablen = sizeof(tab) / sizeof(tab[0]);
static inline void keygen(char *buf, uint8_t n)
{
int i, imax;
uint8_t sreg;
uint16_t seed;
sreg = SREG;
cli();
seed = TCNT1;
SREG = sreg;
for (i = 0, imax = n - 1; i < imax; i++, seed++)
buf[i] = tab[(seed % tablen)];
buf[imax] = '\0';
}
static inline void keydel(char *buf, uint8_t n)
{
int i;
for (i = 0; i < n; i++)
buf[i] = 0;
}
static inline void init_rx(void)
{
RX_DDR &= ~(1 << RX_PIN);
RX_PORT |= (1 << RX_PIN);
PCICR |= (1 << RX_PCIE);
RX_PCMSK |= (1 << RX_PCINT);
}
static inline void init_btns(void)
{
DDRD &= ~((1 << LOCK_PIN) | (1 << UNLOCK_PIN));
PORTD |= ((1 << LOCK_PIN) | (1 << UNLOCK_PIN));
EICRA = 0b00000000;
EIMSK = (1 << INT0) | (1 << INT1);
}
static inline void init_servo(void)
{
ICR1 = PWM_TOP;
TCCR1A |= (1 << WGM11) | (1 << COM1A1);
TCCR1B |= (1 << WGM13) | (1 << CS11);
DDRB |= (1 << SERVO_PIN);
}
static inline void lock(void)
{
OCR1A = PWM_MID;
_delay_ms(100);
OCR1A = PWM_TOP;
uart_write_line("locked");
}
static inline void unlock(void)
{
OCR1A = PWM_MAX - 50;
_delay_ms(100);
OCR1A = PWM_TOP;
uart_write_line("unlocked");
}
int main(void)
{
uint8_t n;
uint8_t rxaddr[ADDRLEN] = { 194, 178, 83 };
uint8_t txaddr[ADDRLEN] = { 194, 178, 82 };
char s[3]; s[2] = 0;
char buf[WDLEN + 1], key[WDLEN + 1], msg[WDLEN + 1];
init_rx();
init_btns();
init_servo();
uart_init();
radio_init(rxaddr);
radio_print_config();
sei();
radio_listen();
uart_write_line("reset...");
for (;;) {
if (!rxd)
_delay_ms(500);
if (rxd) {
n = radio_recv(buf, WDLEN);
buf[n] = '\0';
uart_write("recv: ");
uart_write(buf);
itoa(n, s, 10);
uart_write(s);
uart_write_line(" bytes");
if (!sync) {
xor(KEY, buf, msg, WDLEN);
if (strncmp(msg, SYN, WDLEN) == 0) {
keygen(key, WDLEN + 1);
xor(KEY, key, buf, WDLEN);
sync = radio_sendto(txaddr, buf, WDLEN);
} else {
uart_write_line("not syn");
}
} else {
sync = 0;
xor(key, buf, msg, WDLEN);
if (strncmp(msg, LOCK, WDLEN) == 0)
lock();
else if (strncmp(msg, UNLOCK, WDLEN) == 0)
unlock();
keydel(buf, WDLEN);
}
rxd = 0;
}
}
return 0;
}
ISR(RX_PCINTVEC)
{
rxd = 1;
}
ISR(INT0_vect)
{
if (is_btn_pressed(PIND, LOCK_PIN))
lock();
}
ISR(INT1_vect)
{
if (is_btn_pressed(PIND, UNLOCK_PIN))
unlock();
}
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