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-rw-r--r--Makefile21
-rw-r--r--door.c116
2 files changed, 131 insertions, 6 deletions
diff --git a/Makefile b/Makefile
index 9dc7daa..b3e7d33 100644
--- a/Makefile
+++ b/Makefile
@@ -1,21 +1,30 @@
.PHONY: flash love
-TARGET=lightctrl
+TARGETS=door lightctrl
+
CFLAGS_OPT=-Os \
-fpredictive-commoning -fmerge-all-constants -fmodulo-sched -fmodulo-sched-allow-regmoves \
-fgcse-sm -fgcse-las -fgcse-after-reload -fconserve-stack \
-fwhole-program
CFLAGS_WARN=-std=gnu99 -Wall -Wextra -Wno-unused -pedantic
CFLAGS_LD=-Wl,-T,avr4-signature.x
-CFLAGS=-mmcu=atmega48 ${CFLAGS_WARN} ${CFLAGS_OPT} ${CFLAGS_LD}
+CFLAGS=${CFLAGS_WARN} ${CFLAGS_OPT} ${CFLAGS_LD}
+MCU_door=48
+MCU_lightctrl=88
-love: ${TARGET}.elf
+love: $(foreach target,$(TARGETS),$(target).elf)
+ avr-size $^
+ifdef TARGET
flash: ${TARGET}.flash
- avrdude -p m48 -c stk500v2 -P avrdoper -y -U flash:w:$<
+ avrdude -p m$(MCU_$(basename $<)) -c stk500v2 -P avrdoper -y -U flash:w:$<
+else
+flash:
+ @echo the flash target is available only with TARGET set to something. use e.g. \"make flash TARGET=door\" >&2
+ @false
+endif
%.flash: %.elf Makefile
avr-objcopy -j .text -j .data -O ihex $< $@
%.elf: %.c *.c *.x Makefile
- avr-gcc ${CFLAGS} -o $@ $<
- avr-size $@
+ avr-gcc -mmcu=atmega$(MCU_$(basename $@)) ${CFLAGS} -o $@ $<
diff --git a/door.c b/door.c
new file mode 100644
index 0000000..8780e81
--- /dev/null
+++ b/door.c
@@ -0,0 +1,116 @@
+#define F_CPU 8000000
+#include <stdint.h>
+#include <stdbool.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+
+const uint8_t __signature[3] __attribute__((section (".signature"), used)) =
+ { SIGNATURE_2, SIGNATURE_1, SIGNATURE_0 };
+
+#define B_SCK 5
+#define B_MISO 4
+#define B_MOSI 3
+#define B_SS 2
+
+#define B_EXITLIGHT 1
+#define B_LIGHTBARRIER 0
+
+#define B_IN (1 << B_LIGHTBARRIER)
+
+#define D_LED 4
+#define D_DOORLOCK 5
+#define D_DOORRIGHT 6
+#define D_DOORLEFT 7
+
+#define D_IN ((1 << D_DOORLOCK) | (1 << D_DOORRIGHT) | (1 << D_DOORLEFT))
+
+#include "uart.c"
+#include "can.c"
+
+static uint16_t tick = 4;
+
+static uint8_t pinstat;
+static struct sendbuf {
+ uint8_t door_lock;
+ uint8_t door_left;
+ uint8_t door_right;
+ uint8_t lightbarrier;
+} sendbuf;
+
+ISR(TIMER1_OVF_vect)
+{
+ uint8_t newpin;
+
+ tick++;
+ if (tick == 0)
+ tick = 16;
+
+ if (tick < 4096 || ((tick & 16383) < 1024))
+ PORTD |= (1 << D_LED);
+ else
+ PORTD &= ~(1 << D_LED);
+
+ newpin = (PIND & D_IN) | (PINB & B_IN);
+ pinstat ^= newpin;
+#define pin_to_field(pin, field) \
+ if (pinstat & (1 << pin)) { \
+ sendbuf.field++; \
+ if (newpin & (1 << pin)) \
+ sendbuf.field |= 1; \
+ else \
+ sendbuf.field &= ~1; \
+ }
+
+ pin_to_field(D_DOORLOCK, door_lock);
+ pin_to_field(D_DOORRIGHT, door_right);
+ pin_to_field(D_DOORLEFT, door_left);
+ pin_to_field(B_LIGHTBARRIER, lightbarrier);
+
+ if (pinstat) {
+ if (tick >= 128 && tick < 65408)
+ tick = 4;
+ else if (tick < 128)
+ tick = 65408;
+ }
+
+ pinstat = newpin;
+
+ if (tick == 8 || tick == 16)
+ can_send(CANA_SENSOR_F(0x100), sizeof(sendbuf), (uint8_t *)&sendbuf);
+}
+
+int main(void)
+{
+ DDRB = (1 << B_SCK) | (1 << B_MOSI) | (1 << B_SS) | (1 << B_EXITLIGHT);
+ PORTB = (1 << B_SS) | (1 << B_EXITLIGHT) | B_IN;
+ DDRD = (1 << D_LED);
+ PORTD = D_IN;
+
+ uart_init();
+ can_preinit();
+
+ sei();
+ uart_puts("\ninit done\n");
+
+ can_init();
+ can_CANSTAT();
+
+ TCNT1 = 0;
+ OCR1A = 128;
+ TIMSK1 = (1 << TOIE1);
+ TIFR1 = (1 << TOV1);
+ // 8 MHz / 8 / 256 = 3906.25 Hz
+ // Fast PWM (8-bit) mode
+ TCCR1A = (1 << COM1A1) | (1 << WGM10);
+ TCCR1B = (1 << WGM12) | (1 << CS11);
+
+ while (1) {
+ if (canint) {
+ canint = false;
+ can_int();
+ }
+ _delay_ms(1);
+ }
+}