1 files changed, 116 insertions, 0 deletions
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);
+	}
+}