blob: 8780e81111ec6851f3a1e6dd92d3f21b9599e808 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
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);
}
}
|
