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easyrider.c
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easyrider.c
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/*
*
* Copyright (C) 2013 Bas Brugman
* http://www.visionnaire.nl
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/eeprom.h>
#include <avr/wdt.h>
#include <avr/sleep.h>
#include <avr/power.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include "command.h"
#include "usart.h"
#include "command_usart.h"
#include "command_handlers.h"
#include "easyrider.h"
#include "sound/alarm.h"
#include "sound/frogger.h"
#include "sound/furelise.h"
#include "sound/larry.h"
#include "sound/pipi.h"
#include "sound/popcorn.h"
// state transition struct array: handler assigment for state/event combo's
tTransition g_trans[] = {
{check_claxon_on, EV_CLAXON_ON, process_claxon_on},
{check_claxon_off, EV_CLAXON_OFF, process_claxon_off},
{check_ri_on, EV_RI_ON, process_ri_on},
{check_ri_off, EV_RI_OFF, process_ri_off},
{check_li_on, EV_LI_ON, process_li_on},
{check_li_off, EV_LI_OFF, process_li_off},
{check_ign_on, EV_IGN_ON, process_ign_on},
{check_ign_off, EV_IGN_OFF, process_ign_off},
{check_alarm_on, EV_ALARM_ON, process_alarm_on},
{check_alarm_off, EV_ALARM_OFF, process_alarm_off},
{check_brake_on, EV_BRAKE_ON, process_brake_on},
{check_brake_off, EV_BRAKE_OFF, process_brake_off},
{check_pilot_on, EV_PILOT_ON, process_pilot_on},
{check_pilot_off, EV_PILOT_OFF, process_pilot_off},
{check_light_on, EV_LIGHT_ON, process_light_on},
{check_light_off, EV_LIGHT_OFF, process_light_off},
{check_battery_read, EV_READ_BATT, process_battery},
{check_warning_on, EV_WARNING_ON, process_warning_on},
{check_warning_off, EV_WARNING_OFF, process_warning_off},
{check_backpedal_on, EV_BACKPEDAL, process_backpedal}
};
static uint16_t get_substate(uint16_t st) {
return (g_state & st);
}
static void set_substate(uint16_t st) {
g_state |= st;
}
static void remove_substate(uint16_t st) {
g_state &= ~st;
}
// Gets called from the main loop, reads all senses and puts them in the event queue.
// The complete queue is handled (emptied) in each main loop iteration in a FIFO way, so better
// put the higher priority events at the top, i.e. claxon sound is more important then indicator light.
static void dispatch_events() {
check_brake();
check_claxon();
check_ri();
check_li();
check_light();
check_pilot();
check_ign();
check_settle();
check_sound();
check_alarm();
check_alarm_settle();
check_alarm_trigger();
check_battery();
check_warning();
check_sleep();
if (g_settings.backpedal) {
check_backpedal();
}
}
uint8_t check_battery_read() {
return ((g_state & ~(ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_SLEEP)) == g_state);
}
uint8_t check_ri_on() {
return (((g_state & (ST_NORMAL | ST_RI | ST_CLAXON | ST_BRAKE | ST_LIGHT | ST_PILOT)) == g_state) &&
((g_state & ~(ST_LI | ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_WARNING | ST_SLEEP)) == g_state));
}
uint8_t check_li_on() {
return (((g_state & (ST_NORMAL | ST_LI | ST_CLAXON | ST_BRAKE | ST_LIGHT | ST_PILOT)) == g_state) &&
((g_state & ~(ST_RI | ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_WARNING | ST_SLEEP)) == g_state));
}
uint8_t check_brake_on() {
return (((g_state & (ST_NORMAL | ST_RI | ST_LI | ST_CLAXON | ST_LIGHT | ST_PILOT | ST_WARNING)) == g_state) &&
((g_state & ~(ST_BRAKE | ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_SLEEP)) == g_state));
}
uint8_t check_warning_on() {
// warning blinks override RI/LI
return (((g_state & (ST_NORMAL | ST_WARNING | ST_RI | ST_LI | ST_CLAXON | ST_LIGHT | ST_PILOT | ST_BRAKE )) == g_state) &&
((g_state & ~(ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_SLEEP)) == g_state));
}
uint8_t check_pilot_on() {
return (((g_state & (ST_NORMAL | ST_RI | ST_LI | ST_CLAXON | ST_LIGHT | ST_BRAKE | ST_WARNING)) == g_state) &&
((g_state & ~(ST_PILOT | ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_SLEEP)) == g_state));
}
uint8_t check_light_on() {
return (((g_state & (ST_NORMAL | ST_RI | ST_LI | ST_CLAXON | ST_PILOT | ST_BRAKE | ST_WARNING)) == g_state) &&
((g_state & ~(ST_LIGHT | ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_SLEEP)) == g_state));
}
uint8_t check_backpedal_on() {
return (((g_state & (ST_NORMAL | ST_LIGHT | ST_CLAXON | ST_PILOT | ST_BRAKE )) == g_state) &&
((g_state & ~(ST_WARNING | ST_RI | ST_LI | ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_SLEEP)) == g_state));
}
uint8_t check_claxon_on() {
return (((g_state & (ST_NORMAL | ST_RI | ST_LI | ST_BRAKE | ST_LIGHT | ST_PILOT | ST_WARNING)) == g_state) &&
((g_state & ~(ST_CLAXON | ST_ALARM | ST_ALARM_SETTLE | ST_SETTLE | ST_SLEEP)) == g_state));
}
uint8_t check_ign_on() {
return ((g_state & (ST_SLEEP | ST_ALARM_SETTLE | ST_ALARM)) == g_state);
}
uint8_t check_alarm_on() {
//BUG: change this..
return ((g_state & ST_SLEEP) == g_state);
}
uint8_t check_ri_off() {
return ((ST_RI & g_state) == ST_RI);
}
uint8_t check_li_off() {
return ((ST_LI & g_state) == ST_LI);
}
uint8_t check_claxon_off() {
return ((ST_CLAXON & g_state) == ST_CLAXON);
}
uint8_t check_pilot_off() {
return ((ST_PILOT & g_state) == ST_PILOT);
}
uint8_t check_brake_off() {
return ((ST_BRAKE & g_state) == ST_BRAKE);
}
uint8_t check_warning_off() {
return ((ST_WARNING & g_state) == ST_WARNING);
}
uint8_t check_light_off() {
return ((ST_LIGHT & g_state) == ST_LIGHT);
}
uint8_t check_ign_off() {
return ((g_state & ~(ST_SLEEP | ST_ALARM | ST_ALARM_SETTLE)) == g_state);
}
uint8_t check_alarm_off() {
// alarm can't be switched off in alarm state, only explicitly in alarm_settle mode
// or automatically when ignition is switched on
return ((g_state & (ST_ALARM_SETTLE)) == g_state);
}
void check_ri() {
// pin senses
if ((g_senses & FLAG_SENSE_LIGHT_RI) == FLAG_SENSE_LIGHT_RI) {
if (~STATUS_C90_SENSE_LIGHT_RI) { // low, RI on
set_event(EV_RI_ON);
}
if (STATUS_C90_SENSE_LIGHT_RI) { // RI off
set_event(EV_RI_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_LIGHT_RI) == FLAG_SENSE_LIGHT_RI) {
if ((g_dyn_senses_status & FLAG_SENSE_LIGHT_RI) == FLAG_SENSE_LIGHT_RI) { // high, RI off
set_event(EV_RI_OFF);
} else {
set_event(EV_RI_ON); // RI on
}
}
}
void check_li() {
// pin senses
if ((g_senses & FLAG_SENSE_LIGHT_LI) == FLAG_SENSE_LIGHT_LI) {
if (~STATUS_C90_SENSE_LIGHT_LI) { // low, LI on
set_event(EV_LI_ON);
}
if (STATUS_C90_SENSE_LIGHT_LI) { // LI off
set_event(EV_LI_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_LIGHT_LI) == FLAG_SENSE_LIGHT_LI) {
if ((g_dyn_senses_status & FLAG_SENSE_LIGHT_LI) == FLAG_SENSE_LIGHT_LI) { // high, LI off
set_event(EV_LI_OFF);
} else {
set_event(EV_LI_ON); // LI on
}
}
}
void check_claxon() {
// pin senses
if ((g_senses & FLAG_SENSE_CLAXON) == FLAG_SENSE_CLAXON) {
if (~STATUS_C90_SENSE_CLAXON) {
set_event(EV_CLAXON_ON);
}
if (STATUS_C90_SENSE_CLAXON) {
set_event(EV_CLAXON_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_CLAXON) == FLAG_SENSE_CLAXON) {
if ((g_dyn_senses_status & FLAG_SENSE_CLAXON) == FLAG_SENSE_CLAXON) {
set_event(EV_CLAXON_OFF);
} else {
set_event(EV_CLAXON_ON);
}
}
}
void check_pilot() {
// pin senses
if ((g_senses & FLAG_SENSE_PILOT) == FLAG_SENSE_PILOT) {
if (~STATUS_C90_SENSE_PILOT) {
set_event(EV_PILOT_ON);
}
if (STATUS_C90_SENSE_PILOT) {
set_event(EV_PILOT_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_PILOT) == FLAG_SENSE_PILOT) {
if ((g_dyn_senses_status & FLAG_SENSE_PILOT) == FLAG_SENSE_PILOT) {
set_event(EV_PILOT_OFF);
} else {
set_event(EV_PILOT_ON);
}
}
}
void check_light() {
// pin senses
if ((g_senses & FLAG_SENSE_LIGHT) == FLAG_SENSE_LIGHT) {
if (~STATUS_C90_SENSE_LIGHT) {
set_event(EV_LIGHT_ON);
}
if (STATUS_C90_SENSE_LIGHT) {
set_event(EV_LIGHT_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_LIGHT) == FLAG_SENSE_LIGHT) {
if ((g_dyn_senses_status & FLAG_SENSE_LIGHT) == FLAG_SENSE_LIGHT) {
set_event(EV_LIGHT_OFF);
} else {
set_event(EV_LIGHT_ON);
}
}
}
void check_brake() {
// pin senses
if ((g_senses & FLAG_SENSE_BRAKE) == FLAG_SENSE_BRAKE) {
if (~STATUS_C90_SENSE_BRAKE) {
set_event(EV_BRAKE_ON);
}
if (STATUS_C90_SENSE_BRAKE) {
set_event(EV_BRAKE_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_BRAKE) == FLAG_SENSE_BRAKE) {
if ((g_dyn_senses_status & FLAG_SENSE_BRAKE) == FLAG_SENSE_BRAKE) {
set_event(EV_BRAKE_OFF);
} else {
set_event(EV_BRAKE_ON);
}
}
}
void check_ign() {
// pin senses
if ((g_senses & FLAG_SENSE_IGN) == FLAG_SENSE_IGN) {
if (~STATUS_C90_SENSE_IGN) {
set_event(EV_IGN_ON);
}
if (STATUS_C90_SENSE_IGN) {
set_event(EV_IGN_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_IGN) == FLAG_SENSE_IGN) {
if ((g_dyn_senses_status & FLAG_SENSE_IGN) == FLAG_SENSE_IGN) {
set_event(EV_IGN_OFF);
} else {
set_event(EV_IGN_ON);
}
}
}
void check_alarm() {
// pin senses
if ((g_senses & FLAG_SENSE_ALARM) == FLAG_SENSE_ALARM) {
if (~STATUS_C90_SENSE_ALARM) {
set_event(EV_ALARM_ON);
}
if (STATUS_C90_SENSE_ALARM) {
set_event(EV_ALARM_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_ALARM) == FLAG_SENSE_ALARM) {
if ((g_dyn_senses_status & FLAG_SENSE_ALARM) == FLAG_SENSE_ALARM) {
set_event(EV_ALARM_OFF);
} else {
set_event(EV_ALARM_ON);
}
}
}
void check_battery() {
if (check_battery_read()) {
set_event(EV_READ_BATT);
}
}
void check_sleep() {
if (g_state == ST_SLEEP) {
if (g_sleep_counter == 0) {
sleep_now();
}
} else {
// TODO: why set this repeatable?
g_sleep_counter = g_settings.deep_sleep_counter;
}
}
void check_backpedal() {
if (check_backpedal_on()) {
set_event(EV_BACKPEDAL);
}
}
void check_warning() {
// pin senses
if ((g_senses & FLAG_SENSE_WARNING) == FLAG_SENSE_WARNING) {
if (~STATUS_C90_SENSE_WARNING) {
set_event(EV_WARNING_ON);
}
if (STATUS_C90_SENSE_WARNING) {
set_event(EV_WARNING_OFF);
}
}
// dynamic senses
if ((g_dyn_senses & FLAG_SENSE_WARNING) == FLAG_SENSE_WARNING) {
if ((g_dyn_senses_status & FLAG_SENSE_WARNING) == FLAG_SENSE_WARNING) {
set_event(EV_WARNING_OFF);
} else {
set_event(EV_WARNING_ON);
}
}
}
void check_settle() {
if (g_state == ST_SETTLE) {
if (!FLAG_SETTLE) { // first time in settle mode
uint8_t song_idx = g_settings.startup_sound;
FLAG_SETTLE = 1;
// activate all lights
PORT_C90_LIGHT_INDICATOR_COCKPIT |= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
PORT_C90_LIGHT_STATUS_COCKPIT |= (1 << PIN_C90_LIGHT_STATUS_COCKPIT);
PORT_C90_LIGHT_RI_F |= (1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B |= (1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F |= (1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B |= (1 << PIN_C90_LIGHT_LI_B);
PORT_C90_BRAKE |= (1 << PIN_C90_BRAKE);
PORT_C90_PILOT |= (1 << PIN_C90_PILOT);
PORT_C90_LIGHT |= (1 << PIN_C90_LIGHT);
PORT_C90_CLAXON &= ~(1 << PIN_C90_CLAXON); // silence a possible claxon from the alarm
// check voltage and activate according sound
g_music_duration = 0;
// check for random startup song
if (song_idx == 0) {
srand(g_adc_voltage[0] + g_adc_voltage[1] + g_adc_voltage[2] + g_adc_voltage[3]); // kinda random seed
song_idx = 2 + (uint8_t)(rand() / (RAND_MAX / 5));
}
g_current_music = (uint16_t*)pgm_read_word(&g_music[song_idx-1]);
g_selected_music = (uint16_t*)pgm_read_word(&g_music[song_idx-1]);
FLAG_MUSIC = 1;
g_current_settle_time = g_settings.settle_time;
}
if (!g_current_settle_time) { // settle time is over
FLAG_SETTLE = 0; // reset settle
g_state = ST_NORMAL;
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
PORT_C90_LIGHT_STATUS_COCKPIT &= ~(1 << PIN_C90_LIGHT_STATUS_COCKPIT);
PORT_C90_LIGHT_RI_F &= ~(1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B &= ~(1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F &= ~(1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B &= ~(1 << PIN_C90_LIGHT_LI_B);
PORT_C90_CLAXON &= ~(1 << PIN_C90_CLAXON);
PORT_C90_BRAKE &= ~(1 << PIN_C90_BRAKE);
PORT_C90_PILOT &= ~(1 << PIN_C90_PILOT);
PORT_C90_LIGHT &= ~(1 << PIN_C90_LIGHT);
}
}
}
void check_alarm_settle() {
if (g_state == ST_ALARM_SETTLE) {
if (!FLAG_ALARM_SETTLE) { // first time in alarm settle mode
uint8_t song_idx = g_settings.alarm_sound;
// check for random startup song
if (song_idx == 0) {
srand(g_adc_voltage[0] + g_adc_voltage[1] + g_adc_voltage[2] + g_adc_voltage[3]); // kinda random seed
song_idx = 1 + (uint8_t)(rand() / (RAND_MAX / 6));
}
FLAG_ALARM_SETTLE = 1;
// activate indicators
PORT_C90_LIGHT_INDICATOR_COCKPIT |= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
PORT_C90_LIGHT_RI_F |= (1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B |= (1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F |= (1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B |= (1 << PIN_C90_LIGHT_LI_B);
g_music_duration = 0;
g_current_music = (uint16_t*)pgm_read_word(&g_music[song_idx-1]);
g_selected_music = (uint16_t*)pgm_read_word(&g_music[song_idx-1]);
FLAG_MUSIC = 1;
g_current_alarm_settle_time = g_settings.alarm_settle_time;
g_alarm_snapshot[0] = 0;
g_alarm_snapshot[1] = 0;
g_alarm_snapshot[2] = 0;
}
// save the AVERAGE accelerometer values as the alarm trigger reference during the settlement
if (g_alarm_snapshot[0]) {
g_alarm_snapshot[0] = ((g_alarm_snapshot[0] + g_adc_voltage[1])/2);
} else {
g_alarm_snapshot[0] = g_adc_voltage[1];
}
if (g_alarm_snapshot[1]) {
g_alarm_snapshot[1] = ((g_alarm_snapshot[1] + g_adc_voltage[2])/2);
} else {
g_alarm_snapshot[1] = g_adc_voltage[2];
}
if (g_alarm_snapshot[2]) {
g_alarm_snapshot[2] = ((g_alarm_snapshot[2] + g_adc_voltage[3])/2);
} else {
g_alarm_snapshot[2] = g_adc_voltage[3];
}
// alarm settle time is over: only start alarm with valid accelerometer voltages
if ((!g_current_alarm_settle_time) && ((g_alarm_snapshot[0] > g_settings.alarm_thres_min) && (g_alarm_snapshot[0] < g_settings.alarm_thres_max)) &&
((g_alarm_snapshot[1] > g_settings.alarm_thres_min) && (g_alarm_snapshot[1] < g_settings.alarm_thres_max)) &&
((g_alarm_snapshot[2] > g_settings.alarm_thres_min) && (g_alarm_snapshot[2] < g_settings.alarm_thres_max))) {
// prepare for alarm mode
FLAG_ALARM_SETTLE = 0;
all_lights_off();
g_alarm_counter = g_settings.alarm_counter;
g_trigger_counter = 0;
g_state = ST_ALARM;
}
}
}
// triggers alarm if movement (voltage change) is high enough
// 1.5g setting: Sensitivity: 800 mV/g -1g = 850mV 0g = 1650mV 1g = 2450mV
// 1 degree tilt is about 9mv, so by default: if the voltage differs 90mv (~10 degrees), for a certain period, the alarm will trigger
void check_alarm_trigger() {
if (g_state == ST_ALARM) {
if (FLAG_ALARM_TRIGGER) {
if (FLAG_ALARM_BLINK) {
FLAG_ALARM_BLINK = 0;
PORT_C90_LIGHT_RI_F ^= (1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B ^= (1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F ^= (1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B ^= (1 << PIN_C90_LIGHT_LI_B);
PORT_C90_LIGHT_INDICATOR_COCKPIT ^= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
PORT_C90_CLAXON ^= (1 << PIN_C90_CLAXON);
g_alarm_counter--;
if (!g_alarm_counter) {
all_lights_off();
FLAG_ALARM_TRIGGER = 0; // reset alarm trigger
g_state = ST_ALARM_SETTLE; // go back to new alarm settle mode
FLAG_ALARM_SETTLE = 0; // reset alarm settle
}
}
} else if (FLAG_ALARM_BLINK) {
FLAG_ALARM_BLINK = 0;
if (g_alarm_blink_counter % 4 == 0) { // blink for 1 tick every timer1 4 counts
PORT_C90_LIGHT_INDICATOR_COCKPIT |= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
} else {
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
}
if ((abs(g_adc_voltage[1] - g_alarm_snapshot[0]) > g_settings.alarm_trigger) ||
(abs(g_adc_voltage[2] - g_alarm_snapshot[1]) > g_settings.alarm_trigger) ||
(abs(g_adc_voltage[3] - g_alarm_snapshot[2]) > g_settings.alarm_trigger)) {
g_trigger_counter++;
if (g_trigger_counter >= g_settings.alarm_trigger_counter) {
FLAG_ALARM_TRIGGER = 1;
}
}
}
}
}
uint8_t get_event() {
uint8_t ev;
if (g_buffer_tail != g_buffer_head) { // not empty
ev = g_event_buffer[g_buffer_tail];
g_buffer_tail++;
if (g_buffer_tail >= C90_EVENT_BUFFER_SIZE) {
g_buffer_tail = 0;
}
return ev;
} else {
return EV_VOID; // just keep returning a void event
}
}
void set_event(uint8_t ev) {
g_event_buffer[g_buffer_head] = ev; // insert event at head position
g_buffer_head++; // advance head
if (g_buffer_head >= C90_EVENT_BUFFER_SIZE) {
g_buffer_head = 0; // cycle back to start
}
if (g_buffer_head == g_buffer_tail) {
g_buffer_tail++; // also move tail, basically destroying an event to make space
}
if (g_buffer_tail >= C90_EVENT_BUFFER_SIZE) {
g_buffer_tail = 0; // cycle back to start
}
}
void process_ri_off() {
if (FLAG_DEBOUNCE_RI) { // check for 3 positives based on 5ms timer
g_ri_debounce = (g_ri_debounce << 1);
FLAG_DEBOUNCE_RI = 0; // reset to wait for next timer event
if (((g_ri_debounce & 0b00000111) << 5) == 0) {
remove_substate(ST_RI); // debouncing done, remove state
// disable indicators
PORT_C90_LIGHT_RI_F &= ~(1 << PIN_C90_LIGHT_RI_F); // front
PORT_C90_LIGHT_RI_B &= ~(1 << PIN_C90_LIGHT_RI_B); // rear
if (g_settings.indicator_sound) {
PORT_C90_BUZZER &= ~(1 << PIN_C90_BUZZER);
}
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT); // cockpit
}
}
}
void process_ri_on() {
if (FLAG_DEBOUNCE_RI) { // check for 3 positives based on 5ms timer
g_ri_debounce = (g_ri_debounce << 1) | 0x01;
FLAG_DEBOUNCE_RI = 0; // reset to wait for next timer event
if (((g_ri_debounce & 0b00000111) == 0b00000111) && (FLAG_BLINK_RI)) { // blink indicators
PORT_C90_LIGHT_RI_F ^= (1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B ^= (1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_INDICATOR_COCKPIT ^= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
if (g_settings.indicator_sound) {
PORT_C90_BUZZER ^= (1 << PIN_C90_BUZZER);
}
FLAG_BLINK_RI = 0; // reset to wait for next timer event
if (!get_substate(ST_RI)) { // first time to blink
TCNT1 = 0; // set 0.5 sec timer counter explicitly to 0, so the first blink happens exactly 0.5 secs later
set_substate(ST_RI);
}
}
}
}
void process_li_off() {
if (FLAG_DEBOUNCE_LI) { // check for 3 positives based on 5ms timer
g_li_debounce = (g_li_debounce << 1);
FLAG_DEBOUNCE_LI = 0; // reset to wait for next timer event
if (((g_li_debounce & 0b00000111) << 5) == 0) {
remove_substate(ST_LI); // debouncing done, remove state
// disable indicators
PORT_C90_LIGHT_LI_F &= ~(1 << PIN_C90_LIGHT_LI_F); // front
PORT_C90_LIGHT_LI_B &= ~(1 << PIN_C90_LIGHT_LI_B); // rear
if (g_settings.indicator_sound) {
PORT_C90_BUZZER &= ~(1 << PIN_C90_BUZZER);
}
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT); // cockpit
}
}
}
void process_li_on() {
if (FLAG_DEBOUNCE_LI) { // check for 3 positives based on 5ms timer
g_li_debounce = (g_li_debounce << 1) | 0x01;
FLAG_DEBOUNCE_LI = 0; // reset to wait for next timer event
if (((g_li_debounce & 0b00000111) == 0b00000111) && (FLAG_BLINK_LI)) { // blink indicators
PORT_C90_LIGHT_LI_F ^= (1 << PIN_C90_LIGHT_LI_F); // front
PORT_C90_LIGHT_LI_B ^= (1 << PIN_C90_LIGHT_LI_B); // rear
PORT_C90_LIGHT_INDICATOR_COCKPIT ^= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT); // cockpit
if (g_settings.indicator_sound) {
PORT_C90_BUZZER ^= (1 << PIN_C90_BUZZER);
}
FLAG_BLINK_LI = 0; // reset to wait for next timer event
if (!get_substate(ST_LI)) { // first time to blink
TCNT1 = 0; // set 0.5 sec timer counter explicitly to 0, so the first blink happens exactly 0.5 secs later
set_substate(ST_LI);
}
}
}
}
void process_claxon_on() {
if (FLAG_DEBOUNCE_CLAXON) { // check for 3 positives based on 5ms timer
g_claxon_debounce = (g_claxon_debounce << 1) | 0x01;
FLAG_DEBOUNCE_CLAXON = 0; // reset to wait for next timer event
if ((g_claxon_debounce & 0b00000111) == 0b00000111) { // start claxon
PORT_C90_CLAXON |= (1 << PIN_C90_CLAXON);
if (!get_substate(ST_CLAXON)) {
set_substate(ST_CLAXON);
}
}
}
}
void process_claxon_off() {
if (FLAG_DEBOUNCE_CLAXON) { // check for 3 positives based on 5ms timer
g_claxon_debounce = (g_claxon_debounce << 1);
FLAG_DEBOUNCE_CLAXON = 0; // reset to wait for next timer event
if (((g_claxon_debounce & 0b00000111) << 5) == 0) {
remove_substate(ST_CLAXON); // debouncing done, remove state
PORT_C90_CLAXON &= ~(1 << PIN_C90_CLAXON);
}
}
}
void process_warning_on() {
if (FLAG_DEBOUNCE_WARNING) { // check for 3 positives based on 5ms timer
g_warning_debounce = (g_warning_debounce << 1) | 0x01;
FLAG_DEBOUNCE_WARNING = 0; // reset to wait for next timer event
if (((g_warning_debounce & 0b00000111) == 0b00000111) && (FLAG_BLINK_WARNING)) { // blink indicators
PORT_C90_LIGHT_RI_F ^= (1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B ^= (1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F ^= (1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B ^= (1 << PIN_C90_LIGHT_LI_B);
PORT_C90_LIGHT_INDICATOR_COCKPIT ^= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
if (g_settings.indicator_sound) {
PORT_C90_BUZZER ^= (1 << PIN_C90_BUZZER);
}
FLAG_BLINK_WARNING = 0; // reset to wait for next timer event
if (!get_substate(ST_WARNING)) { // first time to blink
TCNT1 = 0; // set 0.5 sec timer counter explicitly to 0, so the first blink happens exactly 0.5 secs later
// initial ON for indicators to prevent a RI/LI ON messing with the synchronization, i.e. warning lights override indicator switches
PORT_C90_LIGHT_RI_F |= (1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B |= (1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F |= (1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B |= (1 << PIN_C90_LIGHT_LI_B);
PORT_C90_LIGHT_INDICATOR_COCKPIT |= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
set_substate(ST_WARNING);
}
}
}
}
void process_warning_off() {
if (FLAG_DEBOUNCE_WARNING) { // check for 3 positives based on 5ms timer
g_warning_debounce = (g_warning_debounce << 1);
FLAG_DEBOUNCE_WARNING = 0; // reset to wait for next timer event
if (((g_warning_debounce & 0b00000111) << 5) == 0) {
remove_substate(ST_WARNING); // debouncing done, remove state
// disable indicators
PORT_C90_LIGHT_LI_F &= ~(1 << PIN_C90_LIGHT_LI_F); // front
PORT_C90_LIGHT_LI_B &= ~(1 << PIN_C90_LIGHT_LI_B); // rear
PORT_C90_LIGHT_RI_F &= ~(1 << PIN_C90_LIGHT_RI_F); // front
PORT_C90_LIGHT_RI_B &= ~(1 << PIN_C90_LIGHT_RI_B); // rear
if (g_settings.indicator_sound) {
PORT_C90_BUZZER &= ~(1 << PIN_C90_BUZZER);
}
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT); // cockpit
}
}
}
// check for an acceleration of 25cm/s, 20mV change in the negative Y-axis
void process_backpedal() {
if (FLAG_READ_BACKPEDAL) {
FLAG_READ_BACKPEDAL = 0; // reset to wait for next timer event
if ((g_adc_voltage[2] < g_settings.backpedal_thres_min) && FLAG_BLINK_BACKPEDAL) {
FLAG_BACKPEDAL = 1;
PORT_C90_LIGHT_RI_F ^= (1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B ^= (1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F ^= (1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B ^= (1 << PIN_C90_LIGHT_LI_B);
PORT_C90_LIGHT_INDICATOR_COCKPIT ^= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
if (g_settings.indicator_sound) {
PORT_C90_BUZZER ^= (1 << PIN_C90_BUZZER);
}
FLAG_BLINK_BACKPEDAL = 0;
} else if ((g_adc_voltage[2] >= g_settings.backpedal_thres_min) && FLAG_BACKPEDAL && FLAG_BLINK_BACKPEDAL) {
FLAG_BACKPEDAL = 0;
PORT_C90_LIGHT_LI_F &= ~(1 << PIN_C90_LIGHT_LI_F); // front
PORT_C90_LIGHT_LI_B &= ~(1 << PIN_C90_LIGHT_LI_B); // rear
PORT_C90_LIGHT_RI_F &= ~(1 << PIN_C90_LIGHT_RI_F); // front
PORT_C90_LIGHT_RI_B &= ~(1 << PIN_C90_LIGHT_RI_B); // rear
if (g_settings.indicator_sound) {
PORT_C90_BUZZER &= ~(1 << PIN_C90_BUZZER);
}
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT); // cockpit
}
}
}
void process_ign_on() {
if (FLAG_DEBOUNCE_IGN) { // check for 3 positives based on 5ms timer
g_ign_debounce= (g_ign_debounce << 1) | 0x01;
FLAG_DEBOUNCE_IGN = 0; // reset to wait for next timer event
if ((g_ign_debounce & 0b00000111) == 0b00000111) {
g_state = ST_SETTLE;
}
}
}
void process_ign_off() {
if (FLAG_DEBOUNCE_IGN) { // check for 3 positives based on 5ms timer
g_ign_debounce = (g_ign_debounce << 1);
FLAG_DEBOUNCE_IGN = 0; // reset to wait for next timer event
if (((g_ign_debounce & 0b00000111) << 5) == 0) {
all_lights_off();
PORT_C90_BUZZER &= ~(1 << PIN_C90_BUZZER); // buzzer off
FLAG_SETTLE = 0; // reset settle
g_state = ST_SLEEP;
}
}
}
void process_brake_on() {
if (FLAG_DEBOUNCE_BRAKE) { // check for 3 positives based on 5ms timer
g_brake_debounce = (g_brake_debounce << 1) | 0x01;
FLAG_DEBOUNCE_BRAKE = 0; // reset to wait for next timer event
if ((g_brake_debounce & 0b00000111) == 0b00000111) { // start brake
PORT_C90_BRAKE |= (1 << PIN_C90_BRAKE);
if (!get_substate(ST_BRAKE)) {
set_substate(ST_BRAKE);
}
}
}
}
void process_brake_off() {
if (FLAG_DEBOUNCE_BRAKE) { // check for 3 positives based on 5ms timer
g_brake_debounce = (g_brake_debounce << 1);
FLAG_DEBOUNCE_BRAKE = 0; // reset to wait for next timer event
if (((g_brake_debounce & 0b00000111) << 5) == 0) {
remove_substate(ST_BRAKE); // debouncing done, remove state
PORT_C90_BRAKE &= ~(1 << PIN_C90_BRAKE); // disable brake
}
}
}
void process_pilot_on() {
if (FLAG_DEBOUNCE_PILOT) { // check for 3 positives based on 5ms timer
g_pilot_debounce = (g_pilot_debounce << 1) | 0x01;
FLAG_DEBOUNCE_PILOT = 0; // reset to wait for next timer event
if ((g_pilot_debounce & 0b00000111) == 0b00000111) { // start pilot
PORT_C90_PILOT |= (1 << PIN_C90_PILOT);
if (!get_substate(ST_PILOT)) {
set_substate(ST_PILOT);
}
}
}
}
void process_pilot_off() {
if (FLAG_DEBOUNCE_PILOT) { // check for 3 positives based on 5ms timer
g_pilot_debounce = (g_pilot_debounce << 1);
FLAG_DEBOUNCE_PILOT = 0; // reset to wait for next timer event
if (((g_pilot_debounce & 0b00000111) << 5) == 0) {
remove_substate(ST_PILOT); // debouncing done, remove state
PORT_C90_PILOT &= ~(1 << PIN_C90_PILOT); // disable pilot
}
}
}
void process_light_on() {
if (FLAG_DEBOUNCE_LIGHT) { // check for 3 positives based on 5ms timer
g_light_debounce = (g_light_debounce << 1) | 0x01;
FLAG_DEBOUNCE_LIGHT = 0; // reset to wait for next timer event
if ((g_light_debounce & 0b00000111) == 0b00000111) { // start light
PORT_C90_LIGHT |= (1 << PIN_C90_LIGHT);
if (!get_substate(ST_LIGHT)) {
set_substate(ST_LIGHT);
}
}
}
}
void process_light_off() {
if (FLAG_DEBOUNCE_LIGHT) { // check for 3 positives based on 5ms timer
g_light_debounce = (g_light_debounce << 1);
FLAG_DEBOUNCE_LIGHT = 0; // reset to wait for next timer event
if (((g_light_debounce & 0b00000111) << 5) == 0) {
remove_substate(ST_LIGHT); // debouncing done, remove state
PORT_C90_LIGHT &= ~(1 << PIN_C90_LIGHT); // disable light
}
}
}
void process_alarm_off() {
if (FLAG_DEBOUNCE_ALARM) { // check for 3 positives based on 5ms timer
g_alarm_debounce = (g_alarm_debounce << 1);
FLAG_DEBOUNCE_ALARM = 0; // reset to wait for next timer event
if (((g_alarm_debounce & 0b00000111) << 5) == 0) {
all_lights_off();
FLAG_ALARM_SETTLE = 0; // reset alarm settle
g_state = ST_SLEEP;
}
}
}
void process_alarm_on() {
if (FLAG_DEBOUNCE_ALARM) { // check for 3 positives based on 5ms timer
g_alarm_debounce = (g_alarm_debounce << 1) | 0x01;
FLAG_DEBOUNCE_ALARM = 0; // reset to wait for next timer event
if ((g_alarm_debounce & 0b00000111) == 0b00000111) { // start alarm
FLAG_ALARM_SETTLE = 0; // reset alarm settle
g_state = ST_ALARM_SETTLE;
}
}
}
// check if battery voltage is OK: between 12.0 and 16.0 volts
// Vref = 5v, if Vref isnt exactly 5.00v, but a bit off, tweak C90_OFFSET_ADC_READING
// for 12v battery readout: my voltage divider ratio: 2.2K - 1K
// Vmeasure: 0.3125 * Vbat
// 10bit ADCvalue (0-1023): Vmeasure/(5/1024)
// Vbat: (ADCvalue*(5/1024))/(0.3125)
void process_battery() {
if (FLAG_READ_BATT) {
if (g_adc_voltage[0] < 768) { // battery too low
// slow blink cockpit status led
if (g_battery_blink_counter % 100 == 0) {
PORT_C90_LIGHT_STATUS_COCKPIT ^= (1 << PIN_C90_LIGHT_STATUS_COCKPIT);
}
} else if (g_adc_voltage[0] > 1000) { // battery too high
// fast blink cockpit status led
if (g_battery_blink_counter % 50 == 0) {
PORT_C90_LIGHT_STATUS_COCKPIT ^= (1 << PIN_C90_LIGHT_STATUS_COCKPIT);
}
} else { // battery Ok
PORT_C90_LIGHT_STATUS_COCKPIT |= (1 << PIN_C90_LIGHT_STATUS_COCKPIT);
}
FLAG_READ_BATT = 0;
}
}
// all lighting pins go low
void all_lights_off() {
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
PORT_C90_LIGHT_STATUS_COCKPIT &= ~(1 << PIN_C90_LIGHT_STATUS_COCKPIT);
PORT_C90_LIGHT_RI_F &= ~(1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B &= ~(1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F &= ~(1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B &= ~(1 << PIN_C90_LIGHT_LI_B);
PORT_C90_BRAKE &= ~(1 << PIN_C90_BRAKE);
PORT_C90_PILOT &= ~(1 << PIN_C90_PILOT);
PORT_C90_LIGHT &= ~(1 << PIN_C90_LIGHT);
PORT_C90_CLAXON &= ~(1 << PIN_C90_CLAXON); // claxon too
}
void reset_ports() {
// sense pins: as input, set high and activate internal pullups
DDR_C90_SENSE_LIGHT_RI &= ~(1 << PIN_C90_SENSE_LIGHT_RI);
PORT_C90_SENSE_LIGHT_RI |= (1 << PIN_C90_SENSE_LIGHT_RI);
DDR_C90_SENSE_LIGHT_LI &= ~(1 << PIN_C90_SENSE_LIGHT_LI);
PORT_C90_SENSE_LIGHT_LI |= (1 << PIN_C90_SENSE_LIGHT_LI);
DDR_C90_SENSE_CLAXON &= ~(1 << PIN_C90_SENSE_CLAXON);
PORT_C90_SENSE_CLAXON |= (1 << PIN_C90_SENSE_CLAXON);
DDR_C90_SENSE_BRAKE &= ~(1 << PIN_C90_SENSE_BRAKE);
PORT_C90_SENSE_BRAKE |= (1 << PIN_C90_SENSE_BRAKE);
DDR_C90_SENSE_PILOT &= ~(1 << PIN_C90_SENSE_PILOT);
PORT_C90_SENSE_PILOT |= (1 << PIN_C90_SENSE_PILOT);
DDR_C90_SENSE_ALARM &= ~(1 << PIN_C90_SENSE_ALARM);
PORT_C90_SENSE_ALARM |= (1 << PIN_C90_SENSE_ALARM);
DDR_C90_SENSE_LIGHT &= ~(1 << PIN_C90_SENSE_LIGHT);
PORT_C90_SENSE_LIGHT |= (1 << PIN_C90_SENSE_LIGHT);
DDR_C90_SENSE_IGN &= ~(1 << PIN_C90_SENSE_IGN);
PORT_C90_SENSE_IGN |= (1 << PIN_C90_SENSE_IGN);
DDR_C90_SENSE_WARNING &= ~(1 << PIN_C90_SENSE_WARNING);
PORT_C90_SENSE_WARNING |= (1 << PIN_C90_SENSE_WARNING);
DDR_C90_SENSE_RESERVE &= ~(1 << PIN_C90_SENSE_RESERVE);
PORT_C90_SENSE_RESERVE |= (1 << PIN_C90_SENSE_RESERVE);
// relay pins: as output, set low at start
// outputs
DDR_C90_LIGHT_INDICATOR_COCKPIT |= (1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
DDR_C90_LIGHT_STATUS_COCKPIT |= (1 << PIN_C90_LIGHT_STATUS_COCKPIT);
DDR_C90_LIGHT_RI_F |= (1 << PIN_C90_LIGHT_RI_F);
DDR_C90_LIGHT_RI_B |= (1 << PIN_C90_LIGHT_RI_B);
DDR_C90_LIGHT_LI_F |= (1 << PIN_C90_LIGHT_LI_F);
DDR_C90_LIGHT_LI_B |= (1 << PIN_C90_LIGHT_LI_B);
DDR_C90_CLAXON |= (1 << PIN_C90_CLAXON);
DDR_C90_BRAKE |= (1 << PIN_C90_BRAKE);
DDR_C90_PILOT |= (1 << PIN_C90_PILOT);
DDR_C90_LIGHT |= (1 << PIN_C90_LIGHT);
// lows
PORT_C90_LIGHT_INDICATOR_COCKPIT &= ~(1 << PIN_C90_LIGHT_INDICATOR_COCKPIT);
PORT_C90_LIGHT_STATUS_COCKPIT &= ~(1 << PIN_C90_LIGHT_STATUS_COCKPIT);
PORT_C90_LIGHT_RI_F &= ~(1 << PIN_C90_LIGHT_RI_F);
PORT_C90_LIGHT_RI_B &= ~(1 << PIN_C90_LIGHT_RI_B);
PORT_C90_LIGHT_LI_F &= ~(1 << PIN_C90_LIGHT_LI_F);
PORT_C90_LIGHT_LI_B &= ~(1 << PIN_C90_LIGHT_LI_B);
PORT_C90_CLAXON &= ~(1 << PIN_C90_CLAXON);
PORT_C90_BRAKE &= ~(1 << PIN_C90_BRAKE);
PORT_C90_PILOT &= ~(1 << PIN_C90_PILOT);
PORT_C90_LIGHT &= ~(1 << PIN_C90_LIGHT);
// buzzer
DDR_C90_BUZZER |= (1 << PIN_C90_BUZZER); // output
PORT_C90_BUZZER &= ~(1 << PIN_C90_BUZZER); // low
// heart beat led
DDR_C90_HEARTBEAT_LED |= (1 << PIN_C90_HEARTBEAT_LED); // output
PORT_C90_HEARTBEAT_LED |= (1 << PIN_C90_HEARTBEAT_LED); // high
// activate all physical senses
enable_psenses();
}
void enable_psenses() {
g_senses = 0b11111111;
g_senses = ((g_senses << 8) | 0b11111111);
}
void disable_psenses() {
g_senses = 0;
}
// setup the ADC in free running mode, so we can select the read channels ourselves
void enable_adc() {
ADMUX = (ADMUX & 0xF8) | g_adc_read_pin; // clear the bottom 3 bits before setting new pin
ADMUX |= (1 << REFS0); // voltage reference = AVcc
DIDR0 = 0x0F; // disable digital inputs for ADC0-ADC3
ADCSRA |= (1 << ADEN); // enable ADC
ADCSRA |= (1 << ADPS2) | (1 << ADPS1 ) | (1 << ADPS0); // prescaler = 128
ADCSRA |= (1 << ADIE); // enable interrupt
ADCSRA |= (1 << ADSC); // start a conversion
}
void disable_adc() {
ADCSRA &= ~(1 << ADEN);
}
ISR(ADC_vect) {
// first read ADCL, then ADCH to keep it an atomic operation
g_adc_voltage[g_adc_read_pin] = ADCL;
g_adc_voltage[g_adc_read_pin] = (g_adc_voltage[g_adc_read_pin] | (ADCH << 8));
g_adc_voltage[g_adc_read_pin] += C90_OFFSET_ADC_READING;
g_adc_read_pin++;
if (g_adc_read_pin > 3) {
g_adc_read_pin = 0;
}
ADMUX = (ADMUX & 0xF8) | g_adc_read_pin;
ADCSRA |= (1 << ADSC); // start another conversion again
}
void start_sense_timer()
{
// Configure timer 0 (8-bit) for CTC mode (Clear on Timer Compare)
TCCR0B |= (1 << WGM02); // CTC Mode
TCCR0A |= (1 << WGM01) | (0 << WGM00); // CTC Mode
TCCR0B |= ((1 << CS00) | (1 << CS02)); // prescale 1024
TCCR0B &= ~(1 << CS01); // prescale 1024
TIMSK0 |= (1 << OCIE0A); // Enable CTC interrupt
OCR0A = 97; // Set CTC compare value, approx. 5 ms -> 200 times/sec
}