motorized_fader/src/main.c

#ifndef F_CPU
#define F_CPU 1200000UL
#endif

#include "main.h"
//#include "ADC.h"
#include <avr/eeprom.h>
#include <avr/interrupt.h>
#include <util/delay.h>

// These are only included during development for the LSP server.
// #include "iotn13.h"
// #include "iotn13a.h"

// #############################
// Globals
// #############################

/* This line isn't really quite right.*/
// uint8_t saved_position EEMEM;  // EEPROM storage for fader position

btn_state btn1;

/*Some variables for managing the debouncing*/
volatile uint8_t debounced_state;
volatile uint8_t db_state[MAX_CHECKS];
volatile uint8_t idx;

volatile uint16_t tick_count;

// #############################
// Prototypes
// #############################

static inline void InitTimer0(void);
static void InitBtn(btn_state *b, uint8_t input_pin);
static void ClearButtonTimer(btn_state *b);
static void StartButtonTimer(btn_state *b);
static void CheckButtonLongpress(btn_state *b);
static void UpdateButtonInput(btn_state *b);
static void UpdateButtonOutput(btn_state *b);

// #############################
// MAIN
// #############################

int main() {
  InitProg();

  while (1) {
    UpdateButtonOutput(&btn1);
    UpdateButtonInput(&btn1);
  }

  return 0;
}

// #############################
// FUNCTIONS
// #############################

void InitProg(void) {
  /*Set the debounced state to all high*/
  debounced_state = 0xFF;

  InitBtn(&btn1, BUTTON_PIN);

  /*Wait 5ms for pull-up resistors voltage to become stable.*/
  _delay_ms(5);

  /*check if the eeprom has info. */
  while (!eeprom_is_ready()) {
  } // Blocks until eeprom is ready.

  // Checks against a bit pattern we defined to represent the start of data.
  if (eeprom_read_byte((uint8_t *)ROM_SP_ADR) == START_PATTERN) {
    MotorMoveTo(eeprom_read_byte((uint8_t *)POSITION1_ADR));
  } else {
    // otherwise we write the init values for the start pattern and states.
    eeprom_write_byte((uint8_t *)ROM_SP_ADR, START_PATTERN);
    eeprom_write_byte((uint8_t *)POSITION1_ADR, 0x7F);
  }

  InitTimer0();
}

uint8_t ReadSpeed(void) {
  // Initialize ADC

  ADMUX = (0 << MUX1) | (1 << MUX0);                  // Select ADC1 (PB2)
  ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0); // Enable ADC, prescaler 8

  ADCSRA |= (1 << ADSC); // Start conversion
  while (ADCSRA & (1 << ADSC)) {
  } // Wait for conversion to finish

    //Normally a bitshift of 2 is done for 8bit ADC values,
    //however we want to divide by two after this as well so we
    //do a third shift followed by an addition of 127 to yield a mapping of
    //approximatly 50%-96.6% duty cycle range.
    uint8_t val = (uint8_t)(ADC >> 3) + 127;

  return val;
}

// change to ReadFader(void)
uint8_t ReadFader(void) {
    // Initialize ADC
  ADMUX = (1 << MUX1) | (1 << MUX0);                  // Select ADC3 (PB3)
  ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0); // Enable ADC, prescaler 8

  ADCSRA |= (1 << ADSC); // Start conversion
  while (ADCSRA & (1 << ADSC)) {
  } // Wait for conversion to finish
  return (uint8_t)(ADC >> 2);
}

/*
 * ############################
 * Motor methods
 * ############################
 */

static inline uint8_t diff(uint8_t a, uint8_t b) {
  if (a > b) {
    return a - b;
  }
  return b - a;
}

void MotorSetSavePos(uint8_t *ADR) {
  uint8_t pos = ReadFader();
  eeprom_write_byte((uint8_t *)ADR, pos);
  return;
}

uint8_t MotorGetSavedPos(uint8_t *ADR) {
  return (uint8_t)eeprom_read_byte((uint8_t *)ADR);
}

void MotorMoveTo(uint8_t target) {

  uint8_t on_delay = ReadSpeed();
  uint8_t pos = ReadFader();
  uint8_t idx = 0;

  while (diff(target, pos) > 4) {
    on_delay = ReadSpeed();
    pos = ReadFader();
    if (target > pos) {
      MotorMove(1);
    } else {
      MotorMove(0);
    }

    // The delay ratio controlls the PWM waveforms.
    for (idx = 0; idx < on_delay; idx++) {
      _delay_us(MOTOR_PULSE);
    }
    MotorCoast();
    for (; idx < 255; idx++) {
      _delay_us(MOTOR_PULSE);
    }
  }

  return;
}

// Using the compatable bool type.
// The motor being used seems to stop working below a 50% duty cycle.
void MotorMove(uint8_t fwd) {
  if (fwd) {
    PORTB |= (1 << PWM_PIN1);
    PORTB &= ~(1 << PWM_PIN2);
  } else {
    PORTB |= (1 << PWM_PIN2);
    PORTB &= ~(1 << PWM_PIN1);
  }
  return;
}

void MotorCoast(void) {
  PORTB &= ~((1 << PWM_PIN1) | (1 << PWM_PIN2)); // Disable motor drive
}

/*
 * ############################
 * BUTTON methods
 * ############################
 */

/*This is kinda like our button constructor*/
static void InitBtn(btn_state *b, uint8_t input_pin) {
  b->is_long_pressed = 0;
  b->is_pressed = 0;
  b->is_active = 0;
  b->pressed_ticks = 0;
  b->timer_enabled = 0;
  b->input_pin = input_pin;

  /*Configure the buttons inputs and outputs*/
  DDRB &= ~(1 << b->input_pin);
  PORTB |= (1 << b->input_pin);
}

static void ClearButtonTimer(btn_state *b) {
  b->timer_enabled = 0;
  b->is_long_pressed = 0;
  b->pressed_ticks = 0;
}

static void StartButtonTimer(btn_state *b) {
  ClearButtonTimer(b);
  b->timer_enabled = 1;
}

static void CheckButtonLongpress(btn_state *b) {
  if (b->pressed_ticks >= LONG_PRESS_TICKS) {
    b->is_long_pressed = 1;
    b->timer_enabled = 0;
  }
}

static void UpdateButtonInput(btn_state *b) {
  /*Check from the global debounced port input*/

  /*check for pin HIGH*/
  if (debounced_state & (1 << b->input_pin)) {
    b->is_pressed = 0;
  }
  /*otherwise assume pin LOW*/
  else {
    b->is_pressed = 1;
  }
}

static void UpdateButtonOutput(btn_state *b) {
  /*If the button is actually pressed.*/
  if (b->is_pressed) {
    b->is_active = 1;

    /*If this is a new event.*/
    if (!b->is_long_pressed && !b->timer_enabled) {
      /*Then start the timer and update the output*/
      // ToggleOutput(b);
      StartButtonTimer(b);

      return;
    }

    /*If the timer is already going.*/
    else if (b->timer_enabled) {
      /*Then just check if it's hit the threshold.*/
      CheckButtonLongpress(b);
      return;
    }

    else {
      return;
    }
  }

  /*Else the button was realeased*/
  else if (!b->is_pressed) {
    /*If the button was released on a long press.*/
    if (b->is_long_pressed) {
      MotorSetSavePos((uint8_t *)POSITION1_ADR);
    }
    /*If the button pres was a short one.*/
    else if (!b->is_long_pressed) {
      if (b->is_active) {

            /*If already in saved position then go back to original pos.*/
          if(diff(MotorGetSavedPos((uint8_t *)POSITION1_ADR), ReadFader()) < 4){
                MotorMoveTo(MotorGetSavedPos((uint8_t *)POSITION2_ADR));
          }
          else{
                /*Save the current position into position 2 EEPROM*/
                MotorSetSavePos((uint8_t *)POSITION2_ADR);
                MotorMoveTo(MotorGetSavedPos((uint8_t *)POSITION1_ADR));
          }
      } else {
        MotorCoast();
      }
    }
    b->is_active = 0;
    ClearButtonTimer(b);
  }
}

/*
 * ############################
 * DEBOUNCING CODE
 * ############################
 */

/*
 * INPUT: The port to check.
 * OUTPUT: None
 * DESCRIPTION: Updates the global debounced state. This function
 * should be called in a ISR a set rate using the hardware timer.
 */
static inline void DebounceSwitch() {
  uint8_t i, j;
  db_state[idx] = PINB & 0xFF;
  idx += 1;
  j = 0xff;
  /*Loop through a number of checks*/
  for (i = 0; i < MAX_CHECKS; i++) {
    j = j & db_state[i];
  }
  debounced_state = j;

  if (idx >= MAX_CHECKS) {
    idx = 0;
  }
}

/*Setup the timer0 on the AVR*/
static inline void InitTimer0(void) {
  /*Zero out the tick_count var*/
  tick_count = 0;

  /*config to normal mode.*/
  TCCR0A = 0x00; // stop timer
  TCCR0B = 0x00; // zero timer

  /*set prescaler*/
  // Set to div64
  TCCR0B |= (1 << CS01) | (1 << CS00);

  /*Enable global interrupts*/
  sei();

  /*Enabling timer0 interrupt*/
  TCNT0 = 0;
  TIMSK0 |= (1 << TOIE0);
}

// ISR(TIMER0_OVF_vect)

/*The interrupt service routine for the timer0*/
ISR(TIM0_OVF_vect) {
  /*Disable global interrupts*/
  cli();

  /*Check the state of the switches*/
  DebounceSwitch();

  /*Update the tick_count*/
  if (btn1.timer_enabled && btn1.pressed_ticks <= UINT8_MAX) {
    btn1.pressed_ticks += 1;
  }

  /*Re-Enable global interrupts*/
  sei();
}