Initial

src/main.c

@@ -0,0 +1,202 @@
+// -fruchti 2015
+
+#include "main.h"
+
+volatile uint32_t MillisecondCounter = 0;
+volatile uint16_t HallSensorTimer = T_HALL_L;
+volatile State_t State = PowerOnWait;
+volatile uint8_t HallSensorBuffer = 0;
+
+int main(void)
+{
+    //// IN- AND OUTPUTS ////
+
+    D_LED_RD |= (1 << P_LED_RD);
+    D_LED_YE |= (1 << P_LED_YE);
+    D_LED_GN |= (1 << P_LED_GN);
+    O_LED_RD |= (1 << P_LED_RD);
+    O_LED_YE |= (1 << P_LED_YE);
+    O_LED_GN |= (1 << P_LED_GN);
+    O_NPPINS |= (1 << P_NPPINS);
+    O_PPINSO |= (1 << P_PPINSO);
+    D_PPINSO |= (1 << P_PPINSO);
+    O_MNPFSO |= (1 << P_MNPFSO);
+    D_MNPFSO |= (1 << P_MNPFSO);
+    O_EXITSO |= (1 << P_EXITSO);
+    D_EXITSO |= (1 << P_EXITSO);
+    D_CLUTCH |= (1 << P_CLUTCH);
+
+
+    //// TIMER 0 ////
+
+    // Enable CTC mode
+    TCCR0A = (1 << WGM01);
+    // Select clock F_CPU/64 (125kHz)
+    TCCR0B = (1 << CS01) | (1 << CS00);
+    // 1kHz interrupt frequency
+    OCR0A = 124;
+
+    // Enable OC0A interrupt
+    TIMSK = (1 << OCIE0A);
+
+
+    //// EXTERNAL INTERRUPTS ////
+
+    // Trigger on the falling edge for operator panel input
+    MCUCR |= (1 << ISC01);
+    // Enable external interrupt 0
+    GIMSK |= (1 << INT0);
+
+    // Trigger on both edges for hall sensor input
+    MCUCR |= (1 << ISC10);
+    // Enable external interrupt 1
+    GIMSK |= (1 << INT1);
+
+    sei();
+
+    MillisecondCounter = 0;
+    State = PowerOnWait;
+
+    while(1)
+    {
+        switch(State)
+        {
+            case PowerOnWait:
+                // Does nothing.
+                // Waits for the initialization of the printer to complete
+                if(MillisecondCounter >= T_POWRON)
+                {
+                    State = Idle;
+                }
+                break;
+            case Idle:
+                // Activate clutch and reset all sensor output just in case
+                // something has gone mucus
+                O_PPINSO |= (1 << P_PPINSO);
+                O_MNPFSO |= (1 << P_MNPFSO);
+                O_EXITSO |= (1 << P_EXITSO);
+                O_LED_RD |= (1 << P_LED_RD);
+                O_CLUTCH &= ~(1 << P_CLUTCH);
+                O_LED_GN &= ~(1 << P_LED_GN);
+
+                // Check if motor is running and new paper in sensor is
+                // blocked by carrier
+                if(HallSensorTimer < T_HALL_L && !(I_NPPINS & (1 << P_NPPINS)))
+                {
+                    // Block carrier
+                    O_CLUTCH |= (1 << P_CLUTCH);
+                    O_LED_GN |= (1 << P_LED_GN);
+                    O_LED_RD &= ~(1 << P_LED_RD);
+                    State = ClutchDelay;
+                    MillisecondCounter = 0;
+                }
+                break;
+            case ClutchDelay:
+                if(MillisecondCounter >= T_CLUTCH)
+                {
+                    // Deactivate clutch to allow carrier to get pulled in
+                    O_CLUTCH &= ~(1 << P_CLUTCH);
+
+                    // Enable manual paper feed sensor
+                    O_MNPFSO &= ~(1 << P_MNPFSO);
+
+                    State = WaitingForPaperIn;
+                }
+                break;
+            case WaitingForPaperIn:
+                // Check if paper in sensor is triggered
+                if(I_NPPINS & (1 << P_NPPINS))
+                {
+                    // Enable paper in sensor output
+                    O_PPINSO &= ~(1 << P_PPINSO);
+                    O_LED_RD |= (1 << P_LED_RD);
+
+                    MillisecondCounter = 0;
+                    State = ExitOnDelay;
+                }
+                break;
+            case ExitOnDelay:
+                if(MillisecondCounter >= T_EXIT_H)
+                {
+                    // Activate exit sensor output
+                    O_EXITSO &= ~(1 << P_EXITSO);
+
+                    MillisecondCounter = 0;
+                    State = ManualPaperFeedOffDelay;
+                }
+                break;
+            case ManualPaperFeedOffDelay:
+                if(MillisecondCounter >= T_MNPF_L)
+                {
+                    // Deactivate manual paper feed sensor output
+                    O_MNPFSO |= (1 << P_MNPFSO);
+
+                    MillisecondCounter = 0;
+                    State = PaperInOffDelay;
+                }
+                break;
+            case PaperInOffDelay:
+                if(MillisecondCounter >= T_PPIN_L)
+                {
+                    // Deactivate paper in sensor output
+                    O_PPINSO |= (1 << P_PPINSO);
+
+                    MillisecondCounter = 0;
+                    State = ExitOffDelay;
+                }
+            case ExitOffDelay:
+                if(MillisecondCounter >= T_EXIT_L)
+                {
+                    // Deactivate exit sensor output
+                    O_EXITSO |= (1 << P_EXITSO);
+
+                    MillisecondCounter = 0;
+                    State = Idle;
+                }
+                break;
+        }
+    }
+}
+
+ISR(TIMER0_COMPA_vect)
+{
+    MillisecondCounter++;
+    if(MillisecondCounter == 0)
+    {
+        MillisecondCounter = UINT32_MAX;
+    }
+
+    if(State != PowerOnWait)
+    {
+        HallSensorTimer++;
+        if(HallSensorTimer == 0)
+        {
+            HallSensorTimer = UINT16_MAX;
+        }
+        if(HallSensorTimer < T_HALL_L)
+        {
+            O_LED_YE |= (1 << P_LED_YE);
+        }
+        else
+        {
+            O_LED_YE &= ~(1 << P_LED_YE);
+        }
+    }
+}
+
+// External interrupt. Triggered by control panel
+ISR(INT0_vect)
+{
+    // Just reset everything
+    // if(State == WaitingForPaperIn || State == ClutchDelay)
+    if(State != PowerOnWait)
+    {
+        State = Idle;
+    }
+}
+
+// External interrupt. Triggered by hall sensor
+ISR(INT1_vect)
+{
+    HallSensorTimer = 0;
+}