zmiana pinu i czasu

CMakeLists.txt

@@ -37,4 +37,6 @@ target_sources(${PROJECT_NAME} PRIVATE
     src/main.c
     src/input_handler.c
     src/timer_counter.c
+    src/adc_probe_ext.c
+    src/led_pwm.c
 )

avr-gcc-toolchain.cmake

@@ -2,7 +2,7 @@
 set(CMAKE_SYSTEM_NAME Generic)
 set(CMAKE_SYSTEM_PROCESSOR avr)
 
-set(AVR_MCU "ATtiny24")
+set(AVR_MCU "attiny24")
 set(AVR_PROGRAMMER "usbasp")
 
 # compiler and linker settings

src/adc_probe_ext.c

@@ -0,0 +1,39 @@
+#include <avr/io.h>
+#include "adc_probe_ext.h"
+
+void adc_init(void)
+{
+    // Vcc as reference, select ADC2 (MUX = 0b010)
+    ADMUX = (0 << REFS1) | (0 << REFS0) | // VCC as reference
+            (0 << ADLAR) |                // Right adjust result
+            (0b010);                      // ADC2
+
+    // Enable ADC, prescaler = 64 (assuming 8 MHz → ADC freq = 125 kHz)
+    ADCSRA = (1 << ADEN) |                // Enable ADC
+             (1 << ADPS2) | (1 << ADPS1); // Prescaler = 64
+}
+
+uint16_t adc_read(uint8_t channel)
+{
+    // Set channel (0–7), keeping the other bits in ADMUX
+    ADMUX = (ADMUX & 0xF8) | (channel & 0x07);
+
+    ADCSRA |= (1 << ADSC); // Start conversion
+    while (ADCSRA & (1 << ADSC))
+        ; // Wait for conversion to finish
+
+    return ADC; // Return 10-bit result
+}
+
+uint8_t is_device_connected(void)
+{
+    uint16_t value = adc_read(2); // ADC2 = PA2
+
+    // Zakładamy 5V Vcc → 2.5V = około 512
+    if (value > 400 && value < 600)
+    {
+        return 1; // Podłączone (w granicach tolerancji)
+    }
+
+    return 0; // Odłączone (napięcie bliskie 0 lub 5V)
+}

src/adc_probe_ext.h

@@ -0,0 +1,5 @@
+#pragma once
+
+void adc_init(void);
+uint16_t adc_read(uint8_t channel);
+uint8_t is_device_connected(void);

src/defs.h

@@ -8,15 +8,16 @@
 #define LED34_SW_DDR DDRA
 #define LED34_SW_PORT PORTA
 
-#define LED_PWM_PIN PA6
+#define LED_PWM1_PIN PA6
+#define LED_PWM2_PIN PA5
 #define LED_PWM_DDR DDRA
 #define LED_PWM_PORT PORTA
 
-#define PROBE_OUT_PIN PB1
+#define PROBE_OUT_PIN PB0
 #define PROBE_OUT_DDR DDRB
 #define PROBE_OUT_PORT PORTB
 
-#define ESTOP_OUT_PIN PB0
+#define ESTOP_OUT_PIN PB1
 #define ESTOP_OUT_DDR DDRB
 #define ESTOP_OUT_PORT PORTB
 
@@ -34,4 +35,18 @@
 
 #define PROBE_EXT_PIN PA3
 #define PROBE_EXT_DDR DDRA
-#define PROBE_EXT_PORT PORTA
+#define PROBE_EXT_PORT PORTA
+
+
+#define LED_LEFT_GREEN() (LED12_SW_PORT &= ~(1 << LED12_SW_PIN))
+#define LED_LEFT_RED() (LED12_SW_PORT |= (1 << LED12_SW_PIN))
+#define LED_RIGHT_GREEN() (LED34_SW_PORT &= ~(1 << LED34_SW_PIN))
+#define LED_RIGHT_RED() (LED34_SW_PORT |= (1 << LED34_SW_PIN))
+
+#define LED_GREEN_BRIGHTNESS 2
+#define LED_RED_BRIGHTNESS 20
+
+#define SET_PROBE_HEIGHT() (PROBE_OUT_PORT &= ~(1 << PROBE_OUT_PIN))
+#define SET_PROBE_LOW() (PROBE_OUT_PORT |= (1 << PROBE_OUT_PIN))
+#define SET_ESTOP_HEIGHT() (ESTOP_OUT_PORT &= ~(1 << ESTOP_OUT_PIN))
+#define SET_ESTOP_LOW() (ESTOP_OUT_PORT |= (1 << ESTOP_OUT_PIN))

src/led_pwm.c

@@ -0,0 +1,70 @@
+#include <avr/io.h>
+#include "defs.h"
+#include "led_pwm.h"
+
+#define PWM_LEFT OCR1B
+#define PWM_RIGHT OCR1A
+
+static void led_pwm_init(void)
+{
+	// Ustaw pin PB1 (OC1A) jako wyjście
+	LED_PWM_DDR |= (1 << LED_PWM1_PIN) | (1 << LED_PWM2_PIN);
+
+	// Fast PWM, 8-bit mode, non-inverting mode
+	TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); // Clear OC1A on compare match
+	TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10);	   // Prescaler 64
+
+	PWM_RIGHT = 0;
+	PWM_LEFT = 0;
+
+}
+
+void led_init(void)
+{
+    // Set pins for LED control as output
+    LED12_SW_DDR |= (1 << LED12_SW_PIN);
+    LED34_SW_DDR |= (1 << LED34_SW_PIN);
+
+    // Turn on red LEDs initially
+    LED_LEFT_RED();
+    LED_RIGHT_RED();
+    
+    // Initialize PWM for LEDs
+    led_pwm_init();
+}
+
+void led_set_color(led_color_t color, led_side_t side)
+{
+    uint8_t pwm_percent = 0;
+
+    if (side == LED_LEFT)
+    {
+        if (color == LED_COLOR_GREEN)
+        {
+            LED_LEFT_GREEN();
+            pwm_percent = LED_GREEN_BRIGHTNESS;
+        } 
+        else 
+        {
+            LED_LEFT_RED();
+            pwm_percent = LED_RED_BRIGHTNESS;
+        }
+        PWM_LEFT = (pwm_percent * 255UL) / 100; // Set PWM duty cycle for left LED
+    }
+
+    if (side == LED_RIGHT)
+    {
+        if (color == LED_COLOR_GREEN)
+        {
+            LED_RIGHT_GREEN();
+            pwm_percent = LED_GREEN_BRIGHTNESS;
+        } 
+        else 
+        {
+            LED_RIGHT_RED();
+            pwm_percent = LED_RED_BRIGHTNESS;
+        }
+        PWM_RIGHT = (pwm_percent * 255UL) / 100; // Set PWM duty cycle for right LED
+    }
+
+}

src/led_pwm.h

@@ -0,0 +1,15 @@
+#pragma once
+
+typedef enum {
+    LED_COLOR_RED,
+    LED_COLOR_GREEN,
+} led_color_t;
+
+typedef enum {
+    LED_LEFT = 1,
+    LED_RIGHT = 2,
+    LED_BOTH = 3,
+} led_side_t;
+
+void led_init(void);
+void led_set_color(led_color_t color, led_side_t side);

src/main.c

@@ -3,54 +3,174 @@
 #include <util/delay.h>
 #include <avr/interrupt.h>
 #include "defs.h"
+#include "input_handler.h"
+#include "timer_counter.h"
+#include "adc_probe_ext.h"
+#include "led_pwm.h"
 
 void led_pwm(void);
+void probe_int_on(ButtonKey_t *key);
+void probe_int_off(ButtonKey_t *key);
+void probe_ext_on(ButtonKey_t *key);
+void probe_ext_off(ButtonKey_t *key);
+void estop_on(ButtonKey_t *key);
+void estop_off(ButtonKey_t *key);
+
+ButtonKey_t probe_int = {
+	.instance = {1, &PINA, PROBE_INT_PIN},
+	.state = IDLE,
+	.last_state = IDLE,
+	.active_state = GPIO_PIN_SET,
+	.timer_debounce_on = 10,  // 1000 ms
+	.timer_debounce_off = 10, // 1 ms
+	.buttonReleased = probe_int_off,
+	.buttonPressed = probe_int_on,
+};
+ButtonKey_t probe_ext = {
+	.instance = {2, &PINA, PROBE_EXT_PIN},
+	.state = IDLE,
+	.last_state = IDLE,
+	.active_state = GPIO_PIN_RESET,
+	.timer_debounce_on = 10,  // 1000 ms
+	.timer_debounce_off = 10, // 1 ms
+	.buttonReleased = probe_ext_off,
+	.buttonPressed = probe_ext_on,
+};
+
+ButtonKey_t estop_in = {
+	.instance = {3, &PINA, ESTOP_IN_PIN},
+	.state = IDLE,
+	.last_state = IDLE,
+	.active_state = GPIO_PIN_RESET,
+	.timer_debounce_on = 10,  // 1 ms
+	.timer_debounce_off = 10, // 1 ms
+	.buttonReleased = estop_off,
+	.buttonPressed = estop_on,
+};
+ButtonKey_t *inputs[3] = {
+	&probe_int,
+	&probe_ext,
+	&estop_in,
+};
+
+uint8_t ext_probe_connected = 0;
+uint8_t estop_triggered = 0;
+uint8_t blink_state = 0;
+uint16_t last_blink_time = 0;
 
 int main(void)
 {
-    LED12_SW_DDR |= (1 << LED12_SW_PIN);
-    LED34_SW_DDR |= (1 << LED34_SW_PIN);
+	PROBE_OUT_DDR |= (1<< PROBE_OUT_PIN);
+	ESTOP_OUT_DDR |= (1<< ESTOP_OUT_PIN);
+	
+	PROBE_OUT_PORT |= (1<< PROBE_OUT_PIN);
+	ESTOP_OUT_PORT |= (1<< ESTOP_OUT_PIN);
 
-    // LED12_SW_PORT |= (1 << LED12_SW_PIN);
-    // LED34_SW_PORT |= (1 << LED34_SW_PIN);
-    led_pwm();
+	led_init();
+	timer0_init();
+	adc_init();
 
-    // uint8_t i = 0;
-    while (1)
-    {
-        if (PINA & (1 << PROBE_INT_PIN))
-        {
-            LED12_SW_PORT |= (1 << LED12_SW_PIN);
-            LED34_SW_PORT |= (1 << LED34_SW_PIN);
-        }
-        else
-        {
-            LED12_SW_PORT &= ~(1 << LED12_SW_PIN);
-            LED34_SW_PORT &= ~(1 << LED34_SW_PIN);
-        }
+	sei(); // Enable global interrupts
 
-        if (!(PINA & (1 << ESTOP_IN_PIN)))
-        {
-            TCCR1A &= ~(1 << COM1A1); // Wyłącz PWM
-            LED_PWM_PORT &= ~(1 << LED_PWM_PIN);
-        }
-        else
-        {
-            TCCR1A |= (1 << COM1A1); // Włącz PWM
-            // LED_PWM_PORT |= (1 << LED_PWM_PIN);
-        }
-    }
-    return 0;
+	while (1)
+	{
+		if (estop_triggered)
+		{
+			uint16_t now = ticks100us(); // Musisz mieć funkcję zwracającą czas w ms, np. z timer0
+            if (now - last_blink_time >= 2000) // 0.5 sekundy
+            {
+                last_blink_time = now;
+                blink_state = !blink_state;
+                if (blink_state)
+                {
+					led_set_color(LED_COLOR_RED, LED_LEFT);
+					led_set_color(LED_COLOR_GREEN, LED_RIGHT);
+                }
+                else
+                {
+					led_set_color(LED_COLOR_GREEN, LED_LEFT);
+					led_set_color(LED_COLOR_RED, LED_RIGHT);
+                }
+            }
+		
+		
+		}
+		else if (ext_probe_connected != is_device_connected())
+		{
+			ext_probe_connected = is_device_connected();
+			if (ext_probe_connected)
+			{
+				led_set_color(LED_COLOR_RED, LED_RIGHT);
+			}
+			else
+			{
+				led_set_color(LED_COLOR_GREEN, LED_RIGHT);
+			}
+		}
+		for (uint8_t i = 0; i < sizeof(inputs) / sizeof(inputs[0]); i++)
+		{
+			buttonHandler(inputs[i]);
+		}
+	}
+	return 0;
 }
-void led_pwm(void)
+
+
+void probe_int_on(ButtonKey_t *key)
 {
-    // Ustaw pin PB1 (OC1A) jako wyjście
-    LED_PWM_DDR |= (1 << LED_PWM_PIN);
+	PROBE_OUT_PORT &= ~(1 << PROBE_OUT_PIN);
+	led_set_color(LED_COLOR_RED, LED_LEFT);
+	
+	if (!ext_probe_connected)
+	{
+		led_set_color(LED_COLOR_RED, LED_RIGHT);
+	}
+}
 
-    // Ustaw Timer1 w trybie Fast PWM, 8-bit (WGM13:0 = 0b0101)
-    TCCR1A = (1 << COM1A1) | (1 << WGM10);             // Clear OC1A on compare match
-    TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // Prescaler 64
+void probe_int_off(ButtonKey_t *key)
+{
+	PROBE_OUT_PORT |= (1 << PROBE_OUT_PIN);
+	
+	if (estop_triggered)
+	{
+		estop_triggered = 0; // Reset estop when probe back to normal
+		led_set_color(LED_COLOR_RED, LED_RIGHT);
+	}
 
-    // Ustaw wartość w rejestrze OCR1A (wypełnienie PWM)
-    OCR1A = 2; // 50% wypełnienia (dla 8-bit: 128/255)
+	led_set_color(LED_COLOR_GREEN, LED_LEFT);
+
+	if (!ext_probe_connected)
+	{
+		led_set_color(LED_COLOR_GREEN, LED_RIGHT);
+	}
+}
+
+void probe_ext_on(ButtonKey_t *key)
+{
+	PROBE_OUT_PORT &= ~(1 << PROBE_OUT_PIN);
+	led_set_color(LED_COLOR_GREEN, LED_RIGHT);
+}
+
+void probe_ext_off(ButtonKey_t *key)
+{
+	PROBE_OUT_PORT |= (1 << PROBE_OUT_PIN);
+
+	if (estop_triggered)
+	{
+		estop_triggered = 0; // Reset estop when probe back to normal
+		led_set_color(LED_COLOR_GREEN, LED_LEFT);
+	}
+
+	led_set_color(LED_COLOR_RED, LED_RIGHT);
+}
+
+void estop_on(ButtonKey_t *key)
+{
+	ESTOP_OUT_PORT &= ~(1 << ESTOP_OUT_PIN);
+	estop_triggered = 1;
+}
+
+void estop_off(ButtonKey_t *key)
+{
+	ESTOP_OUT_PORT |= (1 << ESTOP_OUT_PIN);
 }