防止UPSNS-KO“定位器”背部入睡和控制姿势的装置

attiny85at8.name=ATtiny85 @ 8 MHz  (internal oscillator; BOD disabled)

# The following do NOT work...
# attiny85at8.upload.using=avrispv2
# attiny85at8.upload.using=Pololu USB AVR Programmer

# The following DO work (pick one)...
attiny85at8.upload.using=arduino:arduinoisp
# attiny85at8.upload.protocol=avrispv2
# attiny85at8.upload.using=pololu

attiny85at8.upload.maximum_size=8192

# Default clock (slowly rising power; long delay to clock; 8 MHz internal)
# Int. RC Osc. 8 MHz; Start-up time PWRDWN/RESET: 6 CK/14 CK + 64 ms; [CKSEL=0010 SUT=10]; default value
# Brown-out detection disabled; [BODLEVEL=111]
# Preserve EEPROM memory through the Chip Erase cycle; [EESAVE=0]

attiny85at8.bootloader.low_fuses=0xE2
attiny85at8.bootloader.high_fuses=0xD7
attiny85at8.bootloader.extended_fuses=0xFF
attiny85at8.bootloader.path=empty
attiny85at8.bootloader.file=empty85at8.hex

attiny85at8.build.mcu=attiny85
attiny85at8.build.f_cpu=8000000L
attiny85at8.build.core=tiny
 
###########################################################################
###########################################################################

attiny85at1.name=ATtiny85 @ 1 MHz  (internal oscillator; BOD disabled)

# The following do NOT work...
# attiny85at1.upload.using=avrispv2
# attiny85at1.upload.using=Pololu USB AVR Programmer

# The following DO work (pick one)...
attiny85at1.upload.using=arduino:arduinoisp
# attiny85at1.upload.protocol=avrispv2
# attiny85at1.upload.using=pololu

attiny85at1.upload.maximum_size=8192

# Default clock (slowly rising power; long delay to clock; 8 MHz internal; divide clock by 8)
# Int. RC Osc. 8 MHz; Start-up time PWRDWN/RESET: 6 CK/14 CK + 64 ms; [CKSEL=0010 SUT=10]; default value
# Divide clock by 8 internally; [CKDIV8=0]
# Brown-out detection disabled; [BODLEVEL=111]
# Preserve EEPROM memory through the Chip Erase cycle; [EESAVE=0]

attiny85at1.bootloader.low_fuses=0x62
attiny85at1.bootloader.high_fuses=0xD7
attiny85at1.bootloader.extended_fuses=0xFF
attiny85at1.bootloader.path=empty
attiny85at1.bootloader.file=empty85at1.hex

attiny85at1.build.mcu=attiny85
attiny85at1.build.f_cpu=1000000L
attiny85at1.build.core=tiny
 
###########################################################################
###########################################################################

// 
// http://donalmorrissey.blogspot.ru/2010/04/sleeping-arduino-part-5-wake-up-via.html
// http://www.technoblogy.com/show?KX0

/* 
 . 			
 - . 		
 - ..		
 - ...		
 - 			    
 ...			 
 --			, 
 .......... 	
 */


#include <avr/sleep.h>
#include <avr/power.h>
#include <avr/wdt.h>

volatile int f_wdt=1;

#define xPin A1 //   X
#define yPin A2 //   Y
#define zPin A3 //   Z
#define alPin 0 //   
#define posPowPin 1 //   
#define timeLimit 10000 //    
 #define posCountSleep 9 //      (*8 ) 8
#define posCountMove 231 //      (*8 ) 230
#define posCountBack 41 //      40
#define tresholdSleep 25 //     
#define tresholdMove 25 //    
#define tresholdBack 20 //     
#define movPercentMove 92 //   ( %)   
#define movPercentBack 40 //    ( %)   
#define startTimeOut 5000//         
#define motionTimeOut 1500//        

unsigned long timeOut; //    
byte treshold = 15; //    
int posCounter = 1; //    
byte posMode = 0; //   (  -  = 0;    - 1;  - 2;  - 3)
int posTolerance = 0; //         ( 009b).
int x, y, z, x1, y1, z1; // 
int relX, relY, relZ; //    
int posCount; //     
boolean alarmRaised = false; //  
boolean standBy = false; //    

// http://www.technoblogy.com/show?KX0
#define adc_disable() (ADCSRA &= ~(1<<ADEN)) // disable ADC (before power-off) 
#define adc_enable()  (ADCSRA |=  (1<<ADEN)) // re-enable ADC

ISR(WDT_vect)
{
  if(f_wdt == 0)
  {
    f_wdt=1;
  }
}

void enterSleep(void)
{
  pinMode(alPin, INPUT);
  pinMode(posPowPin, INPUT);

  adc_disable();
  set_sleep_mode(SLEEP_MODE_PWR_DOWN);  

  sleep_enable();

  sleep_mode();

  sleep_disable(); 

  power_all_enable();
  adc_enable();

  pinMode(alPin, OUTPUT);
  digitalWrite(alPin, LOW);

  pinMode(posPowPin, OUTPUT);
  digitalWrite(posPowPin, LOW);
}


void setup() {

  /*** Setup the WDT ***/

  /* Clear the reset flag. */
  MCUSR &= ~(1<<WDRF);

  /* In order to change WDE or the prescaler, we need to
   * set WDCE (This will allow updates for 4 clock cycles).
   */
  WDTCR |= (1<<WDCE) | (1<<WDE);

  /* set new watchdog timeout prescaler value */
  WDTCR = 1<<WDP0 | 1<<WDP3; /* 8.0 seconds */

  /* Enable the WD interrupt (note no reset). */
  WDTCR |= _BV(WDIE);

  //   
  pinMode(alPin, OUTPUT);
  digitalWrite(alPin, LOW);

  //   
  pinMode(posPowPin, OUTPUT);
  digitalWrite(posPowPin, LOW);

  pinMode(xPin, INPUT);
  pinMode(yPin, INPUT);
  pinMode(zPin, INPUT);

  delay(1000); // -
  blinker(500, 1); //   

  if (motionDetect(startTimeOut) == true) {

    getPos(); //  	

    if (abs(x1-y1) > abs(x1-z1)) {
      if (abs(x1-z1) > abs(y1-z1)) {
        selectX(); // x
      } 
      else {
        posMode = 2; // y
        posCount = posCountMove; //   
        treshold = tresholdMove;		
        blinker(1000, 1);
        blinker(500, 2);  
      }
    } 
    else {
      if (abs(x1-y1) > abs(z1-y1)) {
        selectX(); //x
      } 
      else {
        posMode = 1; // z
        posCount = posCountSleep; //    		
        treshold = tresholdSleep;
        blinker(1000, 1);
        blinker(500, 1);    
      }
    }
  }

  if (posMode > 0) {

    getPos(); //  
    x = x1; //  
    y = y1;
    z = z1;
    timeOut = millis();	

    while ((millis() - timeOut) < timeLimit) {
      getPos();
      if (comparePos(x, y, z, x1, y1, z1) == false) { //    -  
        blinker(1000, 1); //    
        x = x1; 
        y = y1; 
        z = z1;
        timeOut = millis();
      }
    }

    //       
    standBy = true;
    blinker(500, 3); //   
  }
  else {
    blinker(1500, 2);
  }	


}

void loop() {

  if(f_wdt == 1) {

    if (posMode == 0) {
      /* Don't forget to clear the flag. */
      f_wdt = 0;

      /* Re-enter sleep mode. */
      enterSleep();
    }
    else {

      getPos();

      if (posCounter <= posCount && alarmRaised == false) { //          
      
      if (posMode == 2) { //    
        if (motionDetect(motionTimeOut) == true) { //      
          posTolerance = posTolerance++; //   
        }

        if ((posCounter - posTolerance) > (posCount*movPercentMove)/100) { //      %   
          alarmRaised = true; //   
        } 

      } else { //   
          if (comparePos(x, y, z, x1, y1, z1) == true) { //    
            posTolerance = posTolerance++; //   ""  (       )
          }
        }
      
        
        if (posMode == 1) { //   
          if (posTolerance >= (posCount - 1)) { //     
            alarmRaised = true; //   
          } 
        }

        if (posMode == 3) { //    
          if ((posCounter - posTolerance) > (posCount*movPercentBack)/100) { //       %   
            alarmRaised = true; //   
          } 
        }

       posCounter++;

      } 
      else { //    

       posCounter = 1; //   
       posTolerance = 0;
       
      }

      if (alarmRaised == true) { //   

        if (posMode == 1) { //   
          blinker(500, 8); // 8  ...
          getPos(); 
          if (comparePos(x, y, z, x1, y1, z1) == false) { // ... 
            alarmRaised = false; //  
            posCounter = 0;
          }
        }

        if (posMode == 2) { //   
          blinker(500, 10); // 10 
          alarmRaised = false; //   
          posCounter = 0;
        } 

        if (posMode == 3) { //   
          blinker(500, 1); //    ...
          getPos();
          if (comparePos(x, y, z, x1, y1, z1) == true) { // ...  
            alarmRaised = false; //   
            posCounter = 0;
          }
        }
        
        posTolerance = 0; //    
      } 
      else {
        /* Don't forget to clear the flag. */
        f_wdt = 0;

        /* Re-enter sleep mode. */
        enterSleep();
      }
    } // posMode == 0
  } // wdt
} // loop

// 

void blinker(unsigned int impulse, byte times) {

  for (byte ttimes = 0; ttimes < times; ttimes++) {

    digitalWrite(alPin, HIGH);
    delay(impulse);
    digitalWrite(alPin, LOW);
    delay(impulse);

  }

}


//     
boolean comparePos(int xOne, int yOne, int zOne, int xTwo, int yTwo, int zTwo) {

  boolean compareRes = false;

  relX = xOne - xTwo;
  relY = yOne - yTwo;
  relZ = zOne - zTwo;

  if (abs(relX) < treshold && abs(relY) < treshold && abs(relZ) < treshold) {
    compareRes = true; //      
  }
  return compareRes;

}

boolean motionDetect(int detectTimeOut) {
 
  boolean motionDetected = false;
  
  getPos();
  x = x1; y = y1; z = z1; //   ,       ,    
  timeOut = millis();
  
  while (((millis() - timeOut) < detectTimeOut)) { //    detectTimeOut ,       
   if (motionDetected == false) { //    
    if (comparePos(x, y, z, x1, y1, z1) == false) { //     
      motionDetected = true; //   
    } 
    else {
      getPos();
    }
   }
  }
  
  return motionDetected;
}

//   
void getPos(){

  digitalWrite(posPowPin, HIGH);
  delay(10);

  byte i;
  unsigned int posX = 0;
  unsigned int posY = 0;
  unsigned int posZ = 0;

  for (i = 0; i < 100; i++) {
    posX = posX + analogRead(xPin);
    posY = posY + analogRead(yPin);
    posZ = posZ + analogRead(zPin);
  }

  x1 = posX/100;
  y1 = posY/100;
  z1 = posZ/100;

  digitalWrite(posPowPin, LOW); 
}

void selectX() {
  posMode = 3;
  posCount = posCountBack; //   		
  treshold = tresholdBack;
  blinker(1000, 1);
  blinker(500, 3);
}