117 lines
4.0 KiB
Arduino
117 lines
4.0 KiB
Arduino
// Auto_Seat
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// EEPROM-backed automatic seat controller.
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#include <EEPROM.h>
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#define seatRelayD8 8
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#define seatRelayD9 9
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#define parkingPin A0
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#define ignitionPin 7
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const uint16_t SEAT_HARD_LIMIT_UP_MS = 6000;
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const int PARKING_ON_THRESHOLD = 950;
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const int PARKING_OFF_THRESHOLD = 940;
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const int DOWN_SPEED_NUM = 11;
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const int DOWN_SPEED_DEN = 10;
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const unsigned long DRIVE_CONFIRM_MS = 80UL;
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const unsigned long PARK_CONFIRM_MS = 250UL;
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const int EEPROM_MAGIC_ADDR = 0;
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const byte EEPROM_MAGIC_VALUE = 0x64;
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const int EEPROM_SEAT_POSITION_ADDR = 2;
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boolean ignitionState = LOW;
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boolean parkingState = LOW;
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boolean confirmedDriveMode = LOW;
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boolean pendingDriveMode = LOW;
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int parkingRawValue = 0;
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uint16_t storedSeatPositionMs = 0;
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long currentPosMs = 0;
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long targetPosMs = 0;
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long downSpeedRemainder = 0;
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unsigned long lastTime = 0;
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unsigned long pendingDriveModeStartTime = 0;
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int seatAction = 0;
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void setup() {
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pinMode(parkingPin, INPUT);
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pinMode(ignitionPin, INPUT);
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pinMode(seatRelayD8, OUTPUT);
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pinMode(seatRelayD9, OUTPUT);
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applySeatAction(0);
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loadSettings();
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measurement();
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confirmedDriveMode = getRawDriveMode();
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pendingDriveMode = confirmedDriveMode;
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targetPosMs = getTargetForConfirmedMode();
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lastTime = millis();
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}
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void loop() {
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measurement();
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unsigned long now = millis();
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unsigned long deltaTime = now - lastTime;
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lastTime = now;
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updateConfirmedDriveMode(now);
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targetPosMs = getTargetForConfirmedMode();
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updateMovement(deltaTime);
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applySeatAction(seatAction);
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}
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void measurement() {
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ignitionState = digitalRead(ignitionPin);
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parkingRawValue = analogRead(parkingPin);
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if (parkingState == LOW && parkingRawValue >= PARKING_ON_THRESHOLD) parkingState = HIGH;
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else if (parkingState == HIGH && parkingRawValue <= PARKING_OFF_THRESHOLD) parkingState = LOW;
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}
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boolean getRawDriveMode() { return ignitionState == HIGH && parkingState == LOW; }
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long getTargetForConfirmedMode() { return confirmedDriveMode == HIGH ? storedSeatPositionMs : 0; }
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void updateConfirmedDriveMode(unsigned long now) {
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boolean rawDriveMode = getRawDriveMode();
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if (rawDriveMode != pendingDriveMode) {
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pendingDriveMode = rawDriveMode;
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pendingDriveModeStartTime = now;
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}
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unsigned long confirmMs = pendingDriveMode == HIGH ? DRIVE_CONFIRM_MS : PARK_CONFIRM_MS;
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if (pendingDriveMode != confirmedDriveMode && now - pendingDriveModeStartTime >= confirmMs) {
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confirmedDriveMode = pendingDriveMode;
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}
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}
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void updateMovement(unsigned long deltaTime) {
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if (currentPosMs < targetPosMs) {
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seatAction = 1;
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currentPosMs += deltaTime;
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if (currentPosMs >= targetPosMs) { currentPosMs = targetPosMs; seatAction = 0; }
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} else if (currentPosMs > targetPosMs) {
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seatAction = -1;
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long scaled = deltaTime * DOWN_SPEED_NUM + downSpeedRemainder;
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currentPosMs -= scaled / DOWN_SPEED_DEN;
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downSpeedRemainder = scaled % DOWN_SPEED_DEN;
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if (currentPosMs <= targetPosMs) { currentPosMs = targetPosMs; downSpeedRemainder = 0; seatAction = 0; }
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} else {
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seatAction = 0;
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}
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}
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void loadSettings() {
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if (EEPROM.read(EEPROM_MAGIC_ADDR) != EEPROM_MAGIC_VALUE) {
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EEPROM.update(EEPROM_MAGIC_ADDR, EEPROM_MAGIC_VALUE);
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writeUint16(EEPROM_SEAT_POSITION_ADDR, SEAT_HARD_LIMIT_UP_MS);
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}
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storedSeatPositionMs = readUint16(EEPROM_SEAT_POSITION_ADDR);
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if (storedSeatPositionMs > SEAT_HARD_LIMIT_UP_MS) {
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storedSeatPositionMs = SEAT_HARD_LIMIT_UP_MS;
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writeUint16(EEPROM_SEAT_POSITION_ADDR, storedSeatPositionMs);
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}
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}
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uint16_t readUint16(int addr) { return (uint16_t)EEPROM.read(addr) | ((uint16_t)EEPROM.read(addr + 1) << 8); }
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void writeUint16(int addr, uint16_t value) { EEPROM.update(addr, value & 0xFF); EEPROM.update(addr + 1, (value >> 8) & 0xFF); }
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void setRelay(int relayPin, boolean state) { digitalWrite(relayPin, state ? LOW : HIGH); }
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void applySeatAction(int action) {
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if (action == 1) { setRelay(seatRelayD8, 1); setRelay(seatRelayD9, 0); }
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else if (action == -1) { setRelay(seatRelayD8, 0); setRelay(seatRelayD9, 1); }
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else { setRelay(seatRelayD8, 0); setRelay(seatRelayD9, 0); }
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}
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