光に有害、または自動車のバッテリーの充電を維持する方法

//#define F_CPU 1200000UL //    

#include <avr/io.h>
#include <avr/wdt.h>
#include <avr/sleep.h>
#include <avr/interrupt.h> 
#include <util/delay.h>

//#define DBG

#define TEMPERATURE_OVERHEAT 753 // LSB-  +50⁰C
#define TEMPERATURE_GIST     8   //    ( LSB)     
#define VOLTAGE_GIST         3   //    ( LSB)     

#define INTERVAL             WDTO_1S //     (1 )
#ifndef DBG
#define CELL_CHANGE_TIMEOUT  90  //      (  INTERVAL,   254)
#define OVERHEAT_TIMEOUT     300 //      "" (  INTERVAL)
#else
#define CELL_CHANGE_TIMEOUT  2
#define OVERHEAT_TIMEOUT     3
#endif

typedef unsigned char bool; //    
#define true  0 == 0        //     
#define false 0 != 0        //      

typedef enum {st_none = 0b00, st_primary = 0b01, st_secondary = 0b10, st_both = 0b11} t_states; //    
                                                                                                //       ,      
typedef enum {adc_temperature, adc_voltage} t_measure;                                          //   
typedef enum {move_null, move_up, move_down} t_movement;                                        //      

//    
struct t_coordidates {
  signed char row, col;
};

//       
struct t_correction {
  t_movement voltage, temperature;
};

#define CELLS_ROWS 3 //      ( )
#define CELLS_COLS 5 //      ( )

//  
const t_states CELLS[CELLS_ROWS][CELLS_COLS] = {
  {st_both, st_both,    st_both,    st_primary, st_none},
  {st_both, st_both,    st_primary, st_none,    st_none},
  {st_both, st_primary, st_none,    st_none,    st_none}
};

// LSB- ,      
const unsigned int ROWS_EDGES[CELLS_ROWS - 1] = {
  241, // 0⁰C
  157  // -10⁰C
};

// LSB- ,      
const unsigned int COLS_EDGES[CELLS_COLS - 1] = {
  864, // 13.5V
  800, // 12.5V
  787, // 12.3V
  768  // 12.0V
};

unsigned int overheat_rest_time = 0; //       ""
unsigned char cell_change_time  = 0; //      
unsigned char no_cur_cell_time  = 0; //  ,            

#define NULL_CELL (struct t_coordidates){.col = -1, .row = -1} // ,   
#define NULL_CORRECTION (struct t_correction){.voltage = move_null, .temperature = move_null} // ,   

struct t_correction moved_from = NULL_CORRECTION; //       
struct t_coordidates cur_cell  = NULL_CELL,       //      
                     next_cell = NULL_CELL;       //  -   

//  
static void init_pins() {
  DDRB |= (1 << PB0) | (1 << PB1) | (1 << PB3);     //   2 (PB3), 5 (PB0)  6 (PB1)  
  PORTB &= ~(1 << PB0) & ~(1 << PB1) & ~(1 << PB3); //      2 (PB3), 5 (PB0)  6 (PB1)
}

// /    
static void toggle_thermal_sensor(bool state) {
  if(state) {
    PORTB |= (1 << PB1);  //  state ,      6 (PB1)

    _delay_ms(5); //    
  } else {
    PORTB &= ~(1 << PB1); //  state  ,      6 (PB1)
  }
}

//   
static unsigned int measure_adc(t_measure measure) {
  if(measure == adc_temperature) {
    toggle_thermal_sensor(true); //    ,    

    ADMUX = 0b10; //      -   3 (PB4)
  } else {
    ADMUX = 0b01; //      -   7 (PB2)
  }

  ADCSRA = (1 << ADPS2) | //       = 16 (75 )
           (1 << ADIE) |  //    
           (1 << ADEN);   //  

  set_sleep_mode(SLEEP_MODE_ADC); //   "" 
  do {
    sleep_cpu(); //      ,      ,   
  } while(ADCSRA & (1 << ADSC)); //        ,  

  ADCSRA = 0; //  

  toggle_thermal_sensor(false); //     

  return ADC; //  10-  
}

//    watchdog
static void init_interrupts(void) {
  sleep_enable(); //   

  WDTCR = (1 << WDCE) | (1 << WDE); //  watchdog
  WDTCR = (1 << WDTIE) | INTERVAL; // watchdog      ,  1 

  sei(); //  
}

//          
static void toggle_loads(t_states states) {
  unsigned char port = PORTB & ~((1 << PB3) | (1 << PB0)),     //           ,   
                bits = (((states & st_primary) >> 0) << PB3) | //        
                       (((states & st_secondary) >> 1) << PB0);

  PORTB = port | bits; //    
}

//     t_coordidates
static bool cells_equal(struct t_coordidates cell1, struct t_coordidates cell2) {
  return cell1.row == cell2.row && cell1.col == cell2.col;
}

//          LSB- 
static signed char get_cell_row(unsigned int temperature) {
  signed char row = 0;

  while(row < CELLS_ROWS - 1) {          //          
    if(temperature >= ROWS_EDGES[row]) { //  temperature     ,    
      return row;
    } else {
      ++row;
    }
  }

  return CELLS_ROWS - 1; //  temperature         ,       
}

//          LSB- 
static signed char get_cell_col(unsigned int voltage) {
  signed char col = 0;

  while(col < CELLS_COLS - 1) {      //          
    if(voltage >= COLS_EDGES[col]) { //  voltage     ,    
      return col;
    } else {
      ++col;
    }
  }

  return CELLS_COLS - 1; //  voltage         ,       
}

//    ,       
static void get_row_edges(signed char row, unsigned int *upper, unsigned int *lower) {
  *upper = row > 0 ? ROWS_EDGES[row - 1] : 0xffff - TEMPERATURE_GIST; //       ,    
  *lower = row < CELLS_ROWS - 1 ? ROWS_EDGES[row] : TEMPERATURE_GIST; //       ,    
}

//    ,       
static void get_col_edges(signed char col, unsigned int *upper, unsigned int *lower) {
  *upper = col > 0 ? COLS_EDGES[col - 1] : 0xffff - VOLTAGE_GIST; //      (  )  ,    
  *lower = col < CELLS_COLS - 1 ? COLS_EDGES[col] : VOLTAGE_GIST; //      (  )  ,    
}

//    -              
static void gisteresis_correction(struct t_coordidates* new_cell, unsigned int temperature, unsigned int voltage) {
  unsigned int upper_edge, lower_edge;

  get_row_edges(cur_cell.row, &upper_edge, &lower_edge); //    
  if(new_cell->row > cur_cell.row && moved_from.temperature == move_up && temperature >= lower_edge - TEMPERATURE_GIST) {
    --new_cell->row; //   -   ,    ,        ,    
  }

  if(new_cell->row < cur_cell.row && moved_from.temperature == move_down && temperature <= upper_edge + TEMPERATURE_GIST) {
    ++new_cell->row; //   -   ,    ,        ,    
  }

  get_col_edges(cur_cell.col, &upper_edge, &lower_edge); //    
  if(new_cell->col > cur_cell.col && moved_from.voltage == move_up && voltage >= lower_edge - VOLTAGE_GIST) {
    --new_cell->col; //   -   ,     (  ),        ,    
  }

  if(new_cell->col < cur_cell.col && moved_from.voltage == move_down && voltage <= upper_edge + VOLTAGE_GIST) {
    ++new_cell->col; //   -   ,     (  ),        ,    
  }
}

//       stdlib::abs()
 static unsigned char absolute(signed char value) {
  return value >= 0 ? value : -value;
}

//      -
static void calc_movement(struct t_coordidates new_cell) {
  moved_from = NULL_CORRECTION;                                                   // -   
  if(!cells_equal(new_cell, NULL_CELL) && !cells_equal(cur_cell, NULL_CELL)) {    //         ,  -
    if(absolute(new_cell.row - cur_cell.row) == 1) {                              //      
      moved_from.temperature = new_cell.row < cur_cell.row ? move_up : move_down; //   
    }

    if(absolute(new_cell.col - cur_cell.col) == 1) {                              //      
      moved_from.voltage = new_cell.col < cur_cell.col ? move_up : move_down;     //   
    }
  }
}

//   -
static void set_next_cell(struct t_coordidates cell) {
  next_cell = cell;
  cell_change_time = 0; //    
}

//    
static void set_cur_cell(struct t_coordidates cell) {
  cur_cell = cell;
  no_cur_cell_time = 0; //        
  set_next_cell(NULL_CELL); //  -
}

// ,      
static void change_cell(struct t_coordidates new_cell) {
  if(cells_equal(new_cell, NULL_CELL)) { //         
    toggle_loads(st_none);
  } else {
    toggle_loads(CELLS[new_cell.row][new_cell.col]); //         
  }

  calc_movement(new_cell); //     
  set_cur_cell(new_cell);  //   
}

//  
static void main_proc(void) {
  unsigned int temperature, voltage; // 10- LSB-    
  struct t_coordidates cell;         //      -

  if(overheat_rest_time) { //      ""  ,          
    --overheat_rest_time;
  } else {
    temperature = measure_adc(adc_temperature); //  
    if(temperature >= TEMPERATURE_OVERHEAT) {   //      +50C,  :
      change_cell(NULL_CELL);                   //      (   )
      overheat_rest_time = OVERHEAT_TIMEOUT;    //        
    } else {
      voltage = measure_adc(adc_voltage);   //  

      cell.col = get_cell_col(voltage);     //    -  
      cell.row = get_cell_row(temperature); //    -  

      if(cells_equal(cur_cell, NULL_CELL)) { //        ,         
        change_cell(cell);
      } else {
        gisteresis_correction(&cell, temperature, voltage); //              

        if(cells_equal(cell, cur_cell)) { //   -   ,      
          set_next_cell(NULL_CELL);
          no_cur_cell_time = 0; //    ,  
        } else {
          if(no_cur_cell_time++ > CELL_CHANGE_TIMEOUT) { //    CELL_CHANGE_TIMEOUT+1        cur_cell,      
            change_cell(cell); //    ,     
          } else {
            if(cells_equal(next_cell, NULL_CELL) || !cells_equal(next_cell, cell)) { //  -       ,   
              set_next_cell(cell);
            } else {
              if(++cell_change_time >= CELL_CHANGE_TIMEOUT) { //   ,       , ,    
                change_cell(cell);
              }
            }
          }
        }
      }
    }
  }
}

//    watchdog
ISR(WDT_vect) {
  WDTCR |= (1 << WDTIE); //    watchdog   ""    
}

//    ,        ADSC  measure_adc()
EMPTY_INTERRUPT(ADC_vect);

//  
int main(void) {
  init_pins();       //  
  init_interrupts(); //    watchdog
	
  while(true) {                          //  ,       
    set_sleep_mode(SLEEP_MODE_PWR_DOWN); //        
    sleep_cpu();                         //        watchdog 

    main_proc();                         //          
  }
}