path: root/src/main.c

#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/power.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <avr/sleep.h>
#include <avr/wdt.h>
#include <util/delay_basic.h>

#define FACE1_PIN    PA0
#define FACE2_PIN    PA1
#define WING1_PIN    PA2
#define WING2_PIN    PA3
#define WING3_PIN    PA4
#define ENV_PIN      PA5
#define RX_PIN       PB0
#define TX_PIN       PB1    // OC0A on ATtiny43U
#define SW1_PIN      PB3

#define LED_FACE1_MASK (1u << FACE1_PIN)
#define LED_FACE2_MASK (1u << FACE2_PIN)
#define LED_WING1_MASK (1u << WING1_PIN)
#define LED_WING2_MASK (1u << WING2_PIN)
#define LED_WING3_MASK (1u << WING3_PIN)
#define LED_ALL_MASK   (LED_FACE1_MASK | LED_FACE2_MASK | LED_WING1_MASK | LED_WING2_MASK | LED_WING3_MASK)
#define LED_PWM_STEPS  16u
#define LED_PWM_SLOT_DELAY_LOOPS 1100u

#define MOSI_PIN PB4
#define MISO_PIN PB5
#define OSCCAL_INPUT_FREQ 32768UL
#define OSCCAL_FREQ_CYCLES 40UL
#define OSCCAL_MAX_DELTA 32u
#define OSCCAL_TARGET_TICKS ((uint16_t)((F_CPU * OSCCAL_FREQ_CYCLES + OSCCAL_INPUT_FREQ / 2UL) / OSCCAL_INPUT_FREQ))
#define OSCCAL_TOLERANCE_TICKS ((uint16_t)(1u + (OSCCAL_TARGET_TICKS - 1u) / 100u))

#define RX_DEFAULT_ON_THRESHOLD     16u
#define RX_DEFAULT_OFF_THRESHOLD    8u
#define RX_SAMPLES_PER_BIT          4u
#define RX_SYMBOL_ON_MIN_SAMPLES    3u
#define TX_PREAMBLE_BITS            4u
#define TX_SYNC_WORD                0xAAu
#define TX_SYNC_WORD_BITS           8u
#define OOK_PAYLOAD_BYTES           1u
#define OOK_NIBBLES_PER_BYTE        2u
#define OOK_CODEWORD_BITS           8u
#define TX_FRAME_BITS               (TX_PREAMBLE_BITS + 1u + TX_SYNC_WORD_BITS + \
                                     (OOK_PAYLOAD_BYTES * OOK_NIBBLES_PER_BYTE * OOK_CODEWORD_BITS))
#define TX_FRAME_BYTES              ((TX_FRAME_BITS + 7u) / 8u)
#define WDT_TX_REQUEST_TICKS        240u // ~60 s at a ~250 ms WDT interval
#define WDT_SEEN_IDS_MAX_AGE_TICKS  60u  // ~15 s at a ~250 ms WDT interval
#define WDT_SW1_LONG_PRESS_TICKS    8u   // ~2 s at a ~250 ms WDT interval
#define WDT_ENV_STUCK_HIGH_TICKS    8u   // ~2 s at a ~250 ms WDT interval
#define WDT_ENV_STUCK_FLASH_TICKS   16u  // ~4 s at a ~250 ms WDT interval
#define SELF_TX_DELAY_MASK          0x07u // 1-8 WDT ticks, ~= 0.25-2.0 s
#define SEEN_DEVICE_BITMAP_BYTES    32u
#define H84_CODEWORD_XOR_MASK       0x03u // this causes 0x00 and 0xFF to be rejected

typedef struct {
    uint8_t ain1_above_vref : 1;
    uint8_t tx_request : 1;
    uint8_t tx_ook_done : 1;
    uint8_t seen_ids_timeout_request : 1;
    uint8_t sw1_long_press_request : 1;
} isr_event_flags_t;

typedef struct {
    uint8_t rx_envelope_on : 1;
    uint8_t rx_prev_envelope_on : 1;
    uint8_t rx_packet_ready : 1;
    uint8_t rx_packet_failed : 1;
    uint8_t tx_running : 1;
    uint8_t led_active : 1;
} local_flags_t;

_Static_assert(sizeof(isr_event_flags_t) == 1u, "isr_event_flags_t must pack to 1 byte");
_Static_assert(sizeof(local_flags_t) == 1u, "local_flags_t must pack to 1 byte");
_Static_assert(TX_FRAME_BITS <= 255u, "tx_bits_remaining is uint8_t; TX_FRAME_BITS must be <= 255");
_Static_assert(TX_FRAME_BITS == 29u, "start_tx_ook_byte packs the current fixed OOK frame layout");
_Static_assert(TX_SYNC_WORD == 0xAAu, "start_tx_ook_byte packs the current sync word");

static volatile isr_event_flags_t isr_events;
static volatile uint8_t sw1_last_level;
static volatile uint8_t rx_running;
static volatile uint8_t tx_ook_running;
static local_flags_t local_flags;
static volatile uint8_t rx_t0_count_1ms;
static volatile uint8_t rx_sample_seq;

enum rx_decode_state {
    RX_STATE_SYNC = 0,
    RX_STATE_SYNC_WORD,
    RX_STATE_FEC
};

static uint8_t my_id;

static uint8_t rx_state;
static uint8_t rx_samples_in_bit;
static uint8_t rx_on_samples_in_bit;
static uint8_t rx_fec_codeword_count;
static uint8_t rx_word;
static uint8_t rx_word_bit_count;
static uint8_t rx_payload_byte;
static uint8_t rx_dynamic_on_threshold;
static uint8_t rx_dynamic_off_threshold;
static uint8_t rx_level_low;
static uint8_t rx_level_high;

static volatile uint8_t rx_packet_data;
static uint8_t rx_poll_last_sample_seq;
static volatile uint8_t tx_frame[TX_FRAME_BYTES];
static volatile uint8_t tx_bits_remaining;
static volatile uint8_t tx_samples_in_bit;
static volatile uint8_t tx_wdt_ticks_remaining;
static volatile uint8_t seen_ids_wdt_ticks_remaining;
static volatile uint8_t sw1_hold_wdt_ticks;
static volatile uint8_t sw1_long_press_armed;
static volatile uint8_t env_high_wdt_ticks;
static volatile uint8_t env_stuck_flash_wdt_ticks;
static uint8_t seen_device_ids[SEEN_DEVICE_BITMAP_BYTES];

extern uint16_t osccal_loop(void);
extern void signal_done(void);

// Adapted from avr-osccal's BSD-2-Clause AVR053 calibration routine.
static uint16_t osccal_calibrate_range(uint8_t osccal_min, uint8_t osccal_max)
{
    uint8_t step;
    uint8_t osccal;
    uint8_t curr;
    uint16_t ticks;
    uint16_t deviation;
    uint16_t min_deviation;
    uint8_t best;

    step = (uint8_t)((osccal_max - osccal_min + 1u) / 2u);
    osccal = (uint8_t)(osccal_min + step);

    wdt_reset();
    for (;;) {
        curr = OSCCAL;

        while (curr != osccal) {
            uint8_t diff = (uint8_t)(osccal - curr);
            if (curr > osccal) {
                diff = (uint8_t)(-diff);
            }
            if (diff > OSCCAL_MAX_DELTA) {
                if (curr > osccal) {
                    curr = (uint8_t)(curr - OSCCAL_MAX_DELTA);
                } else {
                    curr = (uint8_t)(curr + OSCCAL_MAX_DELTA);
                }
            } else {
                curr = osccal;
            }
            OSCCAL = curr;
        }

        ticks = osccal_loop();
        if (ticks == OSCCAL_TARGET_TICKS) {
            return 0u;
        }

        step = (uint8_t)(step / 2u);
        if (step == 0u) {
            break;
        }

        if (ticks < OSCCAL_TARGET_TICKS) {
            osccal = (uint8_t)(osccal + step);
        } else {
            osccal = (uint8_t)(osccal - step);
        }
    }

    if (osccal > (uint8_t)(osccal_min + 2u)) {
        osccal_min = (uint8_t)(osccal - 2u);
    }
    if (osccal < (uint8_t)(osccal_max - 2u)) {
        osccal_max = (uint8_t)(osccal + 2u);
    }

    best = osccal;
    min_deviation = 0xffffu;
    wdt_reset();
    osccal = osccal_min;
    for (;;) {
        OSCCAL = osccal;
        ticks = osccal_loop();
        if (ticks == OSCCAL_TARGET_TICKS) {
            return 0u;
        }
        if (ticks < OSCCAL_TARGET_TICKS) {
            deviation = (uint16_t)(OSCCAL_TARGET_TICKS - ticks);
        } else {
            deviation = (uint16_t)(ticks - OSCCAL_TARGET_TICKS);
        }
        if (deviation <= min_deviation) {
            min_deviation = deviation;
            best = osccal;
        }
        if (osccal == osccal_max) {
            break;
        }
        ++osccal;
    }

    OSCCAL = best;
    return min_deviation;
}

static uint8_t osccal_boot_requested(void)
{
    DDRB &= (uint8_t)~(1u << MOSI_PIN);
    PORTB |= (1u << MOSI_PIN);
    _delay_loop_1(16u);
    return ((PINB & (1u << MOSI_PIN)) == 0u) ? 1u : 0u;
}

static void osccal_mode_run(void) __attribute__((noreturn));
static void osccal_mode_run(void)
{
    uint16_t min_deviation;
    uint8_t range1_osccal;
    uint16_t range2_min_deviation;

    cli();

    // Match the normal firmware clock before measuring F_CPU cycles.
    clock_prescale_set(clock_div_2);

    DDRB |= (1u << MISO_PIN);
    PORTB |= (1u << MOSI_PIN);
    PORTB |= (1u << MISO_PIN);

    while ((PINB & (1u << MOSI_PIN)) != 0u) {
        wdt_reset();
    }
    while ((PINB & (1u << MOSI_PIN)) == 0u) {
        wdt_reset();
    }

    min_deviation = osccal_calibrate_range(0u, 0x7fu);
    range1_osccal = OSCCAL;
    range2_min_deviation = osccal_calibrate_range(0x80u, 0xffu);
    if (range2_min_deviation < min_deviation) {
        min_deviation = range2_min_deviation;
    } else {
        OSCCAL = range1_osccal;
    }

    if (min_deviation > OSCCAL_TOLERANCE_TICKS) {
        PINB |= (1u << MISO_PIN);
    } else {
        wdt_reset();
        eeprom_update_byte((uint8_t *)0x00, OSCCAL);

        wdt_reset();
        signal_done();
    }

    for (;;) {
        wdt_reset();
    }
}

static void leds_apply_on_mask(uint8_t on_mask)
{
    PORTA &= (uint8_t)~LED_ALL_MASK;
    DDRA = (uint8_t)((DDRA & (uint8_t)~LED_ALL_MASK) | (on_mask & LED_ALL_MASK));
}

static void leds_off(void)
{
    PORTA &= (uint8_t)~LED_ALL_MASK;
    DDRA &= (uint8_t)~LED_ALL_MASK;
}

static void leds_init(void)
{
    leds_off();
}

static uint8_t led_pwm_level(uint8_t brightness)
{
    return (uint8_t)((brightness + 15u) >> 4);
}

static void leds_show_pwm(
    uint8_t face1,
    uint8_t face2,
    uint8_t wing1,
    uint8_t wing2,
    uint8_t wing3)
{
    const uint8_t face1_level = led_pwm_level(face1);
    const uint8_t face2_level = led_pwm_level(face2);
    const uint8_t wing1_level = led_pwm_level(wing1);
    const uint8_t wing2_level = led_pwm_level(wing2);
    const uint8_t wing3_level = led_pwm_level(wing3);

    for (uint8_t slot = 0u; slot < LED_PWM_STEPS; ++slot) {
        uint8_t on_mask = 0u;
        if (slot < face1_level) {
            on_mask |= LED_FACE1_MASK;
        }
        if (slot < face2_level) {
            on_mask |= LED_FACE2_MASK;
        }
        if (slot < wing1_level) {
            on_mask |= LED_WING1_MASK;
        }
        if (slot < wing2_level) {
            on_mask |= LED_WING2_MASK;
        }
        if (slot < wing3_level) {
            on_mask |= LED_WING3_MASK;
        }
        leds_apply_on_mask(on_mask);
        _delay_loop_2(LED_PWM_SLOT_DELAY_LOOPS);
    }
}

static const uint8_t hamming84_encode_table[16] PROGMEM = {
    0x03u, 0x48u, 0xa9u, 0xe2u, 0x9au, 0xd1u, 0x30u, 0x7bu,
    0x84u, 0xcfu, 0x2eu, 0x65u, 0x1du, 0x56u, 0xb7u, 0xfcu
};

static uint8_t hamming84_encode_nibble(uint8_t nibble)
{
    return pgm_read_byte(&hamming84_encode_table[nibble & 0x0fu]);
}

// Returns 0=uncorrectable, 1=valid or corrected.
static uint8_t hamming84_decode_codeword(uint8_t codeword, uint8_t *nibble)
{
    codeword ^= H84_CODEWORD_XOR_MASK;
    const uint8_t b1 = (uint8_t)((codeword >> 0) & 0x01u);
    const uint8_t b2 = (uint8_t)((codeword >> 1) & 0x01u);
    const uint8_t b3 = (uint8_t)((codeword >> 2) & 0x01u);
    const uint8_t b4 = (uint8_t)((codeword >> 3) & 0x01u);
    const uint8_t b5 = (uint8_t)((codeword >> 4) & 0x01u);
    const uint8_t b6 = (uint8_t)((codeword >> 5) & 0x01u);
    const uint8_t b7 = (uint8_t)((codeword >> 6) & 0x01u);
    const uint8_t b8 = (uint8_t)((codeword >> 7) & 0x01u);

    const uint8_t s1 = (uint8_t)(b1 ^ b3 ^ b5 ^ b7);
    const uint8_t s2 = (uint8_t)(b2 ^ b3 ^ b6 ^ b7);
    const uint8_t s4 = (uint8_t)(b4 ^ b5 ^ b6 ^ b7);
    const uint8_t syndrome = (uint8_t)((s4 << 2) | (s2 << 1) | s1);
    const uint8_t overall_parity = (uint8_t)(b1 ^ b2 ^ b3 ^ b4 ^ b5 ^ b6 ^ b7 ^ b8);

    if (syndrome != 0u) {
        if (overall_parity == 0u) {
            return 0u; // Double-bit error detected.
        }
        codeword ^= (uint8_t)(1u << (syndrome - 1u));
    }

    *nibble = 0;
    *nibble |= (uint8_t)(((codeword >> 2) & 0x01u) << 3);
    *nibble |= (uint8_t)(((codeword >> 4) & 0x01u) << 2);
    *nibble |= (uint8_t)(((codeword >> 5) & 0x01u) << 1);
    *nibble |= (uint8_t)(((codeword >> 6) & 0x01u) << 0);
    return 1u;
}

static void rx_reset_decoder(void)
{
    rx_state = RX_STATE_SYNC;
    rx_samples_in_bit = 0;
    rx_on_samples_in_bit = 0;
    rx_fec_codeword_count = 0;
    rx_word = 0u;
    rx_word_bit_count = 0u;
    rx_payload_byte = 0;
    local_flags.rx_envelope_on = 0u;
    local_flags.rx_prev_envelope_on = 0u;
}

static void rx_fail_packet(void)
{
    local_flags.rx_packet_failed = 1u;
    rx_reset_decoder();
}

static void rx_update_thresholds(uint8_t t0_count)
{
    if (t0_count > rx_level_high) {
        rx_level_high = t0_count;
    } else if (rx_level_high > rx_level_low) {
        --rx_level_high;
    }

    if (t0_count < rx_level_low) {
        rx_level_low = t0_count;
    } else if (rx_level_low < rx_level_high) {
        ++rx_level_low;
    }

    if (rx_level_high <= rx_level_low) {
        rx_dynamic_on_threshold = RX_DEFAULT_ON_THRESHOLD;
        rx_dynamic_off_threshold = RX_DEFAULT_OFF_THRESHOLD;
        return;
    }

    const uint8_t span = (uint8_t)(rx_level_high - rx_level_low);
    if (span < 6u) {
        rx_dynamic_on_threshold = RX_DEFAULT_ON_THRESHOLD;
        rx_dynamic_off_threshold = RX_DEFAULT_OFF_THRESHOLD;
        return;
    }

    // Exact integer thirds without pulling in libgcc mul/div helpers.
    uint8_t span_third = 0u;
    uint8_t rem = span;
    while (rem >= 12u) {
        rem = (uint8_t)(rem - 12u);
        span_third = (uint8_t)(span_third + 4u);
    }
    while (rem >= 3u) {
        rem = (uint8_t)(rem - 3u);
        ++span_third;
    }

    const uint8_t span_two_thirds = (uint8_t)((uint8_t)(span_third << 1) + (rem == 2u));
    rx_dynamic_off_threshold = (uint8_t)(rx_level_low + span_third);
    rx_dynamic_on_threshold = (uint8_t)(rx_level_low + span_two_thirds);
    if (rx_dynamic_on_threshold <= (uint8_t)(rx_dynamic_off_threshold + 1u)) {
        rx_dynamic_on_threshold = (uint8_t)(rx_dynamic_off_threshold + 2u);
    }
}

static void rx_handle_bit(uint8_t bit)
{
    switch (rx_state) {
    case RX_STATE_SYNC:
        if (bit != 0u) {
            if (++rx_word_bit_count >= TX_PREAMBLE_BITS) {
                rx_fail_packet();
            }
        } else {
            rx_state = RX_STATE_SYNC_WORD;
            rx_word = 0u;
            rx_word_bit_count = 0u;
        }
        break;

    case RX_STATE_SYNC_WORD:
        rx_word = (uint8_t)((rx_word << 1) | bit);
        if (++rx_word_bit_count >= TX_SYNC_WORD_BITS) {
            if (rx_word != TX_SYNC_WORD) {
                rx_fail_packet();
                break;
            }
            rx_state = RX_STATE_FEC;
            rx_fec_codeword_count = 0;
            rx_word = 0u;
            rx_word_bit_count = 0u;
            rx_payload_byte = 0;
        }
        break;

    case RX_STATE_FEC:
        rx_word = (uint8_t)((rx_word << 1) | bit);
        if (++rx_word_bit_count >= OOK_CODEWORD_BITS) {
            uint8_t nibble = 0;
            const uint8_t status = hamming84_decode_codeword(rx_word, &nibble);
            if (status == 0u) {
                rx_fail_packet();
                break;
            }

            if ((rx_fec_codeword_count & 0x01u) == 0u) {
                rx_payload_byte = (uint8_t)(nibble << 4);
            } else {
                rx_payload_byte |= nibble;
            }

            ++rx_fec_codeword_count;
            rx_word = 0u;
            rx_word_bit_count = 0u;
            if (rx_fec_codeword_count >= (OOK_PAYLOAD_BYTES * OOK_NIBBLES_PER_BYTE)) {
                rx_packet_data = rx_payload_byte;
                local_flags.rx_packet_ready = 1u;
                rx_reset_decoder();
            }
        }
        break;

    default:
        rx_reset_decoder();
        break;
    }
}

static void rx_process_sample(uint8_t t0_count)
{
    rx_update_thresholds(t0_count);

    if (local_flags.rx_envelope_on) {
        if (t0_count <= rx_dynamic_off_threshold) {
            local_flags.rx_envelope_on = 0u;
        }
    } else if (t0_count >= rx_dynamic_on_threshold) {
        local_flags.rx_envelope_on = 1u;
    }

    // Timing recovery: nudge symbol phase only on OFF->ON transitions.
    if (local_flags.rx_envelope_on && !local_flags.rx_prev_envelope_on) {
        if (rx_samples_in_bit <= 1u) {
            rx_samples_in_bit = 0;
            rx_on_samples_in_bit = 0;
        } else if (rx_samples_in_bit >= (RX_SAMPLES_PER_BIT - 1u)) {
            rx_samples_in_bit = (RX_SAMPLES_PER_BIT - 1u);
        }
    }
    local_flags.rx_prev_envelope_on = local_flags.rx_envelope_on;

    if (local_flags.rx_envelope_on) {
        ++rx_on_samples_in_bit;
    }
    ++rx_samples_in_bit;

    if (rx_samples_in_bit >= RX_SAMPLES_PER_BIT) {
        const uint8_t bit = (rx_on_samples_in_bit >= RX_SYMBOL_ON_MIN_SAMPLES) ? 1u : 0u;
        rx_handle_bit(bit);
        rx_samples_in_bit = 0;
        rx_on_samples_in_bit = 0;
    }
}

static void rx_decoder_init(void)
{
    rx_dynamic_on_threshold = RX_DEFAULT_ON_THRESHOLD;
    rx_dynamic_off_threshold = RX_DEFAULT_OFF_THRESHOLD;
    rx_level_low = 0;
    rx_level_high = RX_DEFAULT_ON_THRESHOLD;
    local_flags.rx_packet_ready = 0u;
    local_flags.rx_packet_failed = 0u;
    rx_packet_data = 0;
    rx_reset_decoder();
}

static void timer1_compa_enable_1ms(void)
{
    // Timer1 CTC mode, TOP=OCR1A.
    TCNT1 = 0;
    TCCR1A = (1 << WGM11);
    TCCR1B = (1 << CS11) | (1 << CS10); // prescaler=64
    OCR1A = 62;                          // ~1 ms at 4 MHz, prescaler 64
    TIFR1 = (1 << OCF1A);               // clear pending compare flag
    TIMSK1 |= (1 << OCIE1A);
}

static void timer1_compa_disable(void)
{
    TIMSK1 &= ~(1 << OCIE1A);
    TCCR1A = 0;
    TCCR1B = 0;
    TIFR1 = (1 << OCF1A); // clear pending compare flag
}

static void ain1_comp_interrupt_enable(void)
{
    ACSR |= (1 << ACI); // clear pending comparator flag
    ACSR |= (1 << ACIE);
}

static void ain1_comp_interrupt_disable(void)
{
    ACSR &= ~(1 << ACIE);
    ACSR |= (1 << ACI); // clear pending comparator flag
}

static void sw1_falling_interrupt_init(void)
{
    sw1_last_level = ((PINB & (1 << SW1_PIN)) != 0u) ? 1u : 0u;
    isr_events.tx_request = 0u;
    GIFR = (1 << PCIF1);       // clear pending pin-change flag (PCINT[15:8])
    PCMSK1 |= (1 << PCINT11);  // enable SW1_PIN pin-change source
    GIMSK |= (1 << PCIE1);     // enable pin-change interrupts for PCINT[15:8]
}

static void watchdog_interrupt_init(void)
{
    const uint8_t sreg = SREG;
    cli();
    MCUSR &= ~(1 << WDRF);
    tx_wdt_ticks_remaining = WDT_TX_REQUEST_TICKS;
    seen_ids_wdt_ticks_remaining = 0u;
    sw1_hold_wdt_ticks = 0u;
    sw1_long_press_armed = (sw1_last_level == 0u) ? 1u : 0u;
    env_high_wdt_ticks = 0u;
    env_stuck_flash_wdt_ticks = 0u;
    isr_events.tx_request = 0u;
    isr_events.tx_ook_done = 0u;
    isr_events.ain1_above_vref = 0u;
    isr_events.seen_ids_timeout_request = 0u;
    isr_events.sw1_long_press_request = 0u;
    // Timed sequence: update WDT to interrupt-only mode at ~250 ms interval.
    WDTCSR = (1 << WDCE) | (1 << WDE);
    WDTCSR = (1 << WDIE) | (1 << WDP2);
    SREG = sreg;
}

static void tx_carrier_on(void)
{
    TCCR0A = (1 << WGM01) | (1 << COM0A0);
}

static void tx_carrier_off(void)
{
    TCCR0A = (1 << WGM01);
    PORTB &= ~(1 << TX_PIN);
}

ISR(TIM1_COMPA_vect)
{
    if (rx_running) {
        const uint8_t t0_delta = TCNT0;
        TCNT0 = 0;
        rx_t0_count_1ms = t0_delta;
        ++rx_sample_seq;
    }

    if (tx_ook_running) {
        const uint8_t bit_pos = (uint8_t)(TX_FRAME_BITS - tx_bits_remaining);
        const uint8_t byte_index = (uint8_t)(bit_pos >> 3);
        const uint8_t bit_index = (uint8_t)(7u - (bit_pos & 0x07u));
        const uint8_t bit = (uint8_t)((tx_frame[byte_index] >> bit_index) & 0x01u);
        if (bit) {
            tx_carrier_on();
        } else {
            tx_carrier_off();
        }

        ++tx_samples_in_bit;
        if (tx_samples_in_bit >= RX_SAMPLES_PER_BIT) {
            tx_samples_in_bit = 0;
            --tx_bits_remaining;
            if (tx_bits_remaining == 0u) {
                tx_carrier_off();
                timer1_compa_disable();
                tx_ook_running = 0u;
                isr_events.tx_ook_done = 1u;
            }
        }
    }
}

static void timer0_ctc_init(uint8_t top)
{
    // OC0A (TX) output enable
    DDRB |= (1 << TX_PIN);

    // CTC mode: WGM02:0 = 2 => WGM01=1, TOP=OCR0A.
    // Toggle OC0A on compare match for a hardware square wave.
    TCCR0A = (1 << WGM01) | (1 << COM0A0);
    TCCR0B = (1 << CS00);   // prescaler=1

    OCR0A = top;
}

static void start_rx(void)
{
    // T0 is RX_PIN on ATtiny43U. Count external edges on T0 using Timer0 clock source.
    DDRB &= ~(1 << RX_PIN);
    PORTB &= ~(1 << RX_PIN);

    // Timer0 normal mode as external event counter.
    TCCR0A = 0;
    TCCR0B = 0;
    TCNT0 = 0;

    rx_t0_count_1ms = 0;
    rx_sample_seq = 0;
    rx_poll_last_sample_seq = 0;
    rx_decoder_init();
    rx_running = 1u;

    // External clock source on T0 pin, rising edge.
    TCCR0B = (1 << CS02) | (1 << CS01) | (1 << CS00);

    timer1_compa_enable_1ms();
}

static void stop_rx(void)
{
    rx_running = 0u;
    TCCR0A = 0;
    TCCR0B = 0;
    TCNT0 = 0;
    timer1_compa_disable();
}

static void start_tx()
{
    // f_out = F_CPU / (2 * N * (OCR0A + 1)) when OC0A toggles in CTC mode.
    // 40 kHz @ 4 MHz, N=1 => OCR0A = 49.
    timer0_ctc_init(49);
}

static void clear_tx_ook_done_event(void)
{
    const uint8_t sreg = SREG;
    cli();
    isr_events.tx_ook_done = 0u;
    SREG = sreg;
}

static void start_tx_ook_byte(uint8_t data)
{
    const uint8_t codeword_hi = hamming84_encode_nibble((uint8_t)(data >> 4));
    const uint8_t codeword_lo = hamming84_encode_nibble((uint8_t)(data & 0x0fu));

    tx_frame[0] = 0xf5u;
    tx_frame[1] = (uint8_t)(0x50u | (codeword_hi >> 5));
    tx_frame[2] = (uint8_t)((codeword_hi << 3) | (codeword_lo >> 5));
    tx_frame[3] = (uint8_t)(codeword_lo << 3);

    tx_bits_remaining = TX_FRAME_BITS;
    tx_samples_in_bit = 0;
    clear_tx_ook_done_event();
    tx_ook_running = 1u;

    start_tx();
    tx_carrier_on();
    timer1_compa_enable_1ms();
}

static void stop_tx()
{
    // Stop Timer0 and disconnect OC0A from TX.
    TCCR0A = 0;
    TCCR0B = 0;
    PORTB &= ~(1 << TX_PIN);
    DDRB &= ~(1 << TX_PIN);
}

ISR(ANA_COMP_vect)
{
    // With ACBG=1, comparator compares VBG (positive input) vs AIN1 (negative input).
    // AIN1 rising above VBG causes a high->low transition on ACO (falling edge).
    isr_events.ain1_above_vref = 1u;
}

ISR(PCINT1_vect)
{
    const uint8_t sw1_level = ((PINB & (1 << SW1_PIN)) != 0u) ? 1u : 0u;
    if ((sw1_last_level != 0u) && (sw1_level == 0u)) {
        sw1_hold_wdt_ticks = 0u;
        sw1_long_press_armed = 1u;
        isr_events.tx_request = 1u;
    } else if (sw1_level != 0u) {
        sw1_hold_wdt_ticks = 0u;
        sw1_long_press_armed = 0u;
    }
    sw1_last_level = sw1_level;
}

ISR(WDT_vect)
{
    if (tx_wdt_ticks_remaining > 0u) {
        --tx_wdt_ticks_remaining;
    }
    if (tx_wdt_ticks_remaining == 0u) {
        tx_wdt_ticks_remaining = WDT_TX_REQUEST_TICKS;
        isr_events.tx_request = 1u;
    }

    if (seen_ids_wdt_ticks_remaining > 0u) {
        --seen_ids_wdt_ticks_remaining;
        if (seen_ids_wdt_ticks_remaining == 0u) {
            isr_events.seen_ids_timeout_request = 1u;
        }
    }

    if (sw1_long_press_armed && (sw1_last_level == 0u)) {
        if (sw1_hold_wdt_ticks < WDT_SW1_LONG_PRESS_TICKS) {
            ++sw1_hold_wdt_ticks;
        }
        if (sw1_hold_wdt_ticks >= WDT_SW1_LONG_PRESS_TICKS) {
            sw1_long_press_armed = 0u;
            isr_events.sw1_long_press_request = 1u;
        }
    }

    // With ACBG=1, ACO is low when AIN1/ENV is above the bandgap reference.
    if ((ACSR & (1 << ACO)) == 0u) {
        if (env_high_wdt_ticks < WDT_ENV_STUCK_HIGH_TICKS) {
            ++env_high_wdt_ticks;
        }
        if ((env_high_wdt_ticks >= WDT_ENV_STUCK_HIGH_TICKS) &&
            (env_stuck_flash_wdt_ticks == 0u)) {
            env_stuck_flash_wdt_ticks = WDT_ENV_STUCK_FLASH_TICKS;
        }
    } else {
        env_high_wdt_ticks = 0u;
        env_stuck_flash_wdt_ticks = 0u;
    }

    if (env_stuck_flash_wdt_ticks > 0u) {
        --env_stuck_flash_wdt_ticks;
    }
}

static void poll_rx_decoder(void)
{
    uint8_t sample_seq;
    uint8_t t0_count;
    const uint8_t sreg = SREG;

    cli();
    sample_seq = rx_sample_seq;
    if (sample_seq == rx_poll_last_sample_seq) {
        SREG = sreg;
        return;
    }

    t0_count = rx_t0_count_1ms;
    rx_poll_last_sample_seq = sample_seq;
    SREG = sreg;

    rx_process_sample(t0_count);
}

typedef struct {
    uint8_t tx_triggered : 1;
    uint8_t seen_ids_timeout_triggered : 1;
    uint8_t sw1_long_press_triggered : 1;
} loop_events_t;

static loop_events_t poll_loop_events(void)
{
    loop_events_t events = {0u, 0u, 0u};
    const uint8_t sreg = SREG;

    cli();
    if (isr_events.tx_request) {
        isr_events.tx_request = 0u;
        events.tx_triggered = 1u;
    }
    if (isr_events.seen_ids_timeout_request) {
        isr_events.seen_ids_timeout_request = 0u;
        events.seen_ids_timeout_triggered = 1u;
    }
    if (isr_events.sw1_long_press_request) {
        isr_events.sw1_long_press_request = 0u;
        events.sw1_long_press_triggered = 1u;
    }
    SREG = sreg;

    return events;
}

static void clear_ain1_event_flag(void)
{
    const uint8_t sreg = SREG;
    cli();
    isr_events.ain1_above_vref = 0u;
    SREG = sreg;
}

static void clear_seen_device_ids(void)
{
    for (uint8_t i = 0u; i < SEEN_DEVICE_BITMAP_BYTES; ++i) {
        seen_device_ids[i] = 0u;
    }
}

static uint8_t count_seen_device_ids(void)
{
    uint8_t count = 0u;

    for (uint8_t i = 0u; i < SEEN_DEVICE_BITMAP_BYTES; ++i) {
        for (uint8_t b = seen_device_ids[i]; b != 0u; b = (uint8_t)(b >> 1)) {
            count = (uint8_t)(count + (uint8_t)(b & 1u));
        }
    }

    return count;
}

static uint8_t triwave8(uint8_t phase)
{
    if ((phase & 0x80u) != 0u) {
        return (uint8_t)((uint8_t)(255u - phase) << 1);
    }
    return (uint8_t)(phase << 1);
}

static uint16_t build_lightshow_seed()
{
    const uint8_t self_byte_index = (uint8_t)(my_id >> 3);
    const uint8_t self_bit_mask = (uint8_t)(1u << (my_id & 0x07u));
    uint16_t seed = 0x6D2Bu;

    seen_device_ids[self_byte_index] |= self_bit_mask;
    for (uint8_t i = 0u; i < SEEN_DEVICE_BITMAP_BYTES; ++i) {
        seed ^= seen_device_ids[i];
        seed = (uint16_t)((seed << 5) | (seed >> 11));
        seed ^= (uint16_t)((uint16_t)i << 8);
        seed = (uint16_t)(seed + 0x3Du);
    }

    if (seed == 0u) {
        seed = 0xA35Fu;
    }
    return seed;
}

static uint8_t lightshow_rand8(uint16_t *state)
{
    uint16_t x = *state;
    x ^= (uint16_t)(x << 7);
    x ^= (uint16_t)(x >> 9);
    x ^= (uint16_t)(x << 8);
    *state = x;
    return (uint8_t)(x ^ (x >> 8));
}

static void run_lightshow(uint8_t seen_count, uint16_t seed)
{
    uint8_t tier = 0u;
    uint8_t speed = 3u;
    uint16_t total_quanta = 250u;
    uint16_t rng = seed;
    uint8_t phase = (uint8_t)seed;
    const uint8_t style = (uint8_t)(seed & 0x07u);

    if (seen_count <= 1u) {
        tier = 0u;
        total_quanta = 250u;  // ~5 s
        speed = 3u;
    } else if (seen_count <= 3u) {
        tier = 1u;
        total_quanta = 400u;  // ~8 s
        speed = 5u;
    } else if (seen_count <= 10u) {
        tier = 2u;
        total_quanta = 600u;  // ~12 s
        speed = 7u;
    } else {
        tier = 3u;
        total_quanta = 800u;  // ~16 s
        speed = 10u;
    }

    while (total_quanta > 0u) {
        const uint8_t rnd = lightshow_rand8(&rng);
        uint8_t face1;
        uint8_t face2;
        uint8_t wing1;
        uint8_t wing2;
        uint8_t wing3;
        uint8_t wing_shift = 2u;
        const uint8_t wing_floor = (uint8_t)(tier << 3);

        phase = (uint8_t)(phase + speed + (rnd & tier));

        face1 = (uint8_t)((triwave8(phase) >> 1) + 24u);
        face2 = (uint8_t)((triwave8((uint8_t)(phase + 128u)) >> 1) + 24u);

        if (tier == 0u) {
            wing1 = 0u;
            wing2 = 0u;
            wing3 = 0u;
            if ((style & 0x06u) == 0x02u) {
                face2 = face1;
            } else if ((style & 0x06u) == 0x04u) {
                if ((phase & 0x40u) == 0u) {
                    face1 = 255u;
                    face2 = 16u;
                } else {
                    face1 = 16u;
                    face2 = 255u;
                }
            } else if ((style & 0x06u) == 0x06u) {
                if ((phase & 0x18u) == 0u) {
                    face1 = 255u;
                    face2 = 255u;
                } else {
                    face1 = 8u;
                    face2 = 8u;
                }
            }
            if ((phase & 0x3fu) < 8u) {
                const uint8_t wink = triwave8((uint8_t)(phase << 2));
                if ((seed & 0x03u) == 0u) {
                    wing1 = wink;
                } else if ((seed & 0x03u) == 1u) {
                    wing2 = wink;
                } else {
                    wing3 = wink;
                }
            }
        } else {
            if (tier >= 3u) {
                wing_shift = 1u;
            }
            if ((style & 0x06u) == 0x06u) {
                uint8_t scan = (uint8_t)((phase >> 5) & 0x03u);

                if (scan == 3u) {
                    scan = 1u;
                }
                wing1 = wing_floor;
                wing2 = wing_floor;
                wing3 = wing_floor;
                if (scan == 0u) {
                    wing1 = 255u;
                } else if (scan == 1u) {
                    wing2 = 255u;
                } else {
                    wing3 = 255u;
                }
            } else if (style == 3u) {
                const uint8_t pulse = triwave8((uint8_t)(phase << 1));

                face1 = pulse;
                face2 = pulse;
                wing1 = pulse;
                wing2 = pulse;
                wing3 = pulse;
            } else if (style == 4u) {
                if ((phase & 0x40u) == 0u) {
                    wing1 = 255u;
                    wing2 = wing_floor;
                    wing3 = 255u;
                    face1 = 255u;
                    face2 = 16u;
                } else {
                    wing1 = wing_floor;
                    wing2 = 255u;
                    wing3 = wing_floor;
                    face1 = 16u;
                    face2 = 255u;
                }
            } else {
                uint8_t wing_gap = 85u;

                if ((style & 0x01u) != 0u) {
                    wing_gap = 128u;
                }
                wing1 = (uint8_t)((triwave8(phase) >> wing_shift) + wing_floor);
                wing2 = (uint8_t)((triwave8((uint8_t)(phase + wing_gap)) >> wing_shift) + wing_floor);
                wing3 = (uint8_t)((triwave8((uint8_t)(phase + wing_gap + wing_gap)) >> wing_shift) + wing_floor);
            }

            if ((style >= 2u) && (style != 4u)) {
                face2 = face1;
            }
        }

        if ((tier >= 3u) && ((rnd & 0x0fu) == 0u)) {
            face1 = 255u;
            face2 = 255u;
        }

        leds_show_pwm(face1, face2, wing1, wing2, wing3);
        --total_quanta;
    }
}

static void note_seen_device_id(uint8_t device_id)
{
    const uint8_t byte_index = (uint8_t)(device_id >> 3);
    const uint8_t bit_mask = (uint8_t)(1u << (device_id & 0x07u));

    if ((seen_device_ids[byte_index] & bit_mask) != 0u) {
        return;
    }

    seen_device_ids[byte_index] |= bit_mask;
    const uint8_t sreg = SREG;
    cli();
    seen_ids_wdt_ticks_remaining = WDT_SEEN_IDS_MAX_AGE_TICKS;
    isr_events.seen_ids_timeout_request = 0u;
    SREG = sreg;
}

static void schedule_delayed_self_tx(void)
{
    const uint8_t delay_wdt_ticks = (uint8_t)(my_id & SELF_TX_DELAY_MASK);
    const uint8_t sreg = SREG;

    cli();
    tx_wdt_ticks_remaining = (uint8_t)(delay_wdt_ticks + 1u);
    isr_events.tx_request = 0u;
    SREG = sreg;
}

static void act_on_seen_devices(void)
{
    const uint8_t seen_count = count_seen_device_ids();
    const uint16_t seed = build_lightshow_seed();

    if (rx_running) {
        stop_rx();
    }

    ain1_comp_interrupt_disable();
    local_flags.led_active = 1u;
    const uint8_t sreg = SREG;
    cli();
    seen_ids_wdt_ticks_remaining = 0u;
    isr_events.seen_ids_timeout_request = 0u;
    isr_events.ain1_above_vref = 0u;
    SREG = sreg;

    run_lightshow(seen_count, seed);
    leds_off();
    local_flags.led_active = 0u;
    clear_seen_device_ids();
    if (!local_flags.tx_running) {
        ain1_comp_interrupt_enable();
    }
}

static uint8_t handle_sw1_long_press_event(uint8_t sw1_long_press_triggered)
{
    if (sw1_long_press_triggered == 0u) {
        return 0u;
    }

    if (local_flags.tx_running) {
        const uint8_t sreg = SREG;
        cli();
        isr_events.sw1_long_press_request = 1u;
        SREG = sreg;
        return 1u;
    }

    if (rx_running) {
        stop_rx();
    }

    ain1_comp_interrupt_disable();
    local_flags.led_active = 1u;
    clear_ain1_event_flag();

    run_lightshow(10, my_id);
    leds_off();
    local_flags.led_active = 0u;
    ain1_comp_interrupt_enable();

    return 1u;
}

static void handle_seen_ids_timeout_event(uint8_t seen_ids_timeout_triggered)
{
    if (seen_ids_timeout_triggered == 0u) {
        return;
    }

    act_on_seen_devices();
}

static void handle_tx_done_event(void)
{
    const uint8_t sreg = SREG;

    cli();
    if (!(local_flags.tx_running && isr_events.tx_ook_done)) {
        SREG = sreg;
        return;
    }

    isr_events.tx_ook_done = 0u;
    SREG = sreg;
    stop_tx();
    local_flags.tx_running = 0u;
    clear_ain1_event_flag();
    if (!local_flags.led_active) {
        ain1_comp_interrupt_enable();
    }
}

static void handle_tx_request_event(uint8_t tx_triggered)
{
    if ((tx_triggered == 0u) || local_flags.tx_running) {
        return;
    }

    if (rx_running) {
        stop_rx();
    }
    ain1_comp_interrupt_disable();
    clear_ain1_event_flag();
    start_tx_ook_byte(my_id);
    local_flags.tx_running = 1u;
}

static void maybe_start_rx_from_ain1(void)
{
    uint8_t ain1_triggered = 0u;
    const uint8_t sreg = SREG;

    if (local_flags.tx_running || local_flags.led_active || rx_running) {
        return;
    }

    cli();
    if (isr_events.ain1_above_vref) {
        isr_events.ain1_above_vref = 0u;
        ain1_triggered = 1u;
    }
    SREG = sreg;

    if (ain1_triggered) {
        start_rx();
    }
}

static void handle_rx_packet_if_ready(void)
{
    if (local_flags.tx_running || local_flags.led_active || !rx_running) {
        return;
    }

    poll_rx_decoder();
    if (local_flags.rx_packet_failed) {
        local_flags.rx_packet_failed = 0u;
        stop_rx();
        clear_ain1_event_flag();
        return;
    }

    if (!local_flags.rx_packet_ready) {
        return;
    }

    const uint8_t nearby_device_id = rx_packet_data;
    local_flags.rx_packet_ready = 0u;
    stop_rx();
    clear_ain1_event_flag();
    note_seen_device_id(nearby_device_id);
    schedule_delayed_self_tx();
}

static void handle_env_stuck_flash(void)
{
    const uint8_t flash_ticks = env_stuck_flash_wdt_ticks;

    if ((flash_ticks != 0u) && ((flash_ticks & 0x01u) != 0u)) {
        leds_apply_on_mask(LED_WING2_MASK);
    } else {
        leds_off();
    }
}

static void sleep_if_idle(void)
{
    cli();
    const uint8_t tx_done_pending = (uint8_t)(local_flags.tx_running && isr_events.tx_ook_done);
    const uint8_t ain1_start_pending =
        (uint8_t)(!local_flags.tx_running && !rx_running && isr_events.ain1_above_vref);
    const uint8_t rx_sample_pending = (uint8_t)(
        !local_flags.tx_running && rx_running && (rx_sample_seq != rx_poll_last_sample_seq));

    if (!isr_events.tx_request &&
        !isr_events.seen_ids_timeout_request &&
        !isr_events.sw1_long_press_request &&
        !tx_done_pending &&
        !ain1_start_pending &&
        !rx_sample_pending) {
        // Keep comparator and pin-change wake sources fully available.
        set_sleep_mode(SLEEP_MODE_IDLE);

        sleep_enable();
        sei();
        sleep_cpu();
        sleep_disable();
    } else {
        sei();
    }
}

int main(void)
{
    if (osccal_boot_requested() != 0u) {
        osccal_mode_run();
    }

    // If we have a stored OSCCAL in EEPROM, use it
    const uint8_t osccal = eeprom_read_byte((const uint8_t *)0x00);
    if (osccal != 0xff) {
        OSCCAL = osccal;
    }
    // F_CPU = 4 MHz
    clock_prescale_set(clock_div_2);

    // Load our ID
    my_id = eeprom_read_byte((const uint8_t *)0x01);

    // Configure LED banks as open-collector outputs, defaulting off/floating.
    leds_init();

    // Configure AIN1 as analog comparator input.
    DDRA &= ~(1 << ENV_PIN);
    PORTA &= ~(1 << ENV_PIN);
    DIDR0 |= (1 << AIN1D);

    // Configure TX request as pulled-up digital input.
    DDRB &= ~(1 << SW1_PIN);
    PORTB |= (1 << SW1_PIN);
    sw1_falling_interrupt_init();
    watchdog_interrupt_init();

    // Comparator setup:
    // - Positive input = internal bandgap reference (ACBG=1)
    // - Negative input = AIN1 pin
    // - Interrupt on falling edge (ACIS1:0 = 10), which corresponds to AIN1 > VBG
    //   when using bandgap on the positive input.
    ACSR = (1 << ACBG) | (1 << ACIS1);
    ain1_comp_interrupt_enable();
    sei();

    local_flags.tx_running = 0u;
    local_flags.led_active = 0u;
    for (;;) {
        const loop_events_t events = poll_loop_events();

        handle_tx_done_event();
        const uint8_t sw1_long_press_handled =
            handle_sw1_long_press_event(events.sw1_long_press_triggered);
        if (!sw1_long_press_handled) {
            handle_tx_request_event(events.tx_triggered);
        }
        handle_seen_ids_timeout_event(events.seen_ids_timeout_triggered);
        maybe_start_rx_from_ain1();
        handle_rx_packet_if_ready();
        handle_env_stuck_flash();
        sleep_if_idle();
    }
}