pentabug/firmware/lib/hal.c

#include <pentabug/hal.h>

#include <avr/io.h>
#include <avr/interrupt.h>
#define __DELAY_BACKWARD_COMPATIBLE__
#include <util/delay.h>

#include <pentabug/lifecycle.h>

#include <pentabug/timer.h>

static volatile uint8_t ir_active = 0;
static int int_skip = 0;
static volatile int16_t wait_time = 0;

static uint16_t button_count[2];
static uint8_t button_pressed[2];

// major interrupt for button handling, every 5ms
inline static void major_interrupt(void) {
	uint8_t i = 0;

	for(i = 0; i < 2; ++i) {
		if(PINB & (1 << i)) {
			if(button_count[i] && button_count[i] > 10 && button_count[i] < 200) {
				button_pressed[i] = 1;
			}

			button_count[i] = 0;
		} else {
			++button_count[i];
		}

		// 1s pressed
		if(button_count[i] == 200) {
			next_app(i ? 1 : -1);
		}
	}
}

ISR(TIMER0_COMPA_vect) {
	if(ir_active) {
		PORTD ^= 1 << 2;
	}

	++int_skip;

	if(int_skip >= 64 * 5) {
		int_skip = 0;
		major_interrupt();
	}

	--wait_time;
}

void init_hw(void) {
	// we need to get real fast (8MHz) to handle 38kHz IR frequency ...

	CLKPR = 0b10000000;
	CLKPR = 0b00000000;

	// initialize timer

	TIMSK0 |= (1 << OCIE0A);

	// calculated and works, but frequency is a little bit off?
	OCR0A = 105;

	TCCR0A = (1 << WGM01);
	TCCR0B = (1 << CS00);

	sei();
}

void reset_hw(void) {
	stop_timer();

	// 0: S1
	// 1: S2
	// 7: BUZZR
	PORTB = (1 << 0) | (1 << 1) | (1 << 7);
	DDRB = (1 << 7);

	// 0: BUZGND
	// 2: LED2
	// 3: LED2 (+)
	PORTC = (1 << 2) | (1 << 3);
	DDRC = (1 << 0) | (1 << 2) | (1 << 3);

	// 2: IR
	// 4: LED
	PORTD = (1 << 4);
	DDRD = (1 << 2) | (1 << 4);

	// do not carry button state

	button_pressed[0] = 0;
	button_pressed[1] = 0;
}

uint8_t button_clicked(uint8_t btn) {
	uint8_t clicked = button_pressed[btn];
	button_pressed[btn] = 0;
	return clicked;
}

void button_reset(uint8_t btn) {
	button_pressed[btn] = 0;
}

void led_on(uint8_t led) {
	if(led == RIGHT) {
		PORTC &= ~(1 << 2);
	} else {
		PORTD &= ~(1 << 4);
	}
}

void led_off(uint8_t led) {
	if(led == RIGHT) {
		PORTC |= 1 << 2;
	} else {
		PORTD |= 1 << 4;
	}
}

void led_inv(uint8_t led) {
	if(led == RIGHT) {
		PORTC ^= 1 << 2;
	} else {
		PORTD ^= 1 << 4;
	}
}

void motor_on(void) {
	PORTB |= 1 << 6;
}

void motor_off(void) {
	PORTB &= ~(1 << 6);
}

void motor_inv(void) {
	PORTB ^= 1 << 6;
}

void wait_ms(uint16_t ms) {
	// TODO: this function seems to be ~10% too fast
	int32_t cycles = ms * (int32_t)64;

	while(cycles >= INT16_MAX) {
		cycles -= INT16_MAX;
		wait_time = INT16_MAX;

		while(wait_time > 0) {
			test_stop_app();
		}
	}

	wait_time = cycles;

	while(wait_time > 0) {
		test_stop_app();
	}
}