pentabug/fw_test/main.c

#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <stdlib.h>


#define LED_L (1 << PORTC0)
#define LED_R (1 << PORTC2)
#define MOTOR_ON (0<<PORTB1)
#define MOTOR_OFF (1<<PORTB1)



void init_leds(void){
	//enable LED channels as output
	DDRC |= (1 << PORTC0) | (1 << PORTC1) | (1 << PORTC2) | (1 << PORTC3);
	// both LEDs off
	PORTC &= ~((1 << PORTC0) | (1 << PORTC1) | (1 << PORTC2) | (1 << PORTC3));
 	return;
};

void inline led_on(int leds){
 	PORTC |= leds;
};

void inline led_off(int leds){
	PORTC &= ~leds;
};



void init_buzzr(){
	//its on B2 and C5, for reasons
	DDRC |= (1 << PORTC5);
	DDRB |= (1 << PORTB2);
	//switch it off
	buzzr_off();
	return;
};

void buzzr_up(){
	PORTC &= ~(1 << PORTC5);
	PORTB |= (1 << PORTB2);
	return;
};

void buzzr_down(){
	PORTC |= (1 << PORTC5);
	PORTB &= ~(1 << PORTB2);
};

void inline buzzr_off(){
	PORTC &= ~(1 << PORTC5);
	PORTB &= ~(1 << PORTB2);
};
void buzzr_inv(){
	PORTC ^= (1 << PORTC5);
	PORTB ^= (1 << PORTB2);
};


void init_motor(void)
{
	/* vibration motor on B1, initially off: */
	DDRB  |= (1 << PORTB1);
	PORTB &= ~( 1<<PORTB1);
	return;
}

void set_motor(int val){
	PORTB = ~(val);
	PORTB = PORTB;
	return;
};


void init_switch(void){
	return;
};

void blinkrattlebeep(void){
	led_off(LED_L|LED_R);
	_delay_ms(100);	
	led_on(LED_L);
	_delay_ms(100);	
	led_off(LED_L);
	led_on(LED_R);
	_delay_ms(100);
	led_off(LED_R);	
	set_motor(MOTOR_ON);
	_delay_ms(200);
	set_motor(MOTOR_OFF);
	buzzr_up();
	for (int i=0; i<100; i++){
		_delay_ms(2);
		buzzr_inv();
	};
	buzzr_off();
};

void mode_motortest(void)
{
	set_motor(MOTOR_ON);
	_delay_ms(400);
	set_motor(MOTOR_OFF);
	_delay_ms(500);
	return;
}


void mode_blinktest(void)
{
	led_off(LED_L|LED_R);
	_delay_ms(100);	
	led_on(LED_L);
	_delay_ms(100);	
	led_off(LED_L);
	led_on(LED_R);
	_delay_ms(100);
	led_off(LED_R);	
	return
}


void __attribute__((noreturn)) 
main(void)
{

	/* hardware initialisation: */
	init_motor();
	init_buzzr();
	init_leds();
	uint8_t mode = 0;




	for(;;) /* ever */  {
		//do something

		//TODO: check switches and change mode

		switch(mode){
			case 1 : led_on(LED_L|LED_R); _delay_ms(500); led_off(LED_L|LED_R); break;
			case 2 : break;
			default : blinkrattlebeep();
		};

	}
	/* never  return 0; */
}