Add documentation and convenience hal stuff

firmware/include/pentabug/hal.h

@@ -6,6 +6,9 @@
 #define LEFT		0
 #define RIGHT		1
 
+#define OFF		0
+#define ON		1
+
 // INITIALIZATION
 
 // initializes the hardware (timers, ...)
@@ -18,6 +21,7 @@ void reset_hw(void);
 // BUTTONS
 
 // returns 1 if the button is currently pressed, 0 otherwise
+// WARNING: you should really use button_clicked() instead
 uint8_t button_state(uint8_t btn);
 
 // returns 1 if the button was clicked since the last call to this function or button_reset()
@@ -26,12 +30,14 @@ void button_reset(uint8_t btn);
 
 // LEDS
 
+void led_set(uint8_t led, uint8_t state);
 void led_on(uint8_t led);
 void led_off(uint8_t led);
 void led_inv(uint8_t led);
 
 // MOTOR
 
+void motor_set(uint8_t state);
 void motor_on(void);
 void motor_off(void);
 void motor_inv(void);

firmware/lib/hal.c

@@ -2,8 +2,6 @@
 
 #include <avr/io.h>
 #include <avr/interrupt.h>
-#define __DELAY_BACKWARD_COMPATIBLE__
-#include <util/delay.h>
 
 #include <pentabug/lifecycle.h>
 
@@ -38,6 +36,7 @@ inline static void major_interrupt(void) {
 	}
 }
 
+// WARNING: this interrupt is already way too big. extend only in case of emergency!
 ISR(TIMER0_COMPA_vect) {
 	if(ir_active) {
 		PORTD ^= 1 << 2;
@@ -99,6 +98,10 @@ void reset_hw(void) {
 	button_pressed[1] = 0;
 }
 
+uint8_t button_state(uint8_t btn) {
+	return !(PINB & (1 << btn));
+}
+
 uint8_t button_clicked(uint8_t btn) {
 	uint8_t clicked = button_pressed[btn];
 	button_pressed[btn] = 0;
@@ -109,6 +112,14 @@ void button_reset(uint8_t btn) {
 	button_pressed[btn] = 0;
 }
 
+void led_set(uint8_t led, uint8_t state) {
+	if(state) {
+		led_on(led);
+	} else {
+		led_off(led);
+	}
+}
+
 void led_on(uint8_t led) {
 	if(led == RIGHT) {
 		PORTC &= ~(1 << 2);
@@ -133,6 +144,14 @@ void led_inv(uint8_t led) {
 	}
 }
 
+void motor_set(uint8_t state) {
+	if(state) {
+		motor_on();
+	} else {
+		motor_off();
+	}
+}
+
 void motor_on(void) {
 	PORTB |= 1 << 6;
 }

firmware/lib/music.c

@@ -1,8 +1,6 @@
 #include <pentabug/music.h>
 
 #include <avr/io.h>
-#define __DELAY_BACKWARD_COMPATIBLE__
-#include <util/delay.h>
 
 #include <pentabug/timer.h>
 #include <pentabug/lifecycle.h>