Add IR to HAL

firmware/include/pentabug/hal.h

@@ -51,6 +51,17 @@ void buzzer_inv(void);
 // turns buzzer off, buzzer_inv() won't create a sound wave after this call
 void buzzer_off(void);
 
+// IR
+
+// all this functions control whether a 38kHz modulated IR signal is sent
+void ir_on(void);
+void ir_off(void);
+void ir_inv(void);
+void ir_set(uint8_t state);
+
+// returns 1 if a 38kHz modulated IR signal is received
+uint8_t ir_recv(void);
+
 // WAITING
 
 // waits the given amount of ms

firmware/lib/hal.c

@@ -99,7 +99,8 @@ void reset_hw(void) {
 	PORTC = (1 << 2) | (1 << 3);
 	DDRC = (1 << 0) | (1 << 2) | (1 << 3);
 
-	// 2: IR
+	// 2: IRSEND
+	// 3: IRRECV
 	// 4: LED
 	PORTD = (1 << 4);
 	DDRD = (1 << 2) | (1 << 4);
@@ -108,6 +109,10 @@ void reset_hw(void) {
 
 	button_pressed[0] = 0;
 	button_pressed[1] = 0;
+
+	// turn ir off
+
+	ir_off();
 }
 
 uint8_t button_state(uint8_t btn) {
@@ -220,3 +225,32 @@ void wait_ms(uint16_t ms) {
 	}
 }
 
+void ir_on(void) {
+	ir_active = 1;
+}
+
+void ir_off(void) {
+	ir_active = 0;
+	PORTD &= ~(1 << 2);
+}
+
+void ir_inv(void) {
+	if(ir_active) {
+		ir_off();
+	} else {
+		ir_on();
+	}
+}
+
+void ir_set(uint8_t state) {
+	if(state) {
+		ir_on();
+	} else {
+		ir_off();
+	}
+}
+
+uint8_t ir_recv(void) {
+	return !(PIND & (1 << 3));
+}
+