Add very simple cockroach

firmware/apps/cockroach.c

@@ -0,0 +1,64 @@
+#include <inttypes.h>
+#include <stdlib.h>
+#include <avr/io.h>
+
+#include "../lib/apps.h"
+#include "../lib/bughal.h"
+#include "../lib/util.h"
+#include "../lib/music.h"
+#include "../lib/usart.h"
+
+static void led_sound(void)
+{
+	static bool discharge;
+	static timer_t mytimer;
+	uint16_t led1;
+	uint16_t led2;
+
+	if (mode_uninitialized) {
+		mode_uninitialized = false;
+		set_motor(MOTOR_OFF);
+		ADMUX   = (1 << REFS0);                // use VCC reference
+		ADCSRA  = (1 << ADPS1) | (1 << ADPS0); // prescaler F_CPU/8
+		ADCSRA |= (1 << ADEN);                 // ADC enable - turn it on
+		/*do one conversion*/
+		ADCSRA |= (1 << ADSC);
+		while (ADCSRA & (1 << ADSC)) {
+		/*wait for conversion to end */
+		}
+		uint16_t __attribute__ ((unused)) dummy = ADCW;	//read once
+		timer_set(&mytimer, 10);
+		discharge = true;
+	}
+	if (timer_expired(&mytimer)) {
+		if (discharge) {
+			DDRC |= (1 << PORTC0) | (1 << PORTC1) |	//set LED Ports  to output:
+			    (1 << PORTC2) | (1 << PORTC3);
+			/*discharge*/
+			PORTC = (PORTC & 0b11110000);
+			/*set C0 and C2 to input (disable pullups)*/
+			DDRC &= ~((1 << PORTC0) | (1 << PORTC2));	//set Led Ports to input
+			/*pull ups off*/
+			PORTC &= ~((1 << PORTC0) | (1 << PORTC2));
+			discharge = false;
+		} else {
+			/*single measurement*/
+			ADMUX = (ADMUX & ~(0x1F)) | 0; // select channel 0
+			ADCSRA |= (1 << ADSC);         // start single conversion
+			while (ADCSRA & (1 << ADSC)) ; // wait for conversion to end
+			led1 = ADCW;                   // read result
+
+			ADMUX = (ADMUX & ~(0x1F)) | 2; // select channel 2
+			ADCSRA |= (1 << ADSC);         // start single conversion
+			while (ADCSRA & (1 << ADSC)) ; // wait for conversion to end
+			led2 = ADCW;                   // read result
+
+			set_motor(led1 > 0x50 ? MOTOR_ON : MOTOR_OFF);
+
+			discharge = true;
+		}
+		timer_set(&mytimer, 2);	//relaunch timer
+	}			//end if timer_expired
+}				//end mode5
+
+REGISTER(led_sound)