167 lines
2.5 KiB
C
167 lines
2.5 KiB
C
#include <pentabug/hal.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#define __DELAY_BACKWARD_COMPATIBLE__
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#include <util/delay.h>
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#include <pentabug/lifecycle.h>
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#include <pentabug/timer.h>
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static volatile uint8_t ir_active = 0;
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static int int_skip = 0;
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static volatile int16_t wait_time = 0;
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static uint16_t button_count[2];
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static uint8_t button_pressed[2];
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// major interrupt for button handling, every 5ms
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inline static void major_interrupt(void) {
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uint8_t i = 0;
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for(i = 0; i < 2; ++i) {
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if(PINB & (1 << i)) {
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if(button_count[i] && button_count[i] > 10 && button_count[i] < 200) {
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button_pressed[i] = 1;
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}
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button_count[i] = 0;
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} else {
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++button_count[i];
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}
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// 1s pressed
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if(button_count[i] == 200) {
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next_app(i ? 1 : -1);
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}
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}
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}
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ISR(TIMER0_COMPA_vect) {
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if(ir_active) {
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PORTD ^= 1 << 2;
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}
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++int_skip;
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if(int_skip >= 64 * 5) {
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int_skip = 0;
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major_interrupt();
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}
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--wait_time;
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}
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void init_hw(void) {
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// we need to get real fast (8MHz) to handle 38kHz IR frequency ...
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CLKPR = 0b10000000;
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CLKPR = 0b00000000;
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// initialize timer
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TIMSK0 |= (1 << OCIE0A);
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// calculated and works, but frequency is a little bit off?
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OCR0A = 105;
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TCCR0A = (1 << WGM01);
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TCCR0B = (1 << CS00);
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sei();
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}
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void reset_hw(void) {
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stop_timer();
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// 0: S1
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// 1: S2
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// 7: BUZZR
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PORTB = (1 << 0) | (1 << 1) | (1 << 7);
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DDRB = (1 << 7);
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// 0: BUZGND
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// 2: LED2
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// 3: LED2 (+)
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PORTC = (1 << 2) | (1 << 3);
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DDRC = (1 << 0) | (1 << 2) | (1 << 3);
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// 2: IR
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// 4: LED
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PORTD = (1 << 4);
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DDRD = (1 << 2) | (1 << 4);
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// do not carry button state
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button_pressed[0] = 0;
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button_pressed[1] = 0;
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}
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uint8_t button_clicked(uint8_t btn) {
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uint8_t clicked = button_pressed[btn];
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button_pressed[btn] = 0;
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return clicked;
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}
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void button_reset(uint8_t btn) {
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button_pressed[btn] = 0;
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}
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void led_on(uint8_t led) {
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if(led == RIGHT) {
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PORTC &= ~(1 << 2);
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} else {
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PORTD &= ~(1 << 4);
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}
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}
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void led_off(uint8_t led) {
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if(led == RIGHT) {
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PORTC |= 1 << 2;
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} else {
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PORTD |= 1 << 4;
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}
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}
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void led_inv(uint8_t led) {
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if(led == RIGHT) {
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PORTC ^= 1 << 2;
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} else {
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PORTD ^= 1 << 4;
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}
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}
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void motor_on(void) {
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PORTB |= 1 << 6;
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}
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void motor_off(void) {
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PORTB &= ~(1 << 6);
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}
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void motor_inv(void) {
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PORTB ^= 1 << 6;
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}
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void wait_ms(uint16_t ms) {
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// TODO: this function seems to be ~10% too fast
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int32_t cycles = ms * (int32_t)64;
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while(cycles >= INT16_MAX) {
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cycles -= INT16_MAX;
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wait_time = INT16_MAX;
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while(wait_time > 0) {
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test_stop_app();
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}
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}
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wait_time = cycles;
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while(wait_time > 0) {
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test_stop_app();
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}
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}
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