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