171 lines
2.8 KiB
C
171 lines
2.8 KiB
C
#include <inttypes.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 <stdlib.h>
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#define ever (;;)
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#define follow(active, to_port, to_pin) { if(active) to_port &= ~(1 << to_pin); else to_port |= 1 << to_pin; }
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#define not_follow(active, to_port, to_pin) { if(active) to_port |= 1 << to_pin; else to_port &= ~(1 << to_pin); }
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#define FLASH(port, pin) { port &= ~(1 << pin); _delay_ms(50); port |= 1 << pin;}
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static volatile uint32_t button_state = 0;
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static volatile uint8_t next_mode = 0;
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static volatile uint8_t ir_active = 0;
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enum test_modes {
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PHOTONS,
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MOTOR,
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AUDIO,
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SHIELD,
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// the end ... wrap
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MODE_MAX,
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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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} else {
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PORTD &= ~(1 << 2);
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}
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if(PINB & (1 << 1)) {
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button_state = 0;
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} else {
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++button_state;
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}
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if(button_state == (38l * 1000 / 2)) {
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next_mode = 1;
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}
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}
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static void reset_hw(void) {
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// 0: S1
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// 1: S2
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// 2: SHIELD
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// 7: BUZZR
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PORTB = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 7);
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DDRB = (1 << 2) | (1 << 7);
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// 0: BUZGND
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// 2: LED2
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// 3: LED2 (+)
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// 4: SHIELD
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// 5: SHIELD
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PORTC = (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5);
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DDRC = (1 << 0) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5);
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// 2: IR
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// 4: LED
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// 5: SHIELD
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// 6: SHIELD
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// 7: SHIELD
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PORTD = (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
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DDRD = (1 << 2) | (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
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}
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int main(void) {
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uint8_t vib_delay = 0;
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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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reset_hw();
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// no prescaler
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sei();
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// looping
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enum test_modes mode = PHOTONS;
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for ever {
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// next mode?
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if(next_mode) {
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// cleanup
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switch(mode) {
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case PHOTONS:
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ir_active = 0;
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break;
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case MOTOR:
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case AUDIO:
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case SHIELD:
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break;
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case MODE_MAX: break;
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}
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reset_hw();
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++mode;
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if(mode == MODE_MAX) {
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mode = 0;
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}
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uint32_t i;
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for(i = 0; i < 50; ++i) {
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PORTB ^= 1 << 7;
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_delay_ms(1);
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}
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next_mode = 0;
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}
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uint8_t button = !(PINB & (1 << 0));
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not_follow(PIND & (1 << 3), PORTC, 2);
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switch(mode) {
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case PHOTONS:
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ir_active = button;
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follow(button, PORTD, 4);
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break;
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case MOTOR:
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not_follow(button, PORTB, 6);
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break;
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case AUDIO:
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{
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if(button) {
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PORTC ^= 1 << 0;
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_delay_ms(2);
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}
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break;
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}
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case SHIELD:
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if(button) {
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FLASH(PORTB, 2);
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FLASH(PORTD, 5);
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FLASH(PORTD, 6);
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FLASH(PORTD, 7);
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FLASH(PORTC, 5);
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FLASH(PORTC, 4);
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}
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break;
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case MODE_MAX: break;
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}
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}
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/* never return 0; */
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return 0;
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}
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