95 lines
1.5 KiB
C
95 lines
1.5 KiB
C
#include <inttypes.h>
|
|
#include <avr/io.h>
|
|
#include "bughal.h"
|
|
|
|
/* Hardware abstraction layer for Pentabug hardware */
|
|
|
|
/*
|
|
* initialize LEDs on C0-C3
|
|
*/
|
|
void init_leds(void){
|
|
//enable LED channels as output
|
|
DDRC |= (1 << PORTC0) | (1 << PORTC1) | (1 << PORTC2) | (1 << PORTC3);
|
|
// both LEDs off
|
|
PORTC &= ~((1 << PORTC0) | (1 << PORTC1) | (1 << PORTC2) | (1 << PORTC3));
|
|
|
|
|
|
//TCCR2A = (1 << WGM21);
|
|
//TCCR2B = (1 << CS20)|(1 << CS21);
|
|
//OCR2A = 255; /* TOP */
|
|
// TCNT2 = 0;
|
|
// /*enable interrupt*/
|
|
// TIMSK2 |= (1<<OCIE2A);
|
|
|
|
|
|
return;
|
|
}
|
|
|
|
inline void led_on(int leds){
|
|
PORTC |= leds;
|
|
}
|
|
|
|
inline void led_off(int leds){
|
|
PORTC &= ~leds;
|
|
}
|
|
|
|
|
|
|
|
void init_buzzr(void){
|
|
//its on B2 and C5, for reasons
|
|
DDRC |= (1 << PORTC5);
|
|
DDRB |= (1 << PORTB2);
|
|
//switch it off
|
|
buzzr_off();
|
|
return;
|
|
}
|
|
|
|
void buzzr_up(void){
|
|
PORTC &= ~(1 << PORTC5);
|
|
PORTB |= (1 << PORTB2);
|
|
return;
|
|
}
|
|
|
|
void buzzr_down(void){
|
|
PORTC |= (1 << PORTC5);
|
|
PORTB &= ~(1 << PORTB2);
|
|
}
|
|
|
|
inline void buzzr_off(void){
|
|
PORTC &= ~(1 << PORTC5);
|
|
PORTB &= ~(1 << PORTB2);
|
|
}
|
|
void buzzr_inv(void){
|
|
PORTC ^= (1 << PORTC5);
|
|
PORTB ^= (1 << PORTB2);
|
|
}
|
|
|
|
void init_switch(void){
|
|
DDRD &= ~( (1 << PORTD1) | (1<<PORTD0));
|
|
PORTD |= (1 << PORTD1) | (1<<PORTD0); //Pullups FTW
|
|
return;
|
|
}
|
|
|
|
bool switch_l(void){
|
|
return PIND & 0b00000010;
|
|
};
|
|
|
|
bool switch_r(void){
|
|
return PIND & 0b00000001;
|
|
};
|
|
|
|
|
|
void init_motor(void)
|
|
{
|
|
/* vibration motor on B1, initially off: */
|
|
DDRB |= (1 << PORTB1);
|
|
PORTB &= ~( 1<<PORTB1);
|
|
return;
|
|
}
|
|
|
|
void set_motor(int val){
|
|
PORTB = ~(val);
|
|
return;
|
|
}
|
|
|