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-            bcoltin
+/**
  * Copyright (c) 2007 Colony Project
+ *
  * Permission is hereby granted, free of charge, to any person
  * obtaining a copy of this software and associated documentation
  * files (the "Software"), to deal in the Software without
  * restriction, including without limitation the rights to use,
  * copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the
  * Software is furnished to do so, subject to the following
  * conditions:
+ *
  * The above copyright notice and this permission notice shall be
  * included in all copies or substantial portions of the Software.
+ *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
  * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
  * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
  * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
  * OTHER DEALINGS IN THE SOFTWARE.
  **/
             bcoltin
             bcoltin
 /**
  * @file dio.c
  * @brief Digital Input and Output
+ *
  * Implementation of functions for digital input and output.
+ *
  * @author Colony Project, CMU Robotics Club
  **/
-            bcoltin
+#include <avr/interrupt.h>
-            rcahoon
+#include "dio.h"
 #include "time.h"
 #include "lights.h"
             bcoltin
 /**
  * @defgroup dio Digital Input / Output
  * @brief Controls digital input and output
+ *
  * A general note on how port / pin numbers work:<br>
  * The portpin is used to select both the bank and which pin is selected.
  * 6 bits are used (lower 6, ex: 0b00abcdef).
  * The first 3 (abc in this example) are used to select the bank.<br>
  * A = 001<br>
  * B = 010<br>
  * C = 011<br>
  * D = 100<br>
  * E = 101<br>
  * F = 110<br>
  * G = 111<br><br>
+ *
  * The bank can be found by doing portpin >> 3. <br>
+ *
  * The next three (def in this example) are used to select the pin number.
  * These three bits are just the binary representation of the pin number.<br>
  * <br>
  * The pin number can be found by doing portpin & 0b111.<br><br>
+ *
  * Include dio.h to access these functions.
  **/
 /**
  * Reads the selected portpin.
+ *
  * @param portpin The portpin to be read. See the general description
  * for a description of portpins.
+ *
  * @return 1 or 0, depending on the value of the portpin.
  **/
-            jknichel
+int digital_input(int portpin) {
-            bcoltin
+  int pin = portpin & 0x7;
   int pin_val = 0;
-            jknichel
+  switch(portpin >> 3) {
-            bcoltin
+  case _PORT_A:
     DDRA &= ~_BV(pin);
     pin_val = PINA;
     return (pin_val >> pin) & 1;
   case _PORT_B:
     DDRB &= ~_BV(pin);
     pin_val = PINB;
     return (pin_val >> pin) & 1;
   case _PORT_C:
     DDRC &= ~_BV(pin);
     pin_val = PINC;
     return (pin_val >> pin) & 1;
   case _PORT_D:
     DDRD &= ~_BV(pin);
     pin_val = PIND;
     return (pin_val >> pin) & 1;
   case _PORT_E:
     DDRE &= ~_BV(pin);
     pin_val = PINE;
     return (pin_val >> pin) & 1;
   case _PORT_F:
-            jknichel
+    if(pin>=4) {
-            bcoltin
+      MCUSR|=1<<7;
       MCUSR|=1<<7;
+    }
     DDRF &= ~_BV(pin);
     pin_val = PINF;
     return (pin_val >> pin) & 1;
   case _PORT_G:
     DDRG &= ~_BV(pin);
     pin_val = PING;
     return (pin_val >> pin) & 1;
   default: break;
+  }
   return -1;
+}
 /**
  * Enables pullup on a pin. If it is an output pin, the pin will output
  * 1.
+ *
  * @param portpin the pin to enable pullup on. See the general description
  * for a discussion of portpins.
  **/
 void digital_pull_up(int portpin) {
   int pins = portpin & 0x07;
   switch(portpin >> 3) {
   case _PORT_A:
     PORTA |= _BV(pins);
     break;
   case _PORT_B:
     PORTB |= _BV(pins);
     break;
   case _PORT_C:
     PORTC |= _BV(pins);
     break;
   case _PORT_D:
     PORTD |= _BV(pins);
     break;
   case _PORT_E:
     PORTE |= _BV(pins);
     break;
   case _PORT_F:
     PORTF |= _BV(pins);
     break;
   case _PORT_G:
     PORTG |= _BV(pins);
     break;
+  }
+}
 /**
  * Sets portpin to the given value.
+ *
  * @param portpin the portpin to output to. See the general
  * description for a discussion of portpins.
+ *
  * @param val the value to set the portpin to. 0 for off,
  * nonzero for on.
  **/
 void digital_output(int portpin, int val) {
   int pins = portpin & 0x07;
   /* if you want to set to 0... */
   if(val == 0) {
     switch(portpin >> 3) {
     case _PORT_A:
       DDRA |= _BV(pins);
       PORTA &= (0XFF - _BV(pins));
       break;
     case _PORT_B:
       DDRB |= _BV(pins);
       PORTB &= (0XFF - _BV(pins));
       break;
     case _PORT_C:
       DDRC |= _BV(pins);
       PORTC &= (0XFF - _BV(pins));
       break;
     case _PORT_D:
       DDRD |= _BV(pins);
       PORTD &= (0XFF - _BV(pins));
       break;
     case _PORT_E:
       DDRE |= _BV(pins);
       PORTE &= (0XFF - _BV(pins));
       break;
     case _PORT_F:
       DDRF |= _BV(pins);
       PORTF &= (0XFF - _BV(pins));
       break;
     case _PORT_G:
       DDRG |= _BV(pins);
       PORTG &= (0XFF - _BV(pins));
       break;
+    }
-            jknichel
+  } else { /* ( val == 1) */
-            bcoltin
+    switch(portpin >> 3) {
     case _PORT_A:
       DDRA |= _BV(pins);
       PORTA |= _BV(pins);
       break;
     case _PORT_B:
       DDRB |= _BV(pins);
       PORTB |= _BV(pins);
       break;
     case _PORT_C:
       DDRC |= _BV(pins);
       PORTC |= _BV(pins);
       break;
     case _PORT_D:
       DDRD |= _BV(pins);
       PORTD |= _BV(pins);
       break;
     case _PORT_E:
       DDRE |= _BV(pins);
       PORTE |= _BV(pins);
       break;
     case _PORT_F:
       DDRF |= _BV(pins);
       PORTF |= _BV(pins);
       break;
     case _PORT_G:
       DDRG |= _BV(pins);
       PORTG |= _BV(pins);
       break;
+    }
+  }
+}
 /**
  * Checks if button1 is currently pressed.
+ *
  * @return 1 if button1 is pressed, 0 otherwise
+ *
  * @see button1_wait, button1_click
  **/
-            jknichel
+int button1_read( void ) {
   int pin_val;
   DDRG &= ~_BV(PING0);
   PORTG|= _BV(PING0);
   pin_val = PING;
   return !((pin_val & _BV(PING0)));
             bcoltin
 /**
  * Delays execution until button1 is pressed.
+ *
  * @see button1_read, button1_click
  **/
-            jknichel
+void button1_wait( void ) {
-            bcoltin
+  while(!button1_read() ) {
     delay_ms(15);
+  }
+}
 /**
  * If button1 is pressed, waits until it is released before returning.
  * Otherwise, the function returns immediately.
+ *
  * @return 1 if button1 has been pressed, 0 otherwise
+ *
  * @see button1_read, button1_wait
  **/
-            jknichel
+int button1_click() {
   if(button1_read()) {
-            bcoltin
+    while(button1_read());
     return 1;
-            jknichel
+  } else {
-            bcoltin
+    return 0;
+  }
+}
 /**
  * Checks if button2 is currently pressed.
+ *
  * @return 1 if button2 is pressed, 0 otherwise
+ *
  * @see button2_wait, button2_click
  **/
-            jknichel
+int button2_read( void ) {
   int pin_val;
   DDRG &= ~_BV(PING1);
   PORTG|= _BV(PING1);
   pin_val = PING;
   return !((pin_val & _BV(PING1)));
             bcoltin
 /**
  * Delays execution until button2 is pressed.
+ *
  * @see button2_read, button2_click
  **/
-            jknichel
+void button2_wait( void ) {
-            bcoltin
+  while(!button2_read()){
     delay_ms(15);
+  }
+}
 /**
  * If button2 is pressed, waits until it is released before returning.
  * Otherwise, the function returns immediately.
+ *
  * @return 1 if button2 has been pressed, 0 otherwise
+ *
  * @see button2_read, button2_wait
  **/
-            jknichel
+int button2_click() {
   if(button2_read()) {
-            bcoltin
+    while(button2_read());
     return 1;
-            jknichel
+  } else {
     return 0;
             bcoltin
+}
 /** @} **/ //end defgroup

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