Colony

/**

 * 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.

 **/

/**

 * @file dio.c

 * @brief Digital Input and Output

 *

 * Implementation of functions for digital input and output.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <avr/interrupt.h>

#include "dio.h"

#include "time.h"

#include "lights.h"

/**

 * @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.

 **/

int digital_input(int portpin) {

  int pin = portpin & 0x7;

  int pin_val = 0;

  switch(portpin >> 3) {

  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:

    if(pin>=4) {

      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;

    }

  } else { /* ( val == 1) */ 

    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

 **/

int button1_read( void ) {

  int pin_val;

  DDRG &= ~_BV(PING0);

  PORTG|= _BV(PING0);

  pin_val = PING;

  return !((pin_val & _BV(PING0)));

}

/**

 * Delays execution until button1 is pressed.

 *

 * @see button1_read, button1_click

 **/

void button1_wait( void ) {

  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

 **/

int button1_click() {

  if(button1_read()) {

    while(button1_read());

    return 1;

  } else {

    return 0;

  }

}

/**

 * Checks if button2 is currently pressed.

 * 

 * @return 1 if button2 is pressed, 0 otherwise

 *

 * @see button2_wait, button2_click

 **/

int button2_read( void ) {

  int pin_val;

  DDRG &= ~_BV(PING1);

  PORTG|= _BV(PING1);

  pin_val = PING;

  return !((pin_val & _BV(PING1)));

}

/**

 * Delays execution until button2 is pressed.

 *

 * @see button2_read, button2_click

 **/

void button2_wait( void ) {

  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

 **/

int button2_click() {

  if(button2_read()) {

    while(button2_read());

    return 1;

  } else {

    return 0;

  }

}

/** @} **/ //end defgroup