Colony

/*

lights.c

Controls led_user (small green LED) and the ORB (big light)

author: CMU Robotics Club, Colony Project

*/

//#include "lights.h"

#include "firefly+_lib.h"

// the below comment may not be correct

// Initializes timer2 to count every 0.5 us, overflowing every 16.32 ms (because we set the counter to start at 0x8000)

void orb_init()

{

        //enable the data direction register on the 3 orb LEDs

        DDRE |= _BV(REDLED) | _BV(GREENLED) | _BV(BLUELED);

        TCCR3A = 0xA9;  // COM## set to noninvert, WGM 1:0 set to 1

        TCCR3B = 0x0C;  // High bits to 0, WGM 3:2 set to 1, prescaler to 8

// clear Output Compare Registers

        OCR3AH=0x00;

        OCR3AL=0x00;

        OCR3BH=0x00;

        OCR3BL=0x00;

        OCR3CH=0x00;

        OCR3CL=0x00;

}

// Sets the red, green and blue elements of the LED with 8-bit resolution

void orb_set(unsigned int red_led, unsigned int green_led, unsigned int blue_led)

{

        OCR3AL = red_led;

        OCR3BL = green_led;

        OCR3CL = blue_led;

}

void orb_set_color(int col)

{

 int red, green, blue;

 red = ((col & 0xE0) >> 5) * 36;

 green = ((col & 0x1C) >> 2) * 36;

 blue = (col & 0x03) * 85;

 orb_set(red, green, blue);

}

// Disables the timer1 interrupt, disabling the Orb's color fading capabilities

// You can still turn the red, green, and blue leds on and off with set_orb_dio

void orb_disable()

{

        TCCR3A = 0x01;  // COM## disconnected, WGM 1:0 set to 1

}

// Enables the timer1 interrupt, enabling the Orb's color fading capabilities

void orb_enable()

{

        TCCR3A = 0xA9;  // COM## set to noninvert, WGM 1:0 set to 1

}

/*

This function turns each Orb element on or off

Useful for using the Orb for debugging purposes without

the overhead of the software PWM routine used for color fading.

*/

void orb_set_dio(int red, int green, int blue)

{

        if(red == 0)

                PORTE &= (0xFF - _BV(REDLED));

        else

                PORTE |= _BV(REDLED);

        if(green == 0)

                PORTE &= (0xFF - _BV(GREENLED));

        else

                PORTE |= _BV(GREENLED);

        if(blue == 0)

                PORTE &= (0xFF - _BV(BLUELED));

        else

                PORTE |= _BV(BLUELED);

}

/////////////////////////////////////////

///////////    user LED   ///////////////

/////////////////////////////////////////

void led_init( void )

{

        DDRG |= _BV(USERLED);

}

void led_user(int value)

{

        if(value == 0)

                PORTG &= (0xFF - _BV(USERLED));

        else

                PORTG |= _BV(USERLED);

}