Colony

/*

dio.c

Controls digital input and output

A general note on how this code works:

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

A = 001

B = 010

C = 011

D = 100

E = 101

F = 110

G = 111

the bank can be found by doing portpin >> 3

the next 3 (def in this example) are used to select the pin number

the 3 bits are just the binary representation of the pin number

0 = 000

1 = 001

2 = 010

3 = 011

4 = 100

5 = 101

6 = 110

7 = 111

the pin number can be found by doing portping & 0b111

*/

#include <avr/interrupt.h>

#include <dio.h>

#include <time.h>

#include <lights.h>

/*

 * digital_input

 * Reads the value on the selected portpin, returns it as 1 or 0

 * see general description (above) for definition of 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;

}

/*

  digital_pull_up

  Enables pullup on a pin.  if pin is output, it will make it output 1.

*/

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;

  }

}

/*

  digital_output

  sets portpin to the value

  see general description above for explanation of portpin

  val can only be 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;

    }

  }

}

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

////////////   button1  //////////////

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

/*

  return 1 if button is pressed, 0 otherwise

*/

int button1_read( void )

{

        int pin_val;

        DDRG &= ~_BV(PING0);

        PORTG|= _BV(PING0);

    pin_val = PING;

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

}

/* similar to button1_read, but hold program until the button is actually

 * pressed

*/

void button1_wait( void )

{

  while(!button1_read() ) {

    delay_ms(15);

  }

}

/* USER LED

  same as button1_wait

  However, blink the led while waiting

  IMPORTANT: This requires that the LED has been initialized (  init_led  )

*/

/*

void button1_wait_led( void )

{

  int i = 0;

  while(!button1_read()){

    if(i < 8){

      led_user(1);

    }else{

      led_user(0);

    }

    //increment i, but restart when i = 15;

    i = (i+1) & 0xF;

    delay_ms(15);

  }

  led_user(0);

}

*/

//click waits until the button is realesed to return true

//return false immediatley

int button1_click()

{

  if(button1_read()){

    while(button1_read());

    return 1;

  }else{

    return 0;

  }

}

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

////////////   button2  //////////////

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

//see button1 functions for descriptions

//same except for which button is used

int button2_read( void )

{

        int pin_val;

        DDRG &= ~_BV(PING1);

        PORTG|= _BV(PING1);

    pin_val = PING;

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

}

void button2_wait( void )

{

  while(!button2_read()){

    delay_ms(15);

  }

}

/*USER LED NO LONGER EXISTS

void button2_wait_led(void)

{

  int i = 0;

  while(!button2_read()){

    if(i < 8){

                        led_user(1);

    }else{

                        led_user(0);

                }

                //increment i, but restart when i = 15;

                i = (i+1) & 0xF;

                delay_ms(15);

        }

        led_user(0);

}

*/

int button2_click()

{

        if(button2_read()){

    while(button2_read());

    return 1;

  }else{

                return 0;

  }

}

/*

// EXTERNAL INTERRUPTS

/// example code to be used by anyone in need

/// this example has 2 bump sensors on PE6 and PE7

// left touch sensor on PE6

SIGNAL (SIG_INTERRUPT6)

{

putcharlcd('6');

}

// right touch sensor on PE7

SIGNAL (SIG_INTERRUPT7)

{

        putcharlcd('7');

}

*/