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Revision 1345

Added by Rich Hong over 11 years ago

Final spline code for master/slave

updated outdated libdragonfly and libwireless

View differences:

dio.c
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/* 
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dio.c
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*/
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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file dio.c
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 * @brief Digital Input and Output
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 *
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 * Implementation of functions for digital input and output.
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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#include <avr/interrupt.h>
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#include <dio.h>
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#include <time.h>
......
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 *
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 * @return 1 or 0, depending on the value of the portpin.
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 **/
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int digital_input(int portpin){
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int digital_input(int portpin) {
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  int pin = portpin & 0x7;
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  int pin_val = 0;
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  switch(portpin >> 3){
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  switch(portpin >> 3) {
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  case _PORT_A:
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    DDRA &= ~_BV(pin);
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    pin_val = PINA;
......
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    pin_val = PINE;
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    return (pin_val >> pin) & 1;
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  case _PORT_F:
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    if(pin>=4){
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    if(pin>=4) {
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      MCUSR|=1<<7;
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      MCUSR|=1<<7;
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    }
......
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      PORTG &= (0XFF - _BV(pins));
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      break;
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    }
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  }else { /* ( val == 1) */ 
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  } else { /* ( val == 1) */ 
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    switch(portpin >> 3) {
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    case _PORT_A:
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      DDRA |= _BV(pins);
......
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 *
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 * @see button1_wait, button1_click
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 **/
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int button1_read( void )
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{
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	int pin_val;
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	DDRG &= ~_BV(PING0);
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	PORTG|= _BV(PING0);
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    pin_val = PING;
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	return !((pin_val & _BV(PING0)));
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int button1_read( void ) {
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  int pin_val;
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  DDRG &= ~_BV(PING0);
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  PORTG|= _BV(PING0);
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  pin_val = PING;
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  return !((pin_val & _BV(PING0)));
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}
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/**
......
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 *
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 * @see button1_read, button1_click
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 **/
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void button1_wait( void )
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{
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void button1_wait( void ) {
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  while(!button1_read() ) {
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    delay_ms(15);
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  }
......
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 *
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 * @see button1_read, button1_wait
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 **/
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int button1_click()
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{
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  if(button1_read()){
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int button1_click() {
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  if(button1_read()) {
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    while(button1_read());
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    return 1;
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  }else{
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  } else {
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    return 0;
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  }
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}
......
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 *
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 * @see button2_wait, button2_click
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 **/
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int button2_read( void )
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{
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	int pin_val;
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	DDRG &= ~_BV(PING1);
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	PORTG|= _BV(PING1);
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    pin_val = PING;
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	return !((pin_val & _BV(PING1)));
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int button2_read( void ) {
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  int pin_val;
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  DDRG &= ~_BV(PING1);
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  PORTG|= _BV(PING1);
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  pin_val = PING;
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  return !((pin_val & _BV(PING1)));
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}
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/**
......
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 *
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 * @see button2_read, button2_click
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 **/
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void button2_wait( void )
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{
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void button2_wait( void ) {
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  while(!button2_read()){
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    delay_ms(15);
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  }
......
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 *
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 * @see button2_read, button2_wait
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 **/
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int button2_click()
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{
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	if(button2_read()){
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int button2_click() {
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  if(button2_read()) {
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    while(button2_read());
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    return 1;
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  }else{
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		return 0;
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  } else {
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    return 0;
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  }
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}
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