Colony

#include<avr/io.h>

#include <avr/interrupt.h>

#include "i2c.h"

#define LEDG PB4 //Green

#define LEDR PB5 //Red

// for i2c_byte coming from charge board

//I2C Message Codes

#define I2C_MSG_ACKNOWLEDGE       'A'

#define I2C_MSG_BATTERY_CHARGING  'C'

#define I2C_MSG_DATA              'D'

#define I2C_MSG_CONTACT_ERROR     'E'

#define I2C_MSG_BATTERY_FULL      'F'

#define I2C_MSG_NO_CONTACT        'N'

#define I2C_MSG_REQUEST_DATA      'R'

#define I2C_MSG_GO_TO_SLEEP       'Y'

#define I2C_MSG_ENTERING_SLEEP    'Z'

#define I2C_MSG_HOMING            'H'

#define DETECT_12V PB6

#define SW0 PA6

#define HOMING_PIN PA7

uint8_t read_homing(void)

{

    uint8_t ret = PINA & _BV(HOMING_PIN);

    if(ret)

        PORTA |= _BV(PA3);

    else

        PORTA &= ~_BV(PA3);

    return ret;

}

uint8_t get_delay(void)

{

    uint8_t count = 0;

        PORTB|=_BV(LEDR);

    while(read_homing())

    {

        delay_ms(1);

        count++;

        if (count >= 100)

            return 1;

    } //wait a beacon cycle to make sure we aren't starting the count in the middle of one

        PORTB &= ~_BV(LEDR);

    count = 0;

    PORTB |= _BV(LEDG);

    while(!read_homing())

    {

        delay_ms(1);

        count++;

        if(count==255)

          return 2;

    }

    PORTB &= ~_BV(LEDG);

  /*RECH_PUTS("\n\rCount: ");

        RECH_PUTI(count);

        RECH_PUTC('.');*/

    return count;

}

int main( void )

{

    uint8_t count;

        DDRB |= /*_BV(PB0) |*/ _BV(LEDR) | _BV(LEDG); //what is PB0 for?

    DDRB &= ~_BV(DETECT_12V);

    i2c_init();

  /*tempData[0] = 'C';

                tempData[1] = abs_time>>8;

                tempData[2] = abs_time&0xFF;

                i2c_putpacket(0x01, tempData, 3);*/

  char data[4];

  data[0]=I2C_MSG_DATA;

  while(1)

  {

    PORTB |=_BV(LEDG);

    PORTB |=_BV(LEDR);

    delay_ms(500);

    PORTB &= ~_BV(LEDG);

    PORTB &= ~_BV(LEDR);

    while(1)

    {

      if((PINB & _BV(DETECT_12V)))

      {

        PORTB |= _BV(LEDG);

        //This is a junk byte. For some reason the first packet is always ignored????

        data[1] = 'a';

        i2c_putpacket(0x01, data, 2);

        data[1]=I2C_MSG_BATTERY_CHARGING;

        i2c_putpacket(0x01, data, 2);

        break;

      }

      else

      {

        count = 0;

        data[1]=I2C_MSG_NO_CONTACT;

        get_delay(); //reject the first reading //homing import stuff, uncomment this!!!!!!

        count = get_delay();

        if(count>2){

            data[2]=I2C_MSG_HOMING;

            data[3]= count;

            i2c_putpacket(0x01, data, 4);

        }

        else{

            i2c_putpacket(0x01, data, 2);

        }

      }

    }

    count = 0;

    PORTB &= ~_BV(LEDG);

    PORTB |= _BV(LEDR);

    for(unsigned int i=0;i<60000;i++)

    {

      delay_ms(1);

      if(! (PINB & _BV(DETECT_12V)))

      {

          PORTB |= _BV(LEDR);

          data[1]=I2C_MSG_CONTACT_ERROR;

          i2c_putpacket(0x01, data, 2);

          if((++count)>=200)

            break;

      }

      else

        count = 0;

    }

    data[1]=I2C_MSG_BATTERY_FULL;

    i2c_putpacket(0x01, data, 2);

  }

}