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1 | 241 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | 8 | bcoltin | |
26 | 241 | bcoltin | |
27 | /**
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28 | * @file dio.c
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29 | * @brief Digital Input and Output
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30 | *
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31 | * Implementation of functions for digital input and output.
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | **/
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35 | |||
36 | 8 | bcoltin | #include <avr/interrupt.h> |
37 | #include <dio.h> |
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38 | #include <time.h> |
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39 | #include <lights.h> |
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40 | |||
41 | /**
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42 | * @defgroup dio Digital Input / Output
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43 | * @brief Controls digital input and output
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44 | *
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45 | * A general note on how port / pin numbers work:<br>
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46 | * The portpin is used to select both the bank and which pin is selected.
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47 | * 6 bits are used (lower 6, ex: 0b00abcdef).
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48 | * The first 3 (abc in this example) are used to select the bank.<br>
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49 | * A = 001<br>
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50 | * B = 010<br>
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51 | * C = 011<br>
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52 | * D = 100<br>
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53 | * E = 101<br>
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54 | * F = 110<br>
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55 | * G = 111<br><br>
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56 | *
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57 | * The bank can be found by doing portpin >> 3. <br>
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58 | *
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59 | * The next three (def in this example) are used to select the pin number.
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60 | * These three bits are just the binary representation of the pin number.<br>
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61 | * <br>
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62 | * The pin number can be found by doing portpin & 0b111.<br><br>
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63 | *
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64 | * Include dio.h to access these functions.
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65 | **/
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66 | |||
67 | /**
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68 | * Reads the selected portpin.
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69 | *
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70 | * @param portpin The portpin to be read. See the general description
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71 | * for a description of portpins.
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72 | *
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73 | * @return 1 or 0, depending on the value of the portpin.
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74 | **/
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75 | 378 | jknichel | int digital_input(int portpin) { |
76 | 8 | bcoltin | int pin = portpin & 0x7; |
77 | int pin_val = 0; |
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78 | |||
79 | 378 | jknichel | switch(portpin >> 3) { |
80 | 8 | bcoltin | case _PORT_A:
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81 | DDRA &= ~_BV(pin); |
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82 | pin_val = PINA; |
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83 | return (pin_val >> pin) & 1; |
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84 | case _PORT_B:
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85 | DDRB &= ~_BV(pin); |
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86 | pin_val = PINB; |
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87 | return (pin_val >> pin) & 1; |
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88 | case _PORT_C:
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89 | DDRC &= ~_BV(pin); |
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90 | pin_val = PINC; |
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91 | return (pin_val >> pin) & 1; |
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92 | case _PORT_D:
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93 | DDRD &= ~_BV(pin); |
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94 | pin_val = PIND; |
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95 | return (pin_val >> pin) & 1; |
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96 | case _PORT_E:
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97 | DDRE &= ~_BV(pin); |
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98 | pin_val = PINE; |
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99 | return (pin_val >> pin) & 1; |
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100 | case _PORT_F:
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101 | 378 | jknichel | if(pin>=4) { |
102 | 8 | bcoltin | MCUSR|=1<<7; |
103 | MCUSR|=1<<7; |
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104 | } |
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105 | DDRF &= ~_BV(pin); |
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106 | pin_val = PINF; |
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107 | return (pin_val >> pin) & 1; |
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108 | case _PORT_G:
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109 | DDRG &= ~_BV(pin); |
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110 | pin_val = PING; |
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111 | return (pin_val >> pin) & 1; |
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112 | default: break; |
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113 | } |
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114 | |||
115 | return -1; |
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116 | } |
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117 | |||
118 | /**
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119 | * Enables pullup on a pin. If it is an output pin, the pin will output
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120 | * 1.
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121 | *
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122 | * @param portpin the pin to enable pullup on. See the general description
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123 | * for a discussion of portpins.
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124 | **/
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125 | void digital_pull_up(int portpin) { |
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126 | int pins = portpin & 0x07; |
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127 | |||
128 | switch(portpin >> 3) { |
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129 | case _PORT_A:
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130 | PORTA |= _BV(pins); |
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131 | break;
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132 | case _PORT_B:
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133 | PORTB |= _BV(pins); |
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134 | break;
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135 | case _PORT_C:
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136 | PORTC |= _BV(pins); |
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137 | break;
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138 | case _PORT_D:
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139 | PORTD |= _BV(pins); |
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140 | break;
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141 | case _PORT_E:
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142 | PORTE |= _BV(pins); |
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143 | break;
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144 | case _PORT_F:
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145 | PORTF |= _BV(pins); |
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146 | break;
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147 | case _PORT_G:
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148 | PORTG |= _BV(pins); |
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149 | break;
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150 | } |
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151 | } |
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152 | |||
153 | /**
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154 | * Sets portpin to the given value.
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155 | *
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156 | * @param portpin the portpin to output to. See the general
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157 | * description for a discussion of portpins.
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158 | *
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159 | * @param val the value to set the portpin to. 0 for off,
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160 | * nonzero for on.
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161 | **/
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162 | void digital_output(int portpin, int val) { |
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163 | int pins = portpin & 0x07; |
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164 | |||
165 | /* if you want to set to 0... */
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166 | if(val == 0) { |
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167 | switch(portpin >> 3) { |
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168 | case _PORT_A:
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169 | DDRA |= _BV(pins); |
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170 | PORTA &= (0XFF - _BV(pins));
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171 | break;
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172 | case _PORT_B:
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173 | DDRB |= _BV(pins); |
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174 | PORTB &= (0XFF - _BV(pins));
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175 | break;
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176 | case _PORT_C:
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177 | DDRC |= _BV(pins); |
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178 | PORTC &= (0XFF - _BV(pins));
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179 | break;
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180 | case _PORT_D:
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181 | DDRD |= _BV(pins); |
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182 | PORTD &= (0XFF - _BV(pins));
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183 | break;
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184 | case _PORT_E:
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185 | DDRE |= _BV(pins); |
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186 | PORTE &= (0XFF - _BV(pins));
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187 | break;
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188 | case _PORT_F:
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189 | DDRF |= _BV(pins); |
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190 | PORTF &= (0XFF - _BV(pins));
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191 | break;
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192 | case _PORT_G:
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193 | DDRG |= _BV(pins); |
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194 | PORTG &= (0XFF - _BV(pins));
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195 | break;
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196 | } |
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197 | 378 | jknichel | } else { /* ( val == 1) */ |
198 | 8 | bcoltin | switch(portpin >> 3) { |
199 | case _PORT_A:
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200 | DDRA |= _BV(pins); |
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201 | PORTA |= _BV(pins); |
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202 | break;
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203 | case _PORT_B:
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204 | DDRB |= _BV(pins); |
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205 | PORTB |= _BV(pins); |
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206 | break;
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207 | case _PORT_C:
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208 | DDRC |= _BV(pins); |
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209 | PORTC |= _BV(pins); |
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210 | break;
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211 | case _PORT_D:
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212 | DDRD |= _BV(pins); |
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213 | PORTD |= _BV(pins); |
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214 | break;
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215 | case _PORT_E:
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216 | DDRE |= _BV(pins); |
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217 | PORTE |= _BV(pins); |
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218 | break;
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219 | case _PORT_F:
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220 | DDRF |= _BV(pins); |
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221 | PORTF |= _BV(pins); |
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222 | break;
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223 | case _PORT_G:
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224 | DDRG |= _BV(pins); |
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225 | PORTG |= _BV(pins); |
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226 | break;
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227 | } |
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228 | } |
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229 | } |
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230 | |||
231 | /**
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232 | * Checks if button1 is currently pressed.
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233 | *
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234 | * @return 1 if button1 is pressed, 0 otherwise
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235 | *
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236 | * @see button1_wait, button1_click
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237 | **/
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238 | 378 | jknichel | int button1_read( void ) { |
239 | int pin_val;
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240 | DDRG &= ~_BV(PING0); |
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241 | PORTG|= _BV(PING0); |
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242 | pin_val = PING; |
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243 | return !((pin_val & _BV(PING0)));
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244 | 8 | bcoltin | } |
245 | |||
246 | /**
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247 | * Delays execution until button1 is pressed.
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248 | *
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249 | * @see button1_read, button1_click
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250 | **/
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251 | 378 | jknichel | void button1_wait( void ) { |
252 | 8 | bcoltin | while(!button1_read() ) {
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253 | delay_ms(15);
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254 | } |
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255 | } |
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256 | |||
257 | /**
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258 | * If button1 is pressed, waits until it is released before returning.
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259 | * Otherwise, the function returns immediately.
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260 | *
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261 | * @return 1 if button1 has been pressed, 0 otherwise
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262 | *
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263 | * @see button1_read, button1_wait
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264 | **/
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265 | 378 | jknichel | int button1_click() {
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266 | if(button1_read()) {
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267 | 8 | bcoltin | while(button1_read());
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268 | return 1; |
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269 | 378 | jknichel | } else {
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270 | 8 | bcoltin | return 0; |
271 | } |
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272 | } |
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273 | |||
274 | /**
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275 | * Checks if button2 is currently pressed.
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276 | *
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277 | * @return 1 if button2 is pressed, 0 otherwise
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278 | *
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279 | * @see button2_wait, button2_click
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280 | **/
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281 | 378 | jknichel | int button2_read( void ) { |
282 | int pin_val;
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283 | DDRG &= ~_BV(PING1); |
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284 | PORTG|= _BV(PING1); |
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285 | pin_val = PING; |
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286 | return !((pin_val & _BV(PING1)));
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287 | 8 | bcoltin | } |
288 | |||
289 | /**
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290 | * Delays execution until button2 is pressed.
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291 | *
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292 | * @see button2_read, button2_click
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293 | **/
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294 | 378 | jknichel | void button2_wait( void ) { |
295 | 8 | bcoltin | while(!button2_read()){
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296 | delay_ms(15);
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297 | } |
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298 | } |
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299 | |||
300 | /**
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301 | * If button2 is pressed, waits until it is released before returning.
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302 | * Otherwise, the function returns immediately.
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303 | *
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304 | * @return 1 if button2 has been pressed, 0 otherwise
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305 | *
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306 | * @see button2_read, button2_wait
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307 | **/
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308 | 378 | jknichel | int button2_click() {
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309 | if(button2_read()) {
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310 | 8 | bcoltin | while(button2_read());
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311 | return 1; |
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312 | 378 | jknichel | } else {
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313 | return 0; |
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314 | 8 | bcoltin | } |
315 | } |
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316 | |||
317 | /** @} **/ //end defgroup |