Revision 336
Updated wireless to use a circular buffer instead of a queue using malloc. Tested on both the computer and robots with a token ring, and was successful.
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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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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* 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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*
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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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*
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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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**/ |
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void buzzer_init( void ) |
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{
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//NOTE: This is mostly handled by buzzer_Set_val for now
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// Set pin B7 to output - B7 is buzzer pin
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//DDRB |= _BV(DDB7);
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//Fast PWM Mode, Clear OCR0 on compare match and set at bottom, clock/64
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//TCCR2 = _BV(COM20) | _BV(WGM21) | _BV(CS22);
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//NOTE: This is mostly handled by buzzer_Set_val for now
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// Set pin B7 to output - B7 is buzzer pin
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//DDRB |= _BV(DDB7);
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//Fast PWM Mode, Clear OCR0 on compare match and set at bottom, clock/64
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//TCCR2 = _BV(COM20) | _BV(WGM21) | _BV(CS22);
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} |
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/** |
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* @see buzzer_init, buzzer_set_freq, buzzer_off |
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**/ |
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void buzzer_set_val(unsigned int buzz_value) |
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{
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TCCR2 = _BV(COM20) | _BV(WGM21) | _BV(CS22);
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DDRB |= _BV(DDB7);
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OCR2 = buzz_value;
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{
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TCCR2 = _BV(COM20) | _BV(WGM21) | _BV(CS22);
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DDRB |= _BV(DDB7);
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OCR2 = buzz_value;
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} |
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/** |
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void buzzer_set_freq(unsigned int buzz_freq) |
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{
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int buzz_value; |
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buzz_value = 62500/buzz_freq - 1; |
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if (buzz_value > 255) {
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if(buzz_value > 255){
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buzz_value = 255; |
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} else if (buzz_value < 0) {
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}else if(buzz_value < 0){
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buzz_value = 0; |
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} |
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buzzer_set_val(buzz_value); |
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} |
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* |
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* @see buzzer_init, buzzer_set_freq |
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**/ |
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void buzzer_chirp(unsigned int ms, unsigned int buzz_freq) |
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{
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void buzzer_chirp(unsigned int ms, unsigned int buzz_freq)
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{
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buzzer_set_freq(buzz_freq); |
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delay_ms(ms); |
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buzzer_off(); |
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{
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// Disable clock, to halt counter |
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TCCR2 &= 0xF8;//0b11111000; |
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// Set buzzer pin low in case it's high |
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PORTB &= 0xBF;//0b10111111; |
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} |
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/** @} **/ // end buzzer group |
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