/trunk/code/lib/src/libdragonfly/dio.c - Diff - Colony - Robotics Club

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.

     /**
      * Copyright (c) 2007 Colony Project
+     *
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
-...
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-...
     /**
      * @defgroup dio Digital Input / Output
      * @brief Controls digital input and output
+     *
+     *
      * A general note on how port / pin numbers work:<br>
      * The portpin is used to select both the bank and which pin is selected.
      * 6 bits are used (lower 6, ex: 0b00abcdef).
-...
      * E = 101<br>
      * F = 110<br>
      * G = 111<br><br>
+     *
+     *
      * The bank can be found by doing portpin >> 3. <br>
+     *
+     *
      * The next three (def in this example) are used to select the pin number.
      * These three bits are just the binary representation of the pin number.<br>
      * <br>
-...
     /**
      * Reads the selected portpin.
+     *
+     *
      * @param portpin The portpin to be read. See the general description
      * for a description of portpins.
+     *
-...
     int digital_input(int portpin){
       int pin = portpin & 0x7;
       int pin_val = 0;
       switch(portpin >> 3){
       case _PORT_A:
         DDRA &= ~_BV(pin);
-...
         return (pin_val >> pin) & 1;
       default: break;
+      }
       return -1;
+    }
-...
         break;
       case _PORT_B:
         PORTB |= _BV(pins);
         break;
         break;
       case _PORT_C:
         PORTC |= _BV(pins);
         break;
         break;
       case _PORT_D:
         PORTD |= _BV(pins);
         break;
         break;
       case _PORT_E:
         PORTE |= _BV(pins);
         break;
         break;
       case _PORT_F:
         PORTF |= _BV(pins);
         break;
         break;
       case _PORT_G:
         PORTG |= _BV(pins);
         break;
-...
     /**
      * Sets portpin to the given value.
+     *
+     *
      * @param portpin the portpin to output to. See the general
      * description for a discussion of portpins.
+     *
-...
      **/
     void digital_output(int portpin, int val) {
       int pins = portpin & 0x07;
       /* if you want to set to 0... */
       if (val == 0) {
       if(val == 0) {
         switch(portpin >> 3) {
         case _PORT_A:
           DDRA |= _BV(pins);
-...
         case _PORT_B:
           DDRB |= _BV(pins);
           PORTB &= (0XFF - _BV(pins));
           break;
           break;
         case _PORT_C:
           DDRC |= _BV(pins);
           PORTC &= (0XFF - _BV(pins));
           break;
           break;
         case _PORT_D:
           DDRD |= _BV(pins);
           PORTD &= (0XFF - _BV(pins));
           break;
           break;
         case _PORT_E:
           DDRE |= _BV(pins);
           PORTE &= (0XFF - _BV(pins));
           break;
           break;
         case _PORT_F:
           DDRF |= _BV(pins);
           PORTF &= (0XFF - _BV(pins));
           break;
           break;
         case _PORT_G:
           DDRG |= _BV(pins);
           PORTG &= (0XFF - _BV(pins));
           break;
+        }
       } else { /* ( val == 1) */
       }else { /* ( val == 1) */
         switch(portpin >> 3) {
         case _PORT_A:
           DDRA |= _BV(pins);
-...
         case _PORT_B:
           DDRB |= _BV(pins);
           PORTB |= _BV(pins);
           break;
           break;
         case _PORT_C:
           DDRC |= _BV(pins);
           PORTC |= _BV(pins);
           break;
           break;
         case _PORT_D:
           DDRD |= _BV(pins);
           PORTD |= _BV(pins);
           break;
           break;
         case _PORT_E:
           DDRE |= _BV(pins);
           PORTE |= _BV(pins);
           break;
           break;
         case _PORT_F:
           DDRF |= _BV(pins);
           PORTF |= _BV(pins);
           break;
           break;
         case _PORT_G:
           DDRG |= _BV(pins);
           PORTG |= _BV(pins);
-...
     /**
      * Checks if button1 is currently pressed.
+     *
+     *
      * @return 1 if button1 is pressed, 0 otherwise
+     *
      * @see button1_wait, button1_click
      **/
     int button1_read( void )
+    {
       int pin_val;
       DDRG &= ~_BV(PING0);
       PORTG|= _BV(PING0);
       pin_val = PING;
       return !((pin_val & _BV(PING0)));
     	int pin_val;
     	DDRG &= ~_BV(PING0);
     	PORTG|= _BV(PING0);
         pin_val = PING;
     	return !((pin_val & _BV(PING0)));
+    }
     /**
-...
      **/
     void button1_wait( void )
+    {
       while (!button1_read()) {
       while(!button1_read() ) {
         delay_ms(15);
+      }
+    }
-...
      **/
     int button1_click()
+    {
       if (button1_read()) {
         while (button1_read());
       if(button1_read()){
         while(button1_read());
         return 1;
       } else {
       }else{
         return 0;
+      }
+    }
     /**
      * Checks if button2 is currently pressed.
+     *
+     *
      * @return 1 if button2 is pressed, 0 otherwise
+     *
      * @see button2_wait, button2_click
      **/
     int button2_read( void )
+    {
       int pin_val;
       DDRG &= ~_BV(PING1);
       PORTG|= _BV(PING1);
       pin_val = PING;
       return !((pin_val & _BV(PING1)));
     	int pin_val;
     	DDRG &= ~_BV(PING1);
     	PORTG|= _BV(PING1);
         pin_val = PING;
     	return !((pin_val & _BV(PING1)));
+    }
     /**
-...
+     *
      * @see button2_read, button2_click
      **/
     void button2_wait(void)
     void button2_wait( void )
+    {
       while (!button2_read()) {
       while(!button2_read()){
         delay_ms(15);
+      }
+    }
-...
      **/
     int button2_click()
+    {
       if (button2_read()) {
         while (button2_read());
     	if(button2_read()){
         while(button2_read());
         return 1;
       } else {
         return 0;
       }else{
     		return 0;
+      }
+    }
     /** @} **/ //end defgroup

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Revision 336