Colony

/**

 * @file dio.h

 * @brief Definitions for digital input / output

 *

 * This file contains definitions and functions for dealing

 * with digital input and output.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Tom Lauwer's Firefly Library

 **/

#ifndef _DIO_H

#define _DIO_H

/*

these are ALL the pins

don't use unless you know what you're doing

*/

/*

DIO pins on new dragonfly boards are shown below:

-----------------------------------------------

| _PIN_E6 | _PIN_E7 | _PIN_D2 | _PIN_D3 | VCC |

-----------------------------------------------

| _PIN_E2 | _PIN_E3 | _PIN_E4 | _PIN_E5 | GND |

-----------------------------------------------

*/

/** @brief Port A **/

#define _PORT_A 1

/** @brief Port B **/

#define _PORT_B 2

/** @brief Port C **/

#define _PORT_C 3

/** @brief Port D **/

#define _PORT_D 4

/** @brief Port E **/

#define _PORT_E 5

/** @brief Port F **/

#define _PORT_F 6

/** @brief Port G **/

#define _PORT_G 7

/** @brief Pin A0 **/

#define _PIN_A0 8

/** @brief Pin A1 **/

#define _PIN_A1 9

/** @brief Pin A2 **/

#define _PIN_A2 10

/** @brief Pin A3 **/

#define _PIN_A3 11

/** @brief Pin A4 **/

#define _PIN_A4 12

/** @brief Pin A5 **/

#define _PIN_A5 13

/** @brief Pin A6 **/

#define _PIN_A6 14

/** @brief Pin A7 **/

#define _PIN_A7 15

/** @brief Pin B0 **/

#define _PIN_B0 16

/** @brief Pin B1 **/

#define _PIN_B1 17

/** @brief Pin B2 **/

#define _PIN_B2 18

/** @brief Pin B3 **/

#define _PIN_B3 19

/** @brief Pin B4 **/

#define _PIN_B4 20

/** @brief Pin B5 **/

#define _PIN_B5 21

/** @brief Pin B6 **/

#define _PIN_B6 22

/** @brief Pin B7 **/

#define _PIN_B7 23

/** @brief Pin C0 **/

#define _PIN_C0 24

/** @brief Pin C1 **/

#define _PIN_C1 25

/** @brief Pin C2 **/

#define _PIN_C2 26

/** @brief Pin C3 **/

#define _PIN_C3 27

/** @brief Pin C4 **/

#define _PIN_C4 28

/** @brief Pin C5 **/

#define _PIN_C5 29

/** @brief Pin C6 **/

#define _PIN_C6 30

/** @brief Pin C7 **/

#define _PIN_C7 31

/** @brief Pin D0 **/

#define _PIN_D0 32  // pin DIO6 on new dragonfly boards

/** @brief Pin D1 **/

#define _PIN_D1 33  // pin DIO7

/** @brief Pin D2 **/

#define _PIN_D2 34

/** @brief Pin D3 **/

#define _PIN_D3 35

/** @brief Pin D4 **/

#define _PIN_D4 36

/** @brief Pin D5 **/

#define _PIN_D5 37

/** @brief Pin D6 **/

#define _PIN_D6 38

/** @brief Pin D7 **/

#define _PIN_D7 39

/** @brief Pin E0 **/

#define _PIN_E0 40

/** @brief Pin E1 **/

#define _PIN_E1 41

/** @brief Pin E2 **/

#define _PIN_E2 42  // pin DIO0

/** @brief Pin E3 **/

#define _PIN_E3 43  // pin DIO1

/** @brief Pin E4 **/

#define _PIN_E4 44  // pin DIO2

/** @brief Pin E5 **/

#define _PIN_E5 45  // pin DIO3

/** @brief Pin E6 **/

#define _PIN_E6 46  // pin DIO4

/** @brief Pin E7 **/

#define _PIN_E7 47  // pin DIO5

/** @brief Pin F0 **/

#define _PIN_F0 48

/** @brief Pin F1 **/

#define _PIN_F1 49

/** @brief Pin F2 **/

#define _PIN_F2 50

/** @brief Pin F3 **/

#define _PIN_F3 51

/** @brief Pin F4 **/

#define _PIN_F4 52

/** @brief Pin F5 **/

#define _PIN_F5 53

/** @brief Pin F6 **/

#define _PIN_F6 54

/** @brief Pin F7 **/

#define _PIN_F7 55

/** @brief Pin G0 **/

#define _PIN_G0 56

/** @brief Pin WR **/

#define _PIN_WR 56

/** @brief Pin G1 **/

#define _PIN_G1 57

/** @brief Pin RD **/

#define _PIN_RD 57

/** @brief Pin G2 **/

#define _PIN_G2 58

/** @brief Pin ALE **/

#define _PIN_ALE 58

/** @brief Pin G3 **/

#define _PIN_G3 59

/** @brief Pin TOSC2 **/

#define _PIN_TOSC2 59

/** @brief Pin G4 **/

#define _PIN_G4 60

/** @brief Pin TOSC1 **/

#define _PIN_TOSC1 60

//#define _PIN_G5 61

//#define _PIN_G6 62

//#define _PIN_G7 63

/*

These are the header pins (the ones you can connect things to)

Feel free to use these

*/

/**

 * @addtogroup dio

 * @{

 **/

/** @brief Pin A0 **/

#define PIN_A0 8

/** @brief Pin A1 **/

#define PIN_A1 9

/** @brief Pin A2 **/

#define PIN_A2 10

/** @brief Pin A3 **/

#define PIN_A3 11

/** @brief Pin A4 **/

#define PIN_A4 12

/** @brief Pin A5 **/

#define PIN_A5 13

/** @brief Pin A6 **/

#define PIN_A6 14

/** @brief Pin A7 **/

#define PIN_A7 15

/** @brief Pin SS **/

#define PIN_SS 16

/** @brief Pin SCK **/

#define PIN_SCK 17

/** @brief Pin MOSI **/

#define PIN_MOSI 18

/** @brief Pin MISO **/

#define PIN_MISO 19

/** @brief LCD Command Pin **/

#define PIN_LCD_COMMAND 20

/** @brief Pin C0 **/

#define PIN_C0 24

/** @brief Pin C1 **/

#define PIN_C1 25

/** @brief Pin C2 **/

#define PIN_C2 26

/** @brief Pin C3 **/

#define PIN_C3 27

/** @brief Pin C4 **/

#define PIN_C4 28

/** @brief Pin C5 **/

#define PIN_C5 29

/** @brief Pin C6 **/

#define PIN_C6 30

/** @brief Pin C7 **/

#define PIN_C7 31

/** @brief Pin SCL **/

#define PIN_SCL 32

/** @brief Pin SDA **/

#define PIN_SDA 33

/** @brief Pin RX0 **/

#define PIN_RX0 40

/** @brief Pin TX0 **/

#define PIN_TX0 41

/** @brief LCD Reset Pin **/

#define PIN_LCD_RESET 42

/** @brief Pin E6 **/

#define PIN_E6 46

/** @brief Pin EXT_DIO1 **/

#define PIN_EXT_DIO1 46

/** @brief Pin E7 **/

#define PIN_E7 47

/** @brief Pin EXT_DIO2 **/

#define PIN_EXT_DIO2 48

/** @brief Pin AN0 **/

#define PIN_AN0 48

/** @brief Pin ADC0 **/

#define PIN_ADC0 48

/** @brief Pin AN1 **/

#define PIN_AN1 49

/** @brief Pin ADC1 **/

#define PIN_ADC1 49

/** @brief Pin AN2 **/

#define PIN_AN2 50

/** @brief Pin ADC2 **/

#define PIN_ADC2 50

/** @brief Pin AN3 **/

#define PIN_AN3 51

/** @brief Pin ADC3 **/

#define PIN_ADC3 51

/** @brief Pin AN4 **/

#define PIN_AN4 52

/** @brief Pin ADC4 **/

#define PIN_ADC4 52

/** @brief Pin AN5 **/

#define PIN_AN5 53

/** @brief Pin ADC5 **/

#define PIN_ADC5 53

/** @brief Pin AN6 **/

#define PIN_AN6 54

/** @brief Pin ADC6 **/

#define PIN_ADC6 54

/** @brief Pin AN7 **/

#define PIN_AN7 55

/** @brief Pin ADC7 **/

#define PIN_ADC7 55

/** @brief Wheel Pin **/

#define PIN_WHEEL 54

/** @brief Battery Voltage Monitor Pin **/

#define PIN_BATT 55

/** @brief button1 Pin **/

#define PIN_BTN1 56

/** @brief button2 Pin **/

#define PIN_BTN2 57

/** @brief LED1 Pin **/

#define PIN_LED1 58

/* Buttons */

/** @brief Button Pin **/

#define PIN_BTN PING

/** @brief button2 Pin **/

#define BTN2 PING1

/** @brief button1 Pin **/

#define BTN1 PING0

/** @brief Read a portpin. **/

int digital_input(int);

/** @brief Output to a portpin. **/

void digital_output(int bit, int val);

/** @brief Pullup a portpin. **/

void digital_pull_up(int);

/** @brief Check if button1 is pressed. **/

int button1_read( void );

/** @brief Check if button1 is clicked. **/

int button1_click( void );

/** @brief Wait until button1 is pressed. **/

void button1_wait( void );

/** @brief Check if button2 is pressed. **/

int button2_read( void );

/** @brief Check if button2 is clicked. **/

int button2_click( void );

/** @brief Wait until button2 is pressed. **/

void button2_wait( void );

/** @} **/ // end addtogroup

#endif