Colony

#include <avr/interrupt.h>

// 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 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(LED2);

    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(LED2);

    count = 0;

    PORTB|=_BV(LED1);

    while(!read_homing())

    {

        delay_ms(1);

        count++;

        if(count==255)

          return 2;

    }

    PORTB&=~_BV(LED1);

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

	RECH_PUTI(count);

	RECH_PUTC('.');*/

    return count;

}

        data[0]=I2C_MSG_NO_CONTACT;

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

		data[1]=I2C_MSG_HOMING;

		data[2]=get_delay();

        i2c_putpacket(0x01, data, 3);