Colony

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/sleep.h>

#define LED_GREEN PB4 //Green

#define LED_RED PB5 //Red

#define INT_COUNT 8

#define LED1 PB4 //Green

#define LED2 PB5 //Red

//The following times are in seconds

#define MAX_FAST_TIME 5400

#define MAX_TRICKLE_TIME 600

//debug pins

#define debug_time PA3

#define debug_curr PA4

#define debug_volt PA5

#define debug_temp PA6

#define debug_12in PA7

//be sure admux also sets the MUX5 bit which is in ADCSRB

#define ADMUX_I

#define ADMUX_V

#define ADMUX_T

#define ROBOT_TX PB1

#define ROBOT_RX PB2

#define PWM PB3

#define DETECT_12V PB6

int interrupt_count=INT_COUNT;

volatile int red=0;

volatile int green=0;

volatile char blink=0;

//copied from Charging.c

void setup(void)

{

  DDRA = (_BV(debug_time)|_BV(debug_curr)|_BV(debug_volt)|_BV(debug_temp)|_BV(debug_12in));

  PORTA = 0x00;

  DDRB = (_BV(ROBOT_TX)|_BV(PWM)|_BV(LED1)|_BV(LED2)); //confiure output pins

  PORTB = 0x00;

  ADCSRA = (_BV(ADEN)|_BV(ADPS2)|_BV(ADPS1)); //start ADC with a division factor of 64

  TCCR0B = (_BV(CS01)); //set timer 0 for realtime mode

  TCCR0A = (_BV(TCW0));

  TIMSK = (_BV(TOIE0)); //enable overflow interrupts

  TCCR1A = (_BV(COM1B1)|_BV(PWM1B)|_BV(COM1A1)|_BV(PWM1A)); //clear timer 1 on compare, set at 0x00. Fast PWM mode

  TCCR1B |= _BV(CS12)|_BV(CS10); //leave timer on and set compare to 0 to make output off

  OCR1B = 0;

  OCR1A = 0;

  sei();

}

void blink_red(void) {

  red=2;

  while(red>0);

}

void blink_green(void) {

  green=2;

  while(green>0);

}

void blink_long(void) {

  blink=1;

  while(red || green);

}

int main(void) {

  setup();

  blink_red();

  blink_green();

  blink_long();

  while(1);

  return 0;

}

ISR(TIMER0_OVF_vect)

{

        interrupt_count--;

        if(interrupt_count==0)

        {

          if(blink)

            PORTB ^= _BV(LED_RED) | _BV(LED_GREEN);

          if(red>0) {

            PORTB ^= _BV(LED_RED);

            red--;

          }

          if(green>0) {

            PORTB ^= _BV(LED_GREEN);

            green--;

          }

          interrupt_count=INT_COUNT;

        }

}

ISR(PCINT_vect){;} //so the interrupt doesnt go to the reset vector