Colony

/**

 * Copyright (c) 2008 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

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * 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

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

 /**

 * Copyright (c) 2008 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

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * 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

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

 /**

 * @file homing.c

 * @brief Contains declarations for managing the orbs.

 *

 * Contains declarations for using the orbs and PWM.

 *

 * @author Colony Project, CMU Robotics Club

 **/

//carrier for beacons is on blue timer

//manually defined ISRs

//high frequency = 200Hz

//TIMER1_OVF_vect

//enable overflow interrupts

#include <avr/interrupt.h>

#include <avr/io.h>

#include "orb.h"

#include "serial.h"

volatile int state = 0;

volatile int on = 0;

/**

 * @defgroup homing Homing

 * @brief Functions for controlling the homing beacons.

 * 

 * Functions for controlling the homing beacons.

 *

 * @{

 **/

/** @brief Sets up the beacons to be used. **/

void IR_init(void){

  DDRA |= _BV(DDA0)|_BV(DDA1);

  DDRB |= _BV(DDB3);

  DDRC |= _BV(DDC0)|_BV(DDC1);

  sei();

  TIMSK1 |= _BV(TOIE1);

  TCCR0A |= _BV(COM0A1)|_BV(COM0A0)|_BV(WGM01)|_BV(WGM00);

  TCCR0B |= _BV(CS00);

  OCR0A = 0x80;

  TCCR1A |= _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11);        

  TCCR1B |= _BV(WGM13)|_BV(WGM12)|_BV(CS10);

  ICR1 = 0x9C40;

  on = 0;

}

/** @brief Turns the beacons on. **/

void IR_on(void){

        on = 1;

}

/** @brief Turns the beacons off. **/

void IR_off(void){

        on = 0;

}

ISR(TIMER1_OVF_vect){

  if(on){

        if(state == 7)

                state = 0;

        else

                state++;

        if (state<4)

                PORTA ++;

        else

                PORTA &= 0xFC;

  }

  else{

        PORTA &= 0xFC;

  }

}

/** @} **/ //end group