Colony

/**

 * 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

 * 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 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

*/

/**

 * @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).

 * The first 3 (abc in this example) are used to select the bank.<br>

 * A = 001<br>

 * B = 010<br>

 * C = 011<br>

 * D = 100<br>

 * 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>

 * The pin number can be found by doing portpin & 0b111.<br><br>

 *

 * Include dio.h to access these functions.

 **/

/** @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.

 *

 * Reads the selected portpin.

 * 

 * @param portpin The portpin to be read. See the general description

 * for a description of portpins.

 *

 * @return 1 or 0, depending on the value of the portpin.

 **/

int digital_input(int);

/**

 * @brief Output to a portpin.

 *

 * Sets portpin to the given value.

 * 

 * @param portpin the portpin to output to. See the general

 * description for a discussion of portpins.

 *

 * @param val the value to set the portpin to. 0 for off,

 * nonzero for on.

 **/

void digital_output(int bit, int val);

/**

 * @brief Pullup a portpin.

 *

 * Enables pullup on a pin. If it is an output pin, the pin will output

 * 1.

 *

 * @param portpin the pin to enable pullup on. See the general description

 * for a discussion of portpins.

 **/

void digital_pull_up(int);

/**

 * @brief Check if button1 is pressed.

 *

 * Checks if button1 is currently pressed.

 * 

 * @return 1 if button1 is pressed, 0 otherwise

 *

 * @see button1_wait, button1_click

 **/

int button1_read( void );

/**

 * @brief Check if button1 is clicked.

 *

 * If button1 is pressed, waits until it is released before returning.

 * Otherwise, the function returns immediately.

 *

 * @return 1 if button1 has been pressed, 0 otherwise

 *

 * @see button1_read, button1_wait

 **/

int button1_click( void );

/**

 * @brief Wait until button1 is pressed.

 *

 * Delays execution until button1 is pressed.

 *

 * @see button1_read, button1_click

 **/

void button1_wait( void );

/**

 * @brief Check if button2 is pressed.

 *

 * Checks if button2 is currently pressed.

 * 

 * @return 1 if button2 is pressed, 0 otherwise

 *

 * @see button2_wait, button2_click

 **/

int button2_read( void );

/**

 * Delays execution until button2 is pressed.

 *

 * @see button2_read, button2_click

 **/

int button2_click( void );

/**

 * @brief Wait until button2 is pressed.

 *

 * If button2 is pressed, waits until it is released before returning.

 * Otherwise, the function returns immediately.

 *

 * @return 1 if button2 has been pressed, 0 otherwise

 *

 * @see button2_read, button2_wait

 **/

void button2_wait( void );

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

#endif