From e26a1dc73313098cef235918d237f9b1a6e4cb5f Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Wed, 4 Apr 2007 12:08:03 +0000
Subject: Rescue: Weitere Grundfunktionen implementiert

---
 adc.c        |  18 --------
 adc.cpp      |  18 ++++++++
 avr.c        |  16 -------
 avr.cpp      |  34 ++++++++++++++
 avr.h        |   3 ++
 hardware.c   |   6 ---
 hardware.cpp |  28 +++++++++++
 i2c.cpp      | 148 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 i2c.h        |  13 ++++++
 main.cpp     |   5 ++
 10 files changed, 249 insertions(+), 40 deletions(-)
 delete mode 100644 adc.c
 create mode 100644 adc.cpp
 delete mode 100644 avr.c
 create mode 100644 avr.cpp
 delete mode 100644 hardware.c
 create mode 100644 hardware.cpp
 create mode 100644 i2c.cpp
 create mode 100644 i2c.h
 create mode 100644 main.cpp

diff --git a/adc.c b/adc.c
deleted file mode 100644
index 192d36c..0000000
--- a/adc.c
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "adc.h"
-
-#include <avr/io.h>
-
-
-void initADC() {
-  ADMUX = (1<<REFS0); 
-  ADCSRA = (1<<ADEN)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); 
-}
-
-uint16_t getADCValue(int port) {
-  ADMUX = (1<<REFS0)|(1<<ADLAR)|(port&0x07);
-  ADCSRA |= (1<<ADSC);
-  
-  while(!(ADCSRA & (1<<ADIF)));
-  
-  return ADC;
-}
diff --git a/adc.cpp b/adc.cpp
new file mode 100644
index 0000000..192d36c
--- /dev/null
+++ b/adc.cpp
@@ -0,0 +1,18 @@
+#include "adc.h"
+
+#include <avr/io.h>
+
+
+void initADC() {
+  ADMUX = (1<<REFS0); 
+  ADCSRA = (1<<ADEN)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); 
+}
+
+uint16_t getADCValue(int port) {
+  ADMUX = (1<<REFS0)|(1<<ADLAR)|(port&0x07);
+  ADCSRA |= (1<<ADSC);
+  
+  while(!(ADCSRA & (1<<ADIF)));
+  
+  return ADC;
+}
diff --git a/avr.c b/avr.c
deleted file mode 100644
index ac303d0..0000000
--- a/avr.c
+++ /dev/null
@@ -1,16 +0,0 @@
-#include "avr.h"
-#include "util.h"
-
-void setMotorSpeed(MOTOR *motor, int speed) {
-  if(speed > 0) {
-    *motor->port &= ~motor->revMask;
-    *motor->port |= motor->fwdMask;
-  }
-  else if(speed < 0) {
-    *motor->port &= ~motor->fwdMask;
-    *motor->port |= motor->revMask;
-  }
-  else *motor->port |= motor->fwdMask|motor->revMask;
-  
-  *motor->pwmPort = CLAMP(0, ABS(speed), 255);
-}
diff --git a/avr.cpp b/avr.cpp
new file mode 100644
index 0000000..a5194a4
--- /dev/null
+++ b/avr.cpp
@@ -0,0 +1,34 @@
+#include "avr.h"
+#include "adc.h"
+#include "util.h"
+
+void setMotorSpeed(MOTOR *motor, int speed) {
+  if(speed > 0) {
+    *motor->port &= ~motor->revMask;
+    *motor->port |= motor->fwdMask;
+  }
+  else if(speed < 0) {
+    *motor->port &= ~motor->fwdMask;
+    *motor->port |= motor->revMask;
+  }
+  else *motor->port |= motor->fwdMask|motor->revMask;
+  
+  *motor->pwmPort = CLAMP(0, ABS(speed), 255);
+}
+
+int getButton() {
+  uint16_t val = getADCValue(7);
+  
+  if(val < 144) return 5;
+  if(val < 228) return 4;
+  if(val < 304) return 3;
+  if(val < 376) return 2;
+  if(val < 600) return 1;
+  
+  return 0;
+}
+
+void waitForButton(int i) {
+  while(getButton() != CLAMP(0, i, 5));
+  while(getButton() != 0);
+}
diff --git a/avr.h b/avr.h
index 3727bdf..2d13616 100644
--- a/avr.h
+++ b/avr.h
@@ -13,4 +13,7 @@ typedef struct {
 
 void setMotorSpeed(MOTOR *motor, int speed);
 
+int getButton();
+void waitForButton(int i);
+
 #endif
diff --git a/hardware.c b/hardware.c
deleted file mode 100644
index 6bc329e..0000000
--- a/hardware.c
+++ /dev/null
@@ -1,6 +0,0 @@
-#include "hardware.h"
-
-
-void initHardware() {
-  
-}
diff --git a/hardware.cpp b/hardware.cpp
new file mode 100644
index 0000000..41c7ea2
--- /dev/null
+++ b/hardware.cpp
@@ -0,0 +1,28 @@
+#include "hardware.h"
+#include "adc.h"
+#include "i2c.h"
+
+
+void initHardware() {
+  DDRA = 0x00;
+  PORTA = 0xFF;
+  
+  DDRB = 0xFF;
+  PORTB = 0x00;
+  
+  DDRC = 0x7C;
+  PORTC = 0x83;
+  
+  DDRD = 0xFF;
+  PORTC = 0x00;
+  
+  TCCR0 = 0x62;
+  TCCR1A = 0xA1;
+  TCCR1B = 0x82;
+  OCR0 = 0;
+  OCR1A = 0;
+  OCR1B = 0;
+  
+  initADC();
+  initI2C();
+}
diff --git a/i2c.cpp b/i2c.cpp
new file mode 100644
index 0000000..61450fa
--- /dev/null
+++ b/i2c.cpp
@@ -0,0 +1,148 @@
+#include "i2c.h"
+
+#include <util/twi.h>
+
+
+static bool I2CStartSend(uint8_t addr);
+static bool I2CStartRecv(uint8_t addr);
+static void I2CStop();
+
+
+static bool I2CStartSend(uint8_t addr) {
+  TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWSTA);
+  
+  while(!(TWCR & (1<<TWINT)));
+      
+  if (TW_STATUS != TW_START) return false;
+  
+  TWDR = (addr&0xFE);
+  TWCR = (1<<TWEN)|(1<<TWINT);
+  
+  while(!(TWCR & (1<<TWINT)));
+  
+  if(TW_STATUS == TW_MT_SLA_ACK)
+    return true;
+  
+  I2CStop();
+  return false;
+}
+
+static bool I2CStartRecv(uint8_t addr) {
+  TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWSTA);
+  
+  while(!(TWCR & (1<<TWINT)));
+      
+  if (TW_STATUS != TW_START) return false;
+  
+  TWDR = (addr|1);
+  TWCR = (1<<TWEN)|(1<<TWINT);
+  
+  while(!(TWCR & (1<<TWINT)));
+  
+  if(TW_STATUS == TW_MR_SLA_ACK)
+    return true;
+  
+  I2CStop();
+  return false;
+}
+
+static void I2CStop() {
+  TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
+}
+
+
+void initI2C() {
+  TWBR = 10;
+  TWCR = (1<<TWEN);
+  TWSR = 0;
+}
+
+bool I2CSendByte(uint8_t addr, uint8_t data) {
+  if(!I2CStartSend(addr)) return false;
+  
+  TWDR=data;
+  
+  TWCR = (1<<TWEN)|(1<<TWINT);
+  while(!(TWCR & (1<<TWINT)));
+  
+  if(TW_STATUS != TW_MT_DATA_ACK) {
+    I2CStop();
+    return false;
+  }
+  
+  I2CStop();
+  return true;
+}
+
+bool I2CSend(uint8_t addr, uint8_t *data, int length) {
+  if(!I2CStartSend(addr)) return false;
+  
+  for(int i = 0; i < length; i++) {
+    TWDR=data[i];
+  
+    TWCR = (1<<TWEN)|(1<<TWINT);
+    while(!(TWCR & (1<<TWINT)));
+    
+    if(TW_STATUS != TW_MT_DATA_ACK) {
+      I2CStop();
+      return false;
+    }
+  }
+  
+  I2CStop();
+  return true;
+}
+
+bool I2CRecvByte(uint8_t addr, uint8_t *data) {
+  if(!I2CStartRecv(addr)) return false;
+  
+  while(!(TWCR & (1<<TWINT)));
+  
+  if(TW_STATUS != TW_MR_DATA_ACK && TW_STATUS != TW_MR_DATA_NACK) {
+    I2CStop();
+    return false;
+  }
+  
+  *data = TWDR;
+  TWCR = (1<<TWEN)|(1<<TWINT);
+  
+  I2CStop();
+  return true;
+}
+
+int I2CRecv(uint8_t addr, uint8_t *data, int length) {
+  if(!I2CStartRecv(addr)) return -1;
+  
+  for(int i = 0; i < length-1; i++) {
+    while(!(TWCR & (1<<TWINT)));
+    
+    switch(TW_STATUS) {
+      case TW_MR_DATA_ACK:
+        data[i] = TWDR;
+        TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA);
+        break;
+      case TW_MR_DATA_NACK:
+        data[i] = TWDR;
+        TWCR = (1<<TWEN)|(1<<TWINT);
+        I2CStop();
+        return i+1;
+      default:
+        I2CStop();
+        return -1;
+    }
+  }
+  
+  while(!(TWCR & (1<<TWINT)));
+  
+  switch(TW_STATUS) {
+    case TW_MR_DATA_ACK:
+    case TW_MR_DATA_NACK:
+      data[length-1] = TWDR;
+      TWCR = (1<<TWEN)|(1<<TWINT);
+      I2CStop();
+      return length;
+  }
+  
+  I2CStop();
+  return -1;
+}
diff --git a/i2c.h b/i2c.h
new file mode 100644
index 0000000..4f6a5b7
--- /dev/null
+++ b/i2c.h
@@ -0,0 +1,13 @@
+#ifndef _ROBOCUP_I2C_H_
+#define _ROBOCUP_I2C_H_
+
+#include <stdint.h>
+
+
+void initI2C();
+bool I2CSendByte(uint8_t addr, uint8_t data);
+bool I2CSend(uint8_t addr, uint8_t *data, int length);
+bool I2CRecvByte(uint8_t addr, uint8_t *data);
+int I2CRecv(uint8_t addr, uint8_t *data, int length);
+
+#endif
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..2a3f761
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,5 @@
+int main() {
+  
+  
+  return 0;
+}
-- 
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