target/avr/asuro_avr.c File Reference

AVR dependent part of interface to ASURO's devices. More...

#include "asuro.h"
#include "asuro_irrc5.h"

Go to the source code of this file.

Interrupt handlers
	SIGNAL (SIG_OVERFLOW2)
	ISR for timer2 overflow.
	SIGNAL (SIG_INTERRUPT1)
	ISR for switches.
Functions
void	AS_Avr_Sleep (unsigned char ticks)
	Halt execution for a given time of 36kHz ticks.
void	AS_Init ()
	Do some initialization stuff.
unsigned long	AS_GetClockTicks ()
	Return the number of system clock ticks elapsed since system start.
unsigned long	AS_GetSysTime ()
	Return the time in milliseconds elapsed since system start.
void	AS_Sleep (unsigned int time)
	Halt execution for a given time in milliseconds.
void	AS_StatusLED (unsigned char color)
	Set status LED to the specified color.
void	AS_FrontLED (unsigned char status)
	Set front LED on or off.
void	AS_BackLED (unsigned char left, unsigned char right)
	Set back LEDs on or off.
void	AS_MotorSpeed (unsigned char left_speed, unsigned char right_speed)
	Set speed of left and right motor.
void	AS_MotorDir (unsigned char left_dir, unsigned char right_dir)
	Set rotation direction of left and right motor.
void	AS_SerWrite (unsigned char *data, unsigned char length)
	Send data via IR serial interface.
void	AS_SensSwitchesInterruptOn (void)
	Turn on interrupt for activity on switches.
void	AS_SensSwitchesInterruptOff (void)
	Disable interrupt for activity on switches.
unsigned char	AS_SensSwitchesRead (void)
	Read status of switches.
Variables
volatile AS_UserIsr	AS_UserIsrInterrupt1 = 0
	User defined ISR for INT1 (switches).
volatile unsigned char	AS_count36kHz = 0
	Intermediate counter for system clock ticks.
volatile unsigned long	AS_clockTicks = 0
	Counter for system clock ticks.
volatile unsigned char	AS_irrc5DecodeEnabled = 1
	Enable/disable IR-RC5 decoding in ISR.
volatile char	AS_sensSwitchesOn = 0
	Set to true if the interrupt for switches is enabled.
volatile char	AS_sensSwitched = 0
	Set to true, when one or more of the switches are pressed.

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Detailed Description

AVR dependent part of interface to ASURO's devices.

Author:

Denis Martin

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA.

Definition in file asuro_avr.c.

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Function Documentation

void AS_Avr_Sleep (  unsigned char  ticks  )  [inline]

Halt execution for a given time of 36kHz ticks. Parameters: ticks  Time to sleep in 36kHz ticks (0..255) Definition at line 102 of file asuro_avr.c. References AS_count36kHz. Referenced by AS_SensSwitchesRead().

void AS_BackLED (  unsigned char  left, unsigned char  right )  [inline]

Set back LEDs on or off. Note that you can also call AS_LED_RBACK_ON, AS_LED_RBACK_OFF, AS_LED_LBACK_ON and AS_LED_LBACK_OFF directly, but you have to switch to AS_BACK_LED_MODE before. left Status for left back LED (AS_ON or AS_OFF) right Status for right back LED (AS_ON or AS_OFF) Definition at line 222 of file asuro_avr.c. References AS_BACK_LED_MODE, AS_LED_LBACK_OFF, AS_LED_LBACK_ON, AS_LED_ODO_OFF, AS_LED_RBACK_OFF, and AS_LED_RBACK_ON.

void AS_FrontLED (  unsigned char  status  )  [inline]

Set front LED on or off. Note that you can also call AS_LED_FRONT_ON and AS_LED_FRONT_OFF directly. Parameters: status  AS_ON or AS_OFF Definition at line 209 of file asuro_avr.c. References AS_LED_FRONT_OFF, and AS_LED_FRONT_ON.

unsigned long AS_GetClockTicks (  void   )  [inline]

Return the number of system clock ticks elapsed since system start. Remember that it might overflow. Returns: Number of system clock ticks Definition at line 158 of file asuro_avr.c. References AS_clockTicks, and AS_count36kHz.

unsigned long AS_GetSysTime (  void   )  [inline]

Return the time in milliseconds elapsed since system start. Remember that it might overflow. Returns: System time in milliseconds Definition at line 169 of file asuro_avr.c. References AS_clockTicks, and AS_count36kHz.

void AS_MotorDir (  unsigned char  left_dir, unsigned char  right_dir )  [inline]

Set rotation direction of left and right motor. Possible values are AS_DIR_FWD (forward), AS_DIR_RWD (backward), AS_DIR_BREAK (stop) and AS_DIR_FREE (no change to direction). Parameters: left_dir  Direction for left motor. right_dir  Direction for right motor. Definition at line 255 of file asuro_avr.c. References AS_DIR_LEFT, and AS_DIR_RIGHT. Referenced by AS_Init().

void AS_MotorSpeed (  unsigned char  left_speed, unsigned char  right_speed )  [inline]

Set speed of left and right motor. Use AS_MotorDir() before to specifiy the direction. Parameters: left_speed  Speed of left motor (0..255) right_speed  Speed of right motor (0..255) Definition at line 241 of file asuro_avr.c. References OCR1A, and OCR1B. Referenced by AS_Init().

void AS_SensSwitchesInterruptOn (  void   )

Turn on interrupt for activity on switches. The user ISR assigned to AS_UserIsrInterrupt1 will be called if any of the switches was pushed. Definition at line 292 of file asuro_avr.c. References AS_PD_SWITCHES, AS_SENS_SWITCHES_OFF, AS_sensSwitched, DDRD, GICR, INT1, ISC10, ISC11, and MCUCR.

unsigned char AS_SensSwitchesRead (  void   )

Read status of switches. The bits of the returned value represent the switches currently pressed. The mapping is the following: bit0 = K6, bit1 = K5, bit2 = K4, bit3 = K3, bit4 = K2, bit5 = K1 Returns: A value whose bits represent the switches currently pressed (see above) Definition at line 323 of file asuro_avr.c. References ADMUX, AS_ADC_FINISHED, AS_ADC_START, AS_ADC_STOP, AS_ADC_VALUE, AS_Avr_Sleep(), AS_MUX_SWITCHES, AS_SENS_SWITCHES_MODE, AS_SENS_SWITCHES_OFF, AS_SENS_SWITCHES_ON, and REFS0.

void AS_SerWrite (  unsigned char *  data, unsigned char  length )

Send data via IR serial interface. IR-RC5 decoding will be disabled during write. Parameters: data  Pointer to data buffer to send. length  Size of data in bytes. Definition at line 268 of file asuro_avr.c. References AS_irrc5DecodeEnabled, UCSRA, UCSRB, and UDR.

void AS_Sleep (  unsigned int  time  )

Halt execution for a given time in milliseconds. Note: a value of zero will not return immediately as you might expect. Instead, the execution is halted for over a minute! Parameters: time  Time to sleep in milliseconds Definition at line 181 of file asuro_avr.c. References AS_count36kHz.

void AS_StatusLED (  unsigned char  color  )  [inline]

Set status LED to the specified color. Note that you can also call AS_LED_GREEN_ON, AS_LED_GREEN_OFF, AS_LED_RED_ON, AS_LED_RED_OFF, AS_LED_YELLOW_ON and AS_LED_YELLOW_OFF directly. color Color (possible values: AS_GREEN, AS_RED, AS_YELLOW) Definition at line 197 of file asuro_avr.c. References AS_GREEN, AS_LED_GREEN_OFF, AS_LED_GREEN_ON, AS_LED_RED_OFF, AS_LED_RED_ON, and AS_RED.

SIGNAL (  SIG_INTERRUPT1   )

ISR for switches. The interrupt is disabled here, so you have to reactivate it manually using AS_SensSwitchesInterruptOn(). Definition at line 83 of file asuro_avr.c. References AS_sensSwitched, AS_SensSwitchesInterruptOff(), and AS_UserIsrInterrupt1.

SIGNAL (  SIG_OVERFLOW2   )

ISR for timer2 overflow. timer2 is used as a 72kHz counter for IR communication. While the signal SIG_OUTPUT_COMPARE2 would be triggered every 1/72k seconds, this ISR is called only every 1/36k seconds. Definition at line 65 of file asuro_avr.c. References AS_clockTicks, AS_count36kHz, AS_irrc5DecodeEnabled, AS_isr_irrc5(), and TCNT2.

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Variable Documentation

volatile unsigned long AS_clockTicks = 0

Counter for system clock ticks. Don't read it directly, but use AS_GetClockTicks() or AS_GetSysTime() instead. Definition at line 37 of file asuro_avr.c. Referenced by AS_GetClockTicks(), AS_GetSysTime(), and SIGNAL().

volatile unsigned char AS_count36kHz = 0

Intermediate counter for system clock ticks. Don't read it directly, but use AS_GetClockTicks() or AS_GetSysTime() instead. Definition at line 31 of file asuro_avr.c. Referenced by AS_Avr_Sleep(), AS_GetClockTicks(), AS_GetSysTime(), AS_Sleep(), and SIGNAL().

volatile unsigned char AS_irrc5DecodeEnabled = 1

Enable/disable IR-RC5 decoding in ISR. Will be disabled during read/write on IR serial interface. Definition at line 43 of file asuro_avr.c. Referenced by AS_SerWrite(), and SIGNAL().

volatile char AS_sensSwitched = 0

Set to true, when one or more of the switches are pressed. Note that you have to turn on the concerned interrupt using AS_SensSwitchesInterruptOn(). Definition at line 55 of file asuro_avr.c. Referenced by AS_SensSwitchesInterruptOn(), and SIGNAL().

volatile char AS_sensSwitchesOn = 0

Set to true if the interrupt for switches is enabled. If it is not enabled, you may activate it by using AS_SensSwitchesInterruptOn(). Definition at line 49 of file asuro_avr.c.

volatile AS_UserIsr AS_UserIsrInterrupt1 = 0

User defined ISR for INT1 (switches). Assign a function to this global variable to get your own ISR called. Definition at line 25 of file asuro_avr.c. Referenced by SIGNAL().

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