int main(void) {
int i;
init();
output_speed(0, 50);
output_speed(1, 50);
while (1) {
flash(LED_M0_R);
flash(LED_M0_B);
flash(LED_M1_R);
flash(LED_M1_B);
output_enable(0);
output_direction(0, DIR_FWD);
delay(DELAY*2);
output_direction(0, DIR_REV);
delay(DELAY*2);
output_disable(0);
delay(DELAY);
output_enable(1);
output_direction(1, DIR_FWD);
delay(DELAY*2);
output_direction(1, DIR_REV);
delay(DELAY*2);
output_disable(1);
delay(DELAY);
}
return 0;
}
void read_lock(uint8_t *lock)
{
load_command(appc_read_fuse_n_lock_bits);
output_enable();
reset_bs2();
set_byte_high();
*lock = data_in();
output_disable();
}
void read_cali(uint8_t *cali)
{
load_command(appc_read_sig_bytes_n_cali_byte);
load_address_low_byte(0);
output_enable();
set_byte_high();
*cali = data_in();
output_disable();
}
uint8_t read_eeprom(uint16_t addr)
{
uint8_t data;
load_command(appc_read_eeprom);
load_address_high_byte(addr >> 8);
load_address_low_byte(addr & 0xFF);
output_enable();
set_byte_low();
data = data_in();
output_disable();
return data;
}
void read_sign(uint8_t *msb, uint8_t *csb, uint8_t *lsb)
{
load_command(appc_read_sig_bytes_n_cali_byte);
//load_address_high_byte(0); // TODO
load_address_low_byte(0);
output_enable();
set_byte_low();
*msb = data_in();
output_disable();
load_address_low_byte(1);
output_enable();
set_byte_low();
*csb = data_in();
output_disable();
load_address_low_byte(2);
output_enable();
set_byte_low();
*lsb = data_in();
output_disable();
}
void read_fuse(uint8_t *efuse, uint8_t *hfuse, uint8_t *lfuse)
{
load_command(appc_read_fuse_n_lock_bits);
output_enable();
reset_bs2();
set_byte_low();
*lfuse = data_in();
set_bs2();
set_byte_high();
*hfuse = data_in();
set_bs2();
set_byte_low();
*efuse = data_in();
output_disable();
}
uint16_t read_pgm_mem_word(uint16_t waddr)
{
uint16_t word;
load_command(appc_read_flash);
load_address_high_byte(waddr >> 8);
load_address_low_byte(waddr & 0xFF);
output_enable();
set_byte_low();
word = data_in();
set_byte_high();
word |= data_in() << 8;
output_disable();
return word;
}
void pd_power_supply_reset(int port)
{
int need_discharge = (volt_idx > 0) || discharge_is_enabled();
output_disable();
last_volt_idx = volt_idx;
/* from 20V : do an intermediate step at 12V */
volt_idx = volt_idx == PDO_IDX_20V ? PDO_IDX_12V : PDO_IDX_5V;
set_output_voltage(voltages[volt_idx].select);
/* TODO transition delay */
/* Stop OCP monitoring to save power */
adc_disable_watchdog();
/* discharge voltage to 5V ? */
if (need_discharge) {
/* final target : 5V */
discharge_volt_idx = PDO_IDX_5V;
discharge_voltage(voltages[volt_idx].ovp);
}
}
//
// set pixel at (x, y) to val (1 = on, 0 = off)
//
// note: top left is (0, 0) and bottom right is (4, 4).
//
void setpixel(uint8_t x, uint8_t y, uint8_t val)
{
uint8_t n, b;
uint8_t hi, lo;
//n = x + 5*y;
n = x + (y<<2) + y; // equivalent to "n = x + 5*y" but avoids mult operation (attiny doesn't have MUL!)
b = LEDS[n]; // get hi,lo nibbles from LED lookup table
hi = UNPACKH(b);
lo = UNPACKL(b);
// enable/disable the high pin
switch (hi) {
case A:
if (val) {
output_enable(A_LINE);
output_high(A_LINE);
} else {
output_low(A_LINE);
output_disable(A_LINE);
}
break;
case B:
if (val) {
output_enable(B_LINE);
output_high(B_LINE);
} else {
output_low(B_LINE);
output_disable(B_LINE);
}
break;
case C:
if (val) {
output_enable(C_LINE);
output_high(C_LINE);
} else {
output_low(C_LINE);
output_disable(C_LINE);
}
break;
case D:
if (val) {
output_enable(D_LINE);
output_high(D_LINE);
} else {
output_low(D_LINE);
output_disable(D_LINE);
}
break;
case E:
if (val) {
output_enable(E_LINE);
output_high(E_LINE);
} else {
output_low(E_LINE);
output_disable(E_LINE);
}
break;
case F:
if (val) {
output_enable(F_LINE);
//output_high(F_LINE);
output_low(F_LINE); // XXX hack for V0.9 board - F_LINE is ALWAYS low
} else {
//output_low(F_LINE);
output_disable(F_LINE);
}
break;
}
// low pin
switch (lo) {
case A:
if (val) {
output_enable(A_LINE);
output_low(A_LINE);
} else {
output_disable(A_LINE);
}
break;
case B:
if (val) {
output_enable(B_LINE);
output_low(B_LINE);
} else {
output_disable(B_LINE);
}
break;
case C:
if (val) {
output_enable(C_LINE);
output_low(C_LINE);
} else {
output_disable(C_LINE);
}
break;
case D:
if (val) {
output_enable(D_LINE);
output_low(D_LINE);
} else {
output_disable(D_LINE);
}
break;
case E:
if (val) {
output_enable(E_LINE);
output_low(E_LINE);
} else {
output_disable(E_LINE);
}
break;
#ifdef NOTDEF
// note: this case does not occur!
case F:
if (val) {
output_enable(F_LINE);
output_low(F_LINE);
} else {
output_disable(F_LINE);
}
break;
#endif
}
}
