// assemble flags byte for DIO
// bit0 of flags -- can input
// bit1 of flags -- input is active low
// bit2 of flags -- can output push-pull
// bit3 of flags -- can output open-drain
// bit4 of flags -- output is active low
uint8_t make_flags(uint8_t canIn, uint8_t pushPull, uint8_t openDr,
uint8_t outAL) {
uint8_t flagbyte = (uint8_t) (canIn & 1);
flagbyte |= ((DIGITAL_READ(IN0)) << 1);
flagbyte |= ((pushPull & 1) << 2);
flagbyte |= ((openDr & 1) << 3);
flagbyte |= ((outAL & 1) << 4);
return flagbyte;
}
int main(void) {
init();
while (1) {
if (button_A_pressed) {
can_broadcast(PADDLE_STATUS, &(uint8_t){1});
button_A_pressed = false;
}
if (button_B_pressed) {
can_broadcast(PADDLE_STATUS, &(uint8_t){0});
button_B_pressed = false;
}
if (DIGITAL_READ(NEUTRAL_PORT, NEUTRAL_PIN) && (neutral_status == OFF)) {
neutral_status = ON;
_delay_ms(100);
can_broadcast(NEUTRAL_ENABLED, &(uint8_t){1});
} else if (!DIGITAL_READ(NEUTRAL_PORT, NEUTRAL_PIN) && (neutral_status == ON)) {
neutral_status = OFF;
_delay_ms(100);
can_broadcast(NEUTRAL_ENABLED, &(uint8_t){0});
}
// new_state = 2 if front stop-button is pressed.
// new_state = 1 if rear stop-button is pressed.
const uint8_t new_state = (!DIGITAL_READ(PORTF, PIN5) * 1) + (!DIGITAL_READ(PORTF, PIN7) * 2);
if (new_state != last_state) {
last_state = new_state;
can_broadcast(GEAR_STOP_BUTTON, &(uint8_t){new_state});
_delay_ms(20);
}
}
return 0;
}
/* We disable interrupts while transfer a byte. This ensures that we execute
* at nominal speed, in spite of aggressive USB polling.
*/
static _u8 ispBlockTransfer(_u8 *block, _u8 len)
{
_u8 cnt, shift = 0, port, delay = ispClockDelay;
/* minimum clock pulse width:
* 5 + 4 * delay clock cycles -> Tmin = 750 ns
* total clock period: 12 + 8 * delay -> fmax = 600 kHz
*/
cli();
while(len--){ /* len may be 0 */
cnt = 8;
shift = *block++;
do{
if(shift & 0x80){
DIGITAL_WRITE(ISP_MOSI, HIGH);
}else
{
DIGITAL_WRITE(ISP_MOSI, LOW);
}
sei();
timerTicksDelay(delay);
cli();
DIGITAL_WRITE(ISP_SCK, HIGH); /* <-- data clocked by device */
shift <<= 1;
if(DIGITAL_READ(ISP_MISO)) /* no driver in this hardware */
shift |= 1;
sei();
timerTicksDelay(delay);
cli();
DIGITAL_WRITE(ISP_SCK, LOW); /* <-- device changes data */
}while(--cnt);
}
sei();
return shift;
}
void activeDigitalSend(uint8_t *outData, uint8_t *outLen, uint8_t *inband) {
*outLen = 1;
outData[0] = (~(DIGITAL_READ(IN0))) & 0x1;
}
