diff --git a/Makefile b/Makefile
index 14e0590f12511d3318b4b345a0527c88a3d9a462..0917053776a396a24e32409978d9f9ce6fa84375 100644
--- a/Makefile
+++ b/Makefile
@@ -2,7 +2,7 @@ PROJECT=bioloid_exp
########################################################
# afegir tots els fitxers que s'han de compilar aquÃ
########################################################
-SOURCES=src/main.c src/dyn_slave_se.c src/dyn_slave_diff.c src/mem.c src/dyn_common.c src/ports.c
+SOURCES=src/main.c src/dyn_slave_se.c src/dyn_slave_diff.c src/mem.c src/dyn_common.c src/ports.c src/adc.c
OBJS=$(SOURCES:.c=.o)
SRC_DIR=./src/
INCLUDE_DIR=./include/
diff --git a/include/adc.h b/include/adc.h
new file mode 100644
index 0000000000000000000000000000000000000000..e09a9ecc3d09d66bc62e24e1c58a77f9c52a168a
--- /dev/null
+++ b/include/adc.h
@@ -0,0 +1,12 @@
+#ifndef _ADC_H
+#define _ADC_H
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+void adc_init(void);
+void adc_start(void);
+void adc_stop(void);
+void adc_set_num_samples(unsigned char num);
+
+#endif
diff --git a/include/memory_map.h b/include/memory_map.h
index 6378a4d0befda1def7708d662ade01f1d17887ed..bd471084d4aafed05e74c6e1d3ce970c982eed4a 100644
--- a/include/memory_map.h
+++ b/include/memory_map.h
@@ -7,48 +7,145 @@
#define Version_Firmware 0X02 //2 - 0X00 R - Information on the version of firmware
#define ID 0X03 //3 - 0X03 R/W - ID of Dynamixel
#define Baud_Rate 0X04 //4 - 0X01 R/W - Baud Rate of Dynamixel
-#define Return_Delay_Time 0X05 //5 - 0XFA R/W - Return Delay Time
-#define Status_Return_Level 0X10
+#define Return_Delay_Time 0X05 //5 - 0XFA R/W - Return Delay Time (value*2us) currently not implemented
+#define Status_Return_Level 0X10 //16 - 0x10 R/W - Level os reply information
+// EEPROM end at 0x1F
+// RAM starts at 0x20
+#define ADC_CONTROL 0x20 //32 - 0x20 R/W ADC control bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // running enable
+#define ADC_NUM_SAMPLES 0x21 //33 - 0x21 R/W Number of sample to average
+#define GPIO0_config 0x30 //48 - 0x30 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO0_data 0x31 //49 - 0x31 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO1_config 0x32 //50 - 0x32 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO1_data 0x33 //51 - 0x33 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO2_config 0x34 //52 - 0x34 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO2_data 0x35 //53 - 0x35 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO3_config 0x36 //54 - 0x36 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO3_data 0x37 //55 - 0x37 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO4_config 0x38 //56 - 0x38 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO4_data 0x39 //57 - 0x39 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO5_config 0x3A //58 - 0x3A R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO5_data 0x3B //59 - 0x3B R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO6_config 0x3C //60 - 0x3C R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO6_data 0x3D //61 - 0x3D R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO7_config 0x3E //62 - 0x3E R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO7_data 0x3F //63 - 0x3F R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO8_config 0x40 //64 - 0x40 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO8_data 0x41 //65 - 0x41 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO9_config 0x41 //66 - 0x42 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO9_data 0x43 //67 - 0x43 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO10_config 0x44 //68 - 0x44 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO10_data 0x45 //69 - 0x45 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO11_config 0x46 //70 - 0x46 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO11_data 0x47 //71 - 0x47 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO12_config 0x48 //72 - 0x48 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO12_data 0x49 //73 - 0x49 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO13_config 0x4A //74 - 0x4A R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO13_data 0x4B //75 - 0x4B R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO14_config 0x4C //76 - 0x4C R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO14_data 0x4D //77 - 0x4D R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO15_config 0x4E //78 - 0x4E R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO15_data 0x4F //79 - 0x4F R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO16_config 0x50 //80 - 0x50 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO16_data 0x51 //81 - 0x51 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO17_config 0x52 //82 - 0x52 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO17_data 0x53 //83 - 0x53 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define GPIO18_config 0x54 //84 - 0x54 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // mode (0 -> input, 1 -> output)
+#define GPIO18_data 0x55 //85 - 0x55 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current input value (input mode)
+ // output value (output mode)
+#define LED 0x56 //86 - 0x56 R/W Auxiliary LED bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current value
+#define SWITCHES 0x57 //87 - 0x57 R Auxiliary Switches bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // current switches value
+#define ADC_CHANNEL0_L 0x58
+#define ADC_CHANNEL0_H 0x59
+#define ADC_CHANNEL1_L 0x5A
+#define ADC_CHANNEL1_H 0x5B
+#define ADC_CHANNEL2_L 0x5C
+#define ADC_CHANNEL2_H 0x5D
+#define ADC_CHANNEL3_L 0x5E
+#define ADC_CHANNEL3_H 0x5F
+#define ADC_CHANNEL4_L 0x60
+#define ADC_CHANNEL4_H 0x61
+#define ADC_CHANNEL5_L 0x62
+#define ADC_CHANNEL5_H 0x63
+#define ADC_CHANNEL6_L 0x64
+#define ADC_CHANNEL6_H 0x65
+#define ADC_CHANNEL7_L 0x66
+#define ADC_CHANNEL7_H 0x67
+#define ADC_AVG_CHANNEL0_L 0x68
+#define ADC_AVG_CHANNEL0_H 0x69
+#define ADC_AVG_CHANNEL1_L 0x6A
+#define ADC_AVG_CHANNEL1_H 0x6B
+#define ADC_AVG_CHANNEL2_L 0x6C
+#define ADC_AVG_CHANNEL2_H 0x6D
+#define ADC_AVG_CHANNEL3_L 0x6E
+#define ADC_AVG_CHANNEL3_H 0x6F
+#define ADC_AVG_CHANNEL4_L 0x70
+#define ADC_AVG_CHANNEL4_H 0x71
+#define ADC_AVG_CHANNEL5_L 0x72
+#define ADC_AVG_CHANNEL5_H 0x73
+#define ADC_AVG_CHANNEL6_L 0x74
+#define ADC_AVG_CHANNEL6_H 0x75
+#define ADC_AVG_CHANNEL7_L 0x76
+#define ADC_AVG_CHANNEL7_H 0x77
-#define GPIO0_config 0x30 // R/W GPIO 0 configuration
-#define GPIO0_data 0x31 // R/W GPIO 0 data
-#define GPIO1_config 0x32 // R/W GPIO 1 configuration
-#define GPIO1_data 0x33 // R/W GPIO 1 data
-#define GPIO2_config 0x34 // R/W GPIO 2 configuration
-#define GPIO2_data 0x35 // R/W GPIO 2 data
-#define GPIO3_config 0x36 // R/W GPIO 3 configuration
-#define GPIO3_data 0x37 // R/W GPIO 3 data
-#define GPIO4_config 0x38 // R/W GPIO 4 configuration
-#define GPIO4_data 0x39 // R/W GPIO 4 data
-#define GPIO5_config 0x3A // R/W GPIO 5 configuration
-#define GPIO5_data 0x3B // R/W GPIO 5 data
-#define GPIO6_config 0x3C // R/W GPIO 6 configuration
-#define GPIO6_data 0x3D // R/W GPIO 6 data
-#define GPIO7_config 0x3E // R/W GPIO 7 configuration
-#define GPIO7_data 0x3F // R/W GPIO 7 data
-#define GPIO8_config 0x40 // R/W GPIO 8 configuration
-#define GPIO8_data 0x41 // R/W GPIO 8 data
-#define GPIO9_config 0x41 // R/W GPIO 9 configuration
-#define GPIO9_data 0x43 // R/W GPIO 9 data
-#define GPIO10_config 0x44 // R/W GPIO 10 configuration
-#define GPIO10_data 0x45 // R/W GPIO 10 data
-#define GPIO11_config 0x46 // R/W GPIO 11 configuration
-#define GPIO11_data 0x47 // R/W GPIO 11 data
-#define GPIO12_config 0x48 // R/W GPIO 12 configuration
-#define GPIO12_data 0x49 // R/W GPIO 12 data
-#define GPIO13_config 0x4A // R/W GPIO 13 configuration
-#define GPIO13_data 0x4B // R/W GPIO 13 data
-#define GPIO14_config 0x4C // R/W GPIO 14 configuration
-#define GPIO14_data 0x4D // R/W GPIO 14 data
-#define GPIO15_config 0x4E // R/W GPIO 15 configuration
-#define GPIO15_data 0x4F // R/W GPIO 15 data
-#define GPIO16_config 0x50 // R/W GPIO 16 configuration
-#define GPIO16_data 0x51 // R/W GPIO 16 data
-#define GPIO17_config 0x52 // R/W GPIO 17 configuration
-#define GPIO17_data 0x53 // R/W GPIO 17 data
-#define GPIO18_config 0x54 // R/W GPIO 18 configuration
-#define GPIO18_data 0x55 // R/W GPIO 18 data
-
-#define RAM_SIZE 86
+#define RAM_SIZE 120
#endif
diff --git a/include/ports.h b/include/ports.h
index bc7ae7ae9c39e841ec452fc92bda69ca0b06dddc..16b6773576d21fe9b6301a6fbde2c7c5b6037e20 100644
--- a/include/ports.h
+++ b/include/ports.h
@@ -22,6 +22,7 @@ void clear_port(unsigned char port_id);
unsigned char read_port(unsigned char port_id);
void set_led(void);
void clear_led(void);
+void toggle_led(void);
unsigned char get_selector_value(void);
#endif
diff --git a/src/adc.c b/src/adc.c
new file mode 100644
index 0000000000000000000000000000000000000000..92958d0d601f1fa5e4474e5efe2ffc6bdc731847
--- /dev/null
+++ b/src/adc.c
@@ -0,0 +1,115 @@
+#include "adc.h"
+#include "mem.h"
+#include "ports.h"
+
+// number of channels to convert
+#define NUM_CH 8
+// number of samples to average
+#define MAX_NUM_SAMPLES 16
+
+// private variables
+// current channel
+volatile unsigned char current_ch;
+// list of channels to convert
+const unsigned char list_ch[NUM_CH]={0,1,2,3,4,5,6,7};
+// channel data
+volatile short int adc_data[NUM_CH];
+// averaged channel data
+volatile short int ch_data[NUM_CH][MAX_NUM_SAMPLES];
+volatile unsigned char current_sample;
+volatile unsigned char num_samples;
+
+/* private functions */
+void adc_set_channel(unsigned char ch_id)
+{
+ ADMUX&=0xF8;
+ ADMUX|= (ch_id&0x07);
+}
+
+void adc_start_conv(void)
+{
+ ADCSRA|=(1<<ADSC);
+}
+
+/* interrupt handling functions */
+ISR(ADC_vect)
+{
+ unsigned char i;
+ unsigned short int data;
+
+ data=(ADCL | (ADCH<<8));
+ ram_data[ADC_CHANNEL0_L+current_ch*2]=data%256;
+ ram_data[ADC_CHANNEL0_H+current_ch*2]=data/256;
+ ch_data[current_ch][current_sample]=data;
+ /* compute the average for the current channel */
+ data=0;
+ for(i=0;i<num_samples;i++)
+ data+=ch_data[current_ch][i];
+ data=data/num_samples;
+ ram_data[ADC_AVG_CHANNEL0_L+current_ch*2]=data%256;
+ ram_data[ADC_AVG_CHANNEL0_H+current_ch*2]=data/256;
+ if(current_ch==NUM_CH-1)// last channel
+ current_sample=(current_sample+1)%num_samples;
+ current_ch=(current_ch+1)%NUM_CH;
+}
+
+ISR(TIMER2_COMP_vect)
+{
+ // start a new conversion
+ adc_set_channel(current_ch);
+ adc_start_conv();
+}
+
+/* public functions */
+void adc_init(void)
+{
+ // configure the analog inputs
+ DDRF = 0x00;
+ PORTF = 0x00;
+
+ ADMUX = (1<<REFS0);// use AVCC as reference, Right justified, channel 0
+ ADCSRA = (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // free running mode disabled, interrupts enabled, prescaler to 128
+
+ // clear any pending interrupt
+ ADCSRA|=(1<<ADIF);
+
+ // set the initial channel to convert
+ current_ch=0;
+ current_sample=0;
+ num_samples=MAX_NUM_SAMPLES;
+ ram_data[ADC_NUM_SAMPLES]=MAX_NUM_SAMPLES;
+
+ // configure the timer 2 to perform periodic conversions (1 ms period)
+ TCCR2=(1<<WGM21)|(1<<CS21)|(1<<CS20);// CTC mode, no output, prescaler to 64
+ TCNT2=0x00;// start from 0
+ OCR2=249;//1 ms period time;
+}
+
+void adc_start(void)
+{
+ // enable the ADC
+ ADCSRA|=(1<<ADEN);
+ // enable the timer 2 interrupts
+ TCNT2=0x00;// start from 0
+ TIMSK|=(1<<OCIE2);// the timer ISR will start the ADC conversion
+ ram_data[ADC_CONTROL]|=0x02;
+}
+
+void adc_stop(void)
+{
+ // disable the timer 2
+ TIMSK&=~(1<<OCIE2);
+ // disable the ADC
+ ADCSRA&=~(1<<ADEN);
+ ram_data[ADC_CONTROL]&=0xFD;
+}
+
+void adc_set_num_samples(unsigned char num)
+{
+ if(num>MAX_NUM_SAMPLES)
+ num_samples=MAX_NUM_SAMPLES;
+ else
+ num_samples=num;
+ if(current_sample>num)
+ current_sample=0;
+}
diff --git a/src/dyn_common.c b/src/dyn_common.c
index 193ea952a667f68cf09eb090ab155ca86d773a2a..23ace637763ac54c7ea7d34e8d022999d7cb5608 100644
--- a/src/dyn_common.c
+++ b/src/dyn_common.c
@@ -2,6 +2,7 @@
#include "dyn_slave_se.h"
#include "mem.h"
#include "ports.h"
+#include "adc.h"
void do_write(unsigned char address,unsigned char length,unsigned char *data)
{
@@ -25,6 +26,23 @@ void do_write(unsigned char address,unsigned char length,unsigned char *data)
set_port((i-GPIO0_data)>>1);
}
}
+ else if(i==LED)
+ {
+ if(data[num]==0x00)
+ clear_led();
+ else
+ set_led();
+ }
+ else if(i==ADC_CONTROL)
+ {
+ if(data[num]==0x00)
+ adc_stop();
+ else
+ adc_start();
+ }
+ else if(i==ADC_NUM_SAMPLES)
+ adc_set_num_samples(data[num]);
+
num++;
}
}
@@ -41,6 +59,8 @@ unsigned char do_read(unsigned char address,unsigned char length,unsigned char *
if((i%2)!=0) // data register
read_port((i-GPIO0_config)>>1);
}
+ else if(i==SWITCHES)
+ get_selector_value();
}
return ram_read(address,length,data);
}
diff --git a/src/main.c b/src/main.c
index e2caa4f1c0d6c211b38c497ad5290347b7d8ce6e..71783275b6bb370487ab43914422aec2760d9c8a 100755
--- a/src/main.c
+++ b/src/main.c
@@ -5,6 +5,7 @@
#include "dyn_slave_diff.h"
#include "mem.h"
#include "ports.h"
+#include "adc.h"
int16_t main(void)
{
@@ -12,9 +13,9 @@ int16_t main(void)
dyn_slave_se_init(ram_data[Baud_Rate],ram_data[ID]);
dyn_slave_diff_init(ram_data[Baud_Rate],ram_data[ID]);
init_ports();
+ adc_init();
sei();
- set_led();
while (1)
{
dyn_slave_se_loop();
diff --git a/src/ports.c b/src/ports.c
index a2ed47358c9c58237081c4bb64ec0f557c3e918d..2a0615378fe8892d23ecd3f50b5c2c93ceb4cb3f 100644
--- a/src/ports.c
+++ b/src/ports.c
@@ -26,6 +26,7 @@ void init_ports(void)
{
//auxiliar LED
DDRE|=0x04;
+ clear_led();
// general purpose input/output
// all inputs by default
@@ -42,15 +43,9 @@ void config_port(unsigned char port_id,unsigned char dir)
if(port_id>=0 && port_id<NUM_GPIO)
{
if(dir==OUTPUT)// configure as an output
- {
*(gpio_bits[port_id].dir_reg)|=0x01<<gpio_bits[port_id].bit;
- ram_data[GPIO0_config+port_id]=OUTPUT;
- }
else// configure as an input
- {
*(gpio_bits[port_id].dir_reg)&=~(0x01<<gpio_bits[port_id].bit);
- ram_data[GPIO0_config+port_id]=INPUT;
- }
}
}
@@ -73,19 +68,13 @@ unsigned char get_port_config(unsigned char port_id)
void set_port(unsigned char port_id)
{
if(port_id>=0 && port_id<NUM_GPIO)
- {
*(gpio_bits[port_id].write_reg)|=0x01<<gpio_bits[port_id].bit;
- ram_data[GPIO0_data+port_id]=0x01;
- }
}
void clear_port(unsigned char port_id)
{
if(port_id>=0 && port_id<NUM_GPIO)
- {
*(gpio_bits[port_id].write_reg)&=~(0x01<<gpio_bits[port_id].bit);
- ram_data[GPIO0_data+port_id]=0x00;
- }
}
unsigned char read_port(unsigned char port_id)
@@ -119,8 +108,14 @@ void clear_led(void)
PORTE|=0x04;
}
+void toggle_led(void)
+{
+ PORTE^=0x04;
+}
+
unsigned char get_selector_value(void)
{
+ ram_data[SWITCHES]=(PING&0x18)>>3;
return ((PING&0x18)>>3);
}