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/* ascenseur.c */
/* n.avr.carte_capteurs - AVR Carte_capteur Module. {{{
 * 
 * Copyright (C) 2005 Dalmais Romain
 *    
 * 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.
 * 
 * Contact :
 * Web: http://perso.efrei.fr/~dalmais
 * Email: <dalmais@efrei.fr>
 *  }}} */
#include "ascenseur.h"
#include "avr/io.h"


extern uint8_t vitesse_ascenseur_m;
extern uint8_t vitesse_ascenseur_d;
extern uint8_t vitesse_montee_max;
extern uint8_t vitesse_descente_max;
extern uint8_t accel_montee;
extern uint8_t accel_descente;

#define TC_STOP 0x00
#define TC_GO 0x1f    /* mode CTC | OC2 | prescaler = 128. */

/* +AutoDec */
/* -AutoDec */

void ascenseur_init()
{
    TCCR2 = TC_STOP;
    vitesse_ascenseur_m = 0xF0;
    vitesse_ascenseur_d = 0xF0;
    vitesse_montee_max = 0x20;
    vitesse_descente_max = 0x32;
    accel_montee = 3;
    accel_descente = 3;
}

void asc_haut(uint8_t valeur)
{
    TCCR2 = TC_GO;
    OCR2 = valeur;
    PORTB |= _BV(0);	// sens
    PORTD |= _BV(6);	// on enable
}

void asc_bas(uint8_t valeur)
{
    TCCR2 = TC_GO;
    OCR2 = valeur;
    PORTB &= ~_BV(0);
    PORTD |= _BV(6);	
}

void asc_stable(uint8_t valeur)
{
    TCCR2 = TC_STOP;
    PORTB |= _BV(0);
    PORTD |= _BV(6);	
}

uint8_t capteur_bas()
{
    return PINA  & _BV(CAPTEUR_BAS);
}

uint8_t capteur_haut()
{
    return PINA & _BV(CAPTEUR_HAUT);
}

uint8_t capteur_milieu()
{
    return PINA & _BV(CAPTEUR_MILIEU);
}