/*									
 *  POWER.c
 *
 *
 *	Author:		Jason Jenks
 *	Date:		created 12/03/01
 *
 * 	Modified from MOIST.c which was modified from PHOTO.c
 *
 *=================================================================
 * Header from PHOTO.c
 *=================================================================									
 * PHOTO.c - TOS abstraction of asynchronous digital photo sensor
 *
 * "Copyright (c) 1000 and The Regents of the University 
 * of California.  All rights reserved.
 *
 * Permission to use, copy, modify, and distribute this software and its
 * documentation for any purpose, without fee, and without written agreement is
 * hereby granted, provided that the above copyright notice and the following
 * two paragraphs appear in all copies of this software.
 * 
 * IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR
 * DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT
 * OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF
 * CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 * THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS FOR A PARTICULAR PURPOSE.  THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS."
 *
 * Authors:		Jason Hill
 *  modified: DEC 10/4/2000 function commented
 *
 */


#include "tos.h"
#include "POWER.h"

#define POWER_PORT 4
#define ROBOT_PIN 32

#define TOS_FRAME_TYPE POWER_frame
TOS_FRAME_BEGIN(POWER_frame) {

}
TOS_FRAME_END(POWER_frame);

char TOS_COMMAND(POWER_GET_DATA)(){
  printf("Getting ADC Data\n");
  return TOS_CALL_COMMAND(SUB_ADC_GET_DATA)(POWER_PORT);
}

char TOS_COMMAND(POWER_GET_BOT_HERE)(){
 // return bit_is_set(PORTA, 5);
  printf("Retrieving BOT's presence\n");
  return (inp(PINA) & ROBOT_PIN);
}

char TOS_COMMAND(POWER_INIT)(){
  //ADC 4
  cbi(PORTA, 4);   // set pin to read
  cbi(DDRA, 4);    // set port to be input

  cbi(PORTA, 5);   // set pin to read for robot presence
  cbi(DDRA, 5);    // Set pin to be input

  printf("Initialized power, about to init ADC\n"); 

  return TOS_CALL_COMMAND(SUB_ADC_INIT)();
}