AStar32U4.h

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// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/

#pragma once

#include <FastGPIO.h>
#include <Pushbutton.h>
#include <AStar32U4LCD.h>
#include <AStar32U4Buzzer.h>
#include <AStar32U4Buttons.h>
#include <AStar32U4Motors.h>
#include <avr/io.h>
#include <stdint.h>

inline void ledRed(bool on)
{
    FastGPIO::Pin<17>::setOutput(!on);
}

inline void ledYellow(bool on)
{
    FastGPIO::Pin<13>::setOutput(on);
}

inline void ledGreen(bool on)
{
    FastGPIO::Pin<IO_D5>::setOutput(!on);
}

inline bool usbPowerPresent()
{
    return USBSTA >> VBUS & 1;
}

inline uint16_t readBatteryMillivoltsLV4(uint8_t pin = A1)
{
    const uint8_t sampleCount = 8;
    uint16_t sum = 0;
    for (uint8_t i = 0; i < sampleCount; i++)
    {
        sum += analogRead(pin);
    }

    // VBAT = 4 * millivolt reading = 4 * raw * 5000/1024
    //      = raw * 625 / 32
    // The correction number below makes it so that we round to the nearest
    // whole number instead of always rounding down.
    const uint16_t correction = 16 * sampleCount - 1;
    return ((uint32_t)sum * 625 + correction) / (32 * sampleCount);
}

inline uint16_t readBatteryMillivoltsLV3(uint8_t pin = A1)
{
    const uint8_t sampleCount = 8;
    uint16_t sum = 0;
    for (uint8_t i = 0; i < sampleCount; i++)
    {
        sum += analogRead(pin);
    }

    // VBAT = 3 * millivolt reading = 3 * raw * 5000/1024
    //      = raw * 1875 / 128
    // The correction number below makes it so that we round to the nearest
    // whole number instead of always rounding down.
    const uint16_t correction = 64 * sampleCount - 1;
    return ((uint32_t)sum * 1875 + correction) / (128 * sampleCount);
}

inline uint16_t readBatteryMillivoltsSV(uint8_t pin = A1)
{
    const uint8_t sampleCount = 8;
    uint16_t sum = 0;
    for (uint8_t i = 0; i < sampleCount; i++)
    {
        sum += analogRead(pin);
    }

    // VBAT = 8 * millivolt reading = 8 * raw * 5000/1024
    //      = raw * 625 / 16
    // The correction number below makes it so that we round to the nearest
    // whole number instead of always rounding down.
    const uint16_t correction = 8 * sampleCount - 1;
    return ((uint32_t)sum * 625 + correction) / (16 * sampleCount);
}

inline uint16_t readBatteryMillivolts(uint8_t pin = A1)
{
    return readBatteryMillivoltsLV3(pin);
}

inline uint16_t readBatteryMillivoltsLV(uint8_t pin = A1)
{
    return readBatteryMillivoltsLV3(pin);
}