Autonom robotväckarklocka med trådlös basstation - KTH

}
if (step2==8)
step2=0;
//wake up
ISR(SIG_INTERRUPT1){ //interrupt.
//cli();
//sleep_disable();
}
/* START OF ULTRASOUD */
ISR(INT0_vect){
if( PIND&0x04 ){
if( ultraMode==ULTRA_WAITRETURN ){ //if PINB 2 (INT0) = 1
ultraTimerReset();
ultraMode = ULTRA_RUNNING;
}
}
else{
ultraTime = TCNT1;
ultraMode = ULTRA_WAITING;
ultraTimerReset();
}
}
ISR(TIMER1_COMPA_vect){
if(ultraMode == ULTRA_SIGNAL){
PORTD&=~0x02;
ultraMode = ULTRA_WAITRETURN;
ultraTimerReset();
}
}
ISR(TIMER1_COMPB_vect){
if(ultraMode == ULTRA_WAITING){
ultraMode = ULTRA_READY;
ultraStart();
}
}
ISR(TIMER1_OVF_vect){
ultraMode = ULTRA_READY;
}
char ultraStart(){
if(ultraMode == ULTRA_READY){
PORTD|=0x02;
ultraTimerReset();
ultraMode = ULTRA_SIGNAL;
return 0;
}
return 1;
}
unsigned char ultraRead(){
//PORT A = (ultraTime/ 1024);
return (unsigned char)(ultraTime/1024);
}