From 4f4e7c0bd2cfb7b4607830ada5c226c968c68c7b Mon Sep 17 00:00:00 2001
From: yair reshef <yair99@gmail.com>
Date: Wed, 4 Nov 2015 02:24:23 +0200
Subject: [PATCH] added tinywall code

---
 shields/ir-shield/ATTAMI-IR_shield V2.sch     |  2 +-
 .../ir-shield/tinyWall-ard/tinyWall-ard.ino   | 63 +++++++++++++++++++
 2 files changed, 64 insertions(+), 1 deletion(-)
 create mode 100644 shields/ir-shield/tinyWall-ard/tinyWall-ard.ino

diff --git a/shields/ir-shield/ATTAMI-IR_shield V2.sch b/shields/ir-shield/ATTAMI-IR_shield V2.sch
index 66ba2ed..b9bb580 100644
--- a/shields/ir-shield/ATTAMI-IR_shield V2.sch	
+++ b/shields/ir-shield/ATTAMI-IR_shield V2.sch	
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!DOCTYPE eagle SYSTEM "eagle.dtd">
-<eagle version="7.1.0">
+<eagle version="7.3.0">
 <drawing>
 <settings>
 <setting alwaysvectorfont="no"/>
diff --git a/shields/ir-shield/tinyWall-ard/tinyWall-ard.ino b/shields/ir-shield/tinyWall-ard/tinyWall-ard.ino
new file mode 100644
index 0000000..0c7ff26
--- /dev/null
+++ b/shields/ir-shield/tinyWall-ard/tinyWall-ard.ino
@@ -0,0 +1,63 @@
+// ATMEL ATTINY85 running @ 8MHz / ARDUINO **Zvi Schneider 12-May-2014**
+//           		 +----\/---+
+//  ADC0,  PB5, 	1|*           |8	VCC
+//  ADC3,  PB3,	2|             |7	PB2,  ADC1
+//  ADC2,  PB4,	3|             |6	PB1,
+//  GND       	4|             |5	PB0,
+//              		 +---------+
+
+#define my_milisec  76 // 76 interrupts equal 1 mili-sec (approximatly)
+#define interval  100 //100 mili-sec interval between repetetive code transmitions
+volatile long interrups_counter = 0;
+byte virtual_wall = B10100010; // ROOMAs virtual wall code
+int one_milisec = my_milisec;
+int three_milisec = my_milisec * 3;
+
+ISR (TIM0_COMPA_vect) { // interrupt service routine
+  interrups_counter +=1;
+}
+
+void setup(){
+  TCNT0 = 0; //initialize timer0 registers
+  TCCR0A=0;
+  TCCR0B=0;
+  TCCR0A |=(1<<COM0A0); //Timer0 in toggle mode (Table 11-2)
+  TCCR0A |=(1<<WGM01); //Timer0 in CTC mode (Table 11.5)
+  TCCR0B |= (1 << CS00);// Prescaler (table 11.6, no prescaling)
+  OCR0A=105-1; //CTC Compare value. with 8MHz clock and no prescaling this value will give interrupt every 13.125 micro-sec
+  TIMSK |= 1<<OCIE0A; //enable timer0 OCR0A interrups
+  SREG |= B10000000; //enable interrups
+}
+
+void loop(){
+  while (interrups_counter < my_milisec*interval){ //wait interval miliseconds
+  }
+  interrups_counter = 0;
+  xmitbyte(virtual_wall); //send one byte command to the ROOMBA
+}
+
+void xmitbyte(byte xmitdata){
+  int i;
+  int mark;
+  int space;
+  byte shift_one = B10000000;
+  for (i = 0; i < 8; i++){
+    if (xmitdata & shift_one){
+      mark = three_milisec;
+      space = one_milisec;
+    }
+    else {
+      mark = one_milisec;
+      space = three_milisec;
+    }
+    pinMode(PB0, OUTPUT); // mark, transmit IR pulses
+    while (interrups_counter < mark){
+    }
+    interrups_counter = 0;
+    pinMode(PB0, INPUT); // space, do not transmit IR pulses
+    while (interrups_counter < space){
+    }
+    interrups_counter = 0;
+    shift_one = shift_one >> 1;
+  }
+}