/*

  ================================================================================

	This program pulses the left engine so the left engine moves forward very slow.
	The left odometer infrared transmitter and reciever diodes are used to detect
	the black and white markings on the inside of the left wheel. If a black surface
	is detected, the left red 'break' led will turn on, else it will turn off.

  ================================================================================

	Program		: Asuro 015, Build 001, Left wheel marking detection.c
	Release date	: 2005-02-08
	Author		: Henk van Winkoop

	Build	: 001, 2005-02-08, original release

  ================================================================================

*/

//--------------------------------------------------------------------------------
// INCLUDES
//--------------------------------------------------------------------------------
#include "hvwdefines.h"

//================================================================================
//	DELAY MILLI SECONDS
//================================================================================
void vDelayMilliSeconds(int iDelMilSec){

	//var
	unsigned int i,j;
	
	//handle all milli seconds
	for(i=0;i<iDelMilSec;i++){
	
		//delay 1 millisecond
		for(j=0;j<28750;j++){
		
		}//for
		
	}//for
	
}

//================================================================================
//	INIT ALL PORTS
//================================================================================
void vInitAllPorts(void){

  //disable all output pull-up resistors
  SFRX(SFIOR,PUD_H);

  //+-------------------------------------------------------------------------------------------+
  //| DDRB =  Data Direction Register port B                                                    |
  //|                                                                                           |
  //| FWD_RGT = Forward Right engine                                                            |
  //| REV_RGT = Reverse Right engine                                                            |
  //| IR_TXD1 = InfraRed Transmit data (connection1, connected to R16)                          |
  //| SPD_RGT = Speed of Right engine                                                           |
  //| SPD_LFT = Speed of Left engine                                                            |
  //| SLD_GRN = System LeD Green                                                                |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|port name  |   PB7   |   PB6   |   PB5   |   PB4   |   PB3   |   PB2   |   PB1   |   PB0   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|pin number |   10    |    9    |   19    |   18    |   17    |    16   |    15   |   14    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name|  XTAL2  |  XTAL1  | REV_RGT | FWD_RGT | IR_TXD1 | SPD_RGT | SPD_LFT | SLD_GRN |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRB   ,                    REV_RGT_O|FWD_RGT_O|IR_TXD1_O|SPD_RGT_O|SPD_LFT_O|SLD_GRN_O);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTB  ,                    REV_RGT_H|FWD_RGT_L|IR_TXD1_L|SPD_RGT_L|SPD_LFT_L|SLD_GRN_H);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 x         x         .         .         .         .         .         .    = unused (connected to 8MHz Xtal)
  //                 .         .         n         n         .         .         .         .    = OL OL = both engine poles connected to VCC (break?)
  //                 .         .         n         n         .         .         .         .    = OL OH = set right engine direction to reverse
  //                 .         .         OH        OL        .         .         .         .    = OH OL = set right engine direction to forward
  //                 .         .         n         n         .         .         .         .    = OH OH = both engine poles are equally pulsed if speed is programmed
  //                 .         .         .         .         OL        .         .         .    = Infra Red transmit signal
  //                 .         .         .         .         .         OL        OL        .    = left-engine and right-engine speed output
  //                 .         .         .         .         .         .         .         OH   = system-led green-light control output, ON
  //+-------------------------------------------------------------------------------------------+

  //+-------------------------------------------------------------------------------------------+
  //| DDRC =  Data Direction Register port C                                                    |
  //|                                                                                           |
  //| VPL_SNS = V+ Sense                                                                        |
  //| SWI_JNC = Switch Junction                                                                 |
  //| TRS_LFT = Tracksensor Left                                                                |
  //| TRS_RGT = Tracksensor Right                                                               |
  //| BOD_LFT = Break and Odometer Left                                                         |
  //| BOD_RGT = Break and Odometer Right                                                        |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|port name  |   PC7   |   PC6   |   PC5   |   PC4   |   PC3   |   PC2   |   PC1   |   PC0   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|pin number |    -    |    1    |   28    |   27    |   26    |    25   |    24   |   23    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name|    -    |  RESET  |VPL_SNS  |SWI_JNC  |TRS_LFT  |TRS_RGT  |BOD_LFT  |BOD_RGT  |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRC   ,                    VPL_SNS_I|SWI_JNC_I|TRS_LFT_I|TRS_RGT_I|BOD_LFT_O|BOD_RGT_O);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTC  ,                    VPL_SNS_N|SWI_JNC_N|TRS_LFT_N|TRS_RGT_N|BOD_LFT_L|BOD_RGT_L);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 .         .         IN        .         .         .         .         .    = V+ sensor measurement as input
  //                 .         .         .         IN        .         .         .         .    = key-press detector as input
  //                 .         .         .         .         IN        IN        .         .    = left/right track sensors as input
  //                 .         .         .         .         ,         ,         OL        OL   = left/right break/odo-meter sensors as input
  //+-------------------------------------------------------------------------------------------+

  //+-------------------------------------------------------------------------------------------+
  //| DDRD =  Data Direction Register port D                                                    |
  //|                                                                                           |
  //| BOD_COM = Breaks and Odoleds Common connection                                            |
  //| TRK_LED = Track Led                                                                       |
  //| FWD_LFT = Forward Left engine                                                             |
  //| REV_LFT = Reverse Left engine                                                             |
  //| SWI_IAC = Switches Interrupt And Control                                                  |
  //| SLD_RED = System Led Red                                                                  |
  //| IR_TXD2 = InfraRed Transmit data (connection2, connected to D10)                          |
  //| IR_RXD  = InfraRed Receive data                                                           |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|port name  |   PD7   |   PD6   |   PD5   |   PD4   |   PD3   |   PD2   |   PD1   |   PD0   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|pin number |   13    |   12    |   11    |    6    |    5    |     4   |     3   |    2    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name| ODO_LDS |FRT_LED  |FWD_LFT  |REV_LFT  |SWI_INT  |SLD_RED  |IR_RXD   |IR_TXD2  |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRD   ,BOD_COM_O|TRK_LED_O|REV_LFT_O|FWD_LFT_O|SWI_IAC_I|SLD_RED_O|IR_TXD2_I|IR_RXD_I ); 
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTD  ,BOD_COM_L|TRK_LED_L|REV_LFT_H|FWD_LFT_L|SWI_IAC_L|SLD_RED_L|IR_TXD2_L|IR_RXD_L ); 
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 OL        .         .         .         .         .         .         .    = both odometrie leds (#001)
  //                 .         OL        .         .         .         .         .         .    = front (tracking) led (#002)
  //                 .         .         n         n         .         .         .         .    = OL OL = both engine poles connected to VCC (break?)
  //                 .         .         n         n         .         .         .         .    = OL OH = set left engine direction to reverse
  //                 .         .         OH        OL        .         .         .         .    = OH OL = set left engine direction to forward
  //                 .         .         n         n         .         .         .         .    = OH OH = both engine poles are equally pulsed if speed is programmed
  //                 .         .         .         .         IL        .         .         .    = 'switches' is input
  //                 .         .         .         .         .         OL        .         .    = system-led red-light control output
  //                 .         .         .         .         .         .         IL        IL   = Infra-Red signals both as input
  //+-------------------------------------------------------------------------------------------+

}

//================================================================================
//	MAIN
//================================================================================
int main(void){

	//stop 36KHz timer2 (left active by boot sector!) but does not harm anything
	SFRX(TCCR2,CS22_L|CS21_L|CS20_L);

	//init all ports
	vInitAllPorts();
	
	//switch left engine direction to forward (LOW is active)
	SFRX(PORTD,REV_LFT_H|FWD_LFT_L);

	//switch right engine to off
	SFRX(PORTB,REV_RGT_H|FWD_RGT_H);

	//repeat
	while(1){

		//switch left engine on, controlled by speedcontrol signal
		SFRX(PORTB,SPD_LFT_H);
		
		//delay to keep left engine on for a while
		vDelayMilliSeconds(7);
		
		//switch left engine off, controlled by speedcontrol signal
		SFRX(PORTB,SPD_LFT_L);
		
		//switch odometer ir-tx-leds on (automatically switches break leds off)
		SFRX(DDRD ,BOD_COM_O);
		SFRX(PORTD,BOD_COM_H);

		//switch left odometer ir-rx-diode microcontroller-pin as input
		SFRX(DDRC ,BOD_LFT_I);
		SFRX(PORTC,BOD_LFT_L);

		//delay, to enable ir-tx-led to startup and enable ir-rx-diode to sense
		vDelayMilliSeconds(1);
		
		//if left odometer black surface detected (black reflects no light, so rx-diode will not conduct and not pull signal down)
		if(CHK_BYTE_BIT_SET(PINC,BOD_LFT_H)){

			//prepair left break led to go on
			SFRX(DDRC ,BOD_LFT_O);
			SFRX(PORTC,BOD_LFT_H);

		}
		//if left odometer white surface detected
		else{
		
			//prepair left break to go off
			SFRX(DDRC ,BOD_LFT_O);
			SFRX(PORTC,BOD_LFT_L);

		}
		
		//switch break leds on (automatically switches ir-tx-diodes off)
		SFRX(DDRD ,BOD_COM_O);
		SFRX(PORTD,BOD_COM_L);
			
		//delay, to make left engine slow down (stay off for a moment)
		vDelayMilliSeconds(100);

	}//while

	//exit function
	return 0;
	
}