/*

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

	This program transmits an IR carrier signal by both odometer leds.
	Asuro repeatedly starts driving forward for 100 milliseconds and then stops for 100 milliseconds.
	Asuro stops to let the power supply voltage recover to its full value else the infrared
	receiver chip will not function. (This is a very voltage-level critical device)
	When Asuro is stopped, it will generate an infrared carrier signal that normally is
	transmitted by the infrared transmit diode left front on the Asuro. But this transmitter
	is diabled and the infrared carrier signal is now transmitted by both infrared
	odometer leds(!).
	If a user puts its hands above the Asuro, the infrared signal transmitted by the odometer
	ir-diodes will be received by the infrared receiver at left/front on the Asuro.
	As long as the infrared signal is received, Asiro will drive backwards.
	
  ================================================================================

*/	 

//  ================================================================================//
//
//	Program       : Asuro 018, Build 001, Asuro drives backwards when object is detected above.c
//	Release date  : 2005-02-13
//	Author        : Henk van Winkoop
//
//	Build	: 001, 2005-02-13, original release
//
//  ================================================================================


//--------------------------------------------------------------------------------
//	INCLUDES
//--------------------------------------------------------------------------------
#include "hvwdefines.h"
//================================================================================
//  DELAY MILLI SECONDS
//================================================================================
void vDelayXMilliSeconds(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
//	SWITCH ALL VALID PORTS AS OUTPUTS
//================================================================================
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                                                            |
  //| IR1_TXD = InfraRed Transmit data (connection1, connected to R16) carrier input            |
  //| SPD_RGT = Speed of Right engine                                                           |
  //| SPD_LFT = Speed of Left engine                                                            |
  //| SLD_GRN = System LeD Green                                                                |
  //+-------------------------------------------------------------------------------------------+
  //| right engine off, ir-tx carrier off, left/right engine speed zero, green system led off   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|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_X|FWD_RGT_X|IR1_TXD_X|SPD_RGT_X|SPD_LFT_X|SLD_GRN_X|
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRB   ,RESERVED |RESERVED |REV_RGT_O|FWD_RGT_O|IR1_TXD_O|SPD_RGT_O|SPD_LFT_O|SLD_GRN_O);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTB  ,RESERVED |RESERVED |REV_RGT_H|FWD_RGT_H|IR1_TXD_L|SPD_RGT_L|SPD_LFT_L|SLD_GRN_L);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 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
  //                 .         .         n         n         .         .         .         .    = OH OL = set right engine direction to forward
  //                 .         .         OH        OH        .         .         .         .    = OH OH = both engine poles disconnected from VCC
  //                 .         .         .         .         OL        .         .         .    = Infra Red transmit signal
  //                 .         .         .         .         .         OL        OL        .    = left-engine and right-engine speed output inactive
  //                 .         .         .         .         .         .         .         OL   = system-led green-light control output, OFF
  //+-------------------------------------------------------------------------------------------+

  //+-------------------------------------------------------------------------------------------+
  //| 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                                                        |
  //+-------------------------------------------------------------------------------------------+
  //| supply voltage measurement enable, switch detection by interrupt enable,                  |
  //| left/right track sensors enable, left/right break leds enable                             |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|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   ,RESERVED |RESERVED |VPL_SNS_I|SWI_JNC_I|TRS_LFT_I|TRS_RGT_I|BOD_LFT_O|BOD_RGT_O);
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTC  ,RESERVED |RESERVED |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                                                                  |
  //| IR2_TXD = InfraRed Transmit data (connection2, connected to D10) modulation input         |
  //| IR_RXD  = InfraRed Receive data                                                           |
  //|                                                                                           |
  //+-------------------------------------------------------------------------------------------+
  //| enable breakleds, trackled off, left engine off, switch sensor enable,                    |
  //| red system led off, tx-ir modulator off, rx-ir enable                                     |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|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|BOD_COM_X|TRK_LED_X|REV_LFT_X|FWD_LFT_X|SWI_IAC_X|SLD_RED_X|IR2_TXD_X|IR_RXD_X |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( DDRD   ,BOD_COM_O|TRK_LED_O|REV_LFT_O|FWD_LFT_O|SWI_IAC_I|SLD_RED_O|IR2_TXD_O|IR_RXD_I ); 
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( PORTD  ,BOD_COM_L|TRK_LED_L|REV_LFT_H|FWD_LFT_L|SWI_IAC_N|SLD_RED_L|IR2_TXD_H|IR_RXD_N ); 
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 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
  //                 .         .         n         n         .         .         .         .    = OH OL = set left engine direction to forward
  //                 .         .         OH        OH        .         .         .         .    = OH OH = both engine poles disconnected from VCC
  //                 .         .         .         .         IN        .         .         .    = 'switches' is input
  //                 .         .         .         .         .         OL        .         .    = system-led red-light control output
  //                 .         .         .         .         .         .         OH        IN   = Infra-Red signals both as input
  //+-------------------------------------------------------------------------------------------+

}
//================================================================================
//	MAIN
//================================================================================
int main(void){
	
	//stop the 36KHz timer2 (left active by boot sector) but does not harm anything (default = 0x19)
	//SFRX(TCCR2,CS22_L|CS21_L|CS20_L);

	//init all microprocessor io-ports
	vInitAllPorts();

	//set ir-tx modulator signal to off, else starting timer2 (is needed) will generate unwanted ir-carrier signal
  SFRX ( PORTD , IR2_TXD_H ) ;
	
  //+-------------------------------------------------------------------------------------------+
  //| TCCR2 = Timer/Counter2 Control Register                                                   |
  //+-------------------------------------------------------------------------------------------+
  //|                                                                                           |
  //| FOC2  = Flag Output Compare (set to 0)                                                    |
  //| WGM20 = Waveform Generation Mode bit 0                                                    |
  //| WGM21 = Waveform Generation Mode bit 1                                                    |
  //| WGM21:WGM20                                |TOP |Update-OCR2|TOV2-flag-set (interrupt)|   |
  //|                                            |----|-----------|-------------------------|   |
  //| 00 : NOM   Normal Operation Mode           |0xFF|Immediate  |MAX       (count up)     |   |
  //| 01 : PWMPC Pulse Width Mode, Phase Correct |0xFF|TOP        |BOTTOM    (count up/down)|   |
  //| 10 : CTC   Clear Timer on Compare          |OCR2|Immediate  |MAX       (count up)     |   |
  //| 01 : FPWM  Fast Pulse Width Mode           |0xFF|TOP        |MAX       (count up)     |   |
  //| COM21 = Compare match Output Mode bit 1                                                   |
  //| COM20 = Compare match Output Mode bit 0                                                   |
  //| COM21:COM20                                                                               |
  //|	NOM and CTC mode                                                                          |
  //| 0 0 Normal port operation, OC2 (pin17) disconnected from timer2                           |
  //| 0 1 Toggle OC2 on Compare Match                                                           |
  //| 1 0 Clear OC2 on Compare Match                                                            |
  //| 1 1 Set OC2 on Compare Match                                                              |
  //| PWM PC mode                                                                               |
  //| 0 0 Normal port operation, OC2 (pin17) disconnected from timer2                           |
  //| 0 1 Reserved                                                                              |
  //| 1 0 Clear OC2 on Compare Match when up-counting. Set OC2 on Compare Match when downcount. |
  //| 1 1 Set OC2 on Compare Match when up-counting. Clear OC2 on Compare Match when downcount. |
  //| FPWM mode                                                                                 |
  //| 0 0 Normal port operation, OC2 (pin17) disconnected from timer2                           |
  //| 0 1 Reserved                                                                              |
  //| 1 0 Clear OC2 on Compare Match, set OC2 at TOP                                            |
  //| 1 1 Set OC2 on Compare Match, clear OC2 at TOP                                            |
  //| CS2n  = Clock Select                                                                      |
  //| CS22:CS21:CS20                                                                            |
  //| 000 = no clock source, timer/counter stopped                  (counter max set to 0xFF)   |
  //| 001 = 8MHz/   1 = 8.000.000Hz => /256 = 31250.00Hz =     32us (counter max set to 0xFF)   |
  //| 010 = 8MHz/   8 = 1.000.000Hz => /256 =  3906.25Hz =    256us (counter max set to 0xFF)   |
  //| 011 = 8MHz/  64 =   125.000Hz => /256 =   488.28Hz =   2048us (counter max set to 0xFF)   |
  //| 100 = 8MHz/ 256 =    31.250Hz => /256 =   122.07Hz =  8.192us (counter max set to 0xFF)   |
  //| 101 = 8MHz/1024 =     7.813Hz => /256 =    30.52Hz = 32.768us (counter max set to 0xFF)   |
  //| 110 = External clock source on T0 pin. Clock on falling edge                              |
  //| 111 = External clock source on T0 pin. Clock on rising edge                               |
  //|                                                                                           |
  //+-------------------------------------------------------------------------------------------+
  //| user comment                                                                              |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name| FOC2_X  | WGM20_X | COM21_X | COM20_X | WGM21_X | CS22_X  | CS21_X  | CS20_X  |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( TCCR2  , FOC2_L  | WGM20_L | COM21_L | COM20_H | WGM21_H | CS22_L  | CS21_L  | CS20_H  );
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 0         .         .         .         .         .         .         .    = no forced-compare needed
  //                 .         0         .         .         1         .         .         .    = 10 = Clear Timer on Compare
  //                 .         .         0         1         .         .         .         .    = 01 = Toggle OC2 on Compare Match
  //                 .         .         .         .         .         0         0         1    = 001 = 32us per count
  //+-------------------------------------------------------------------------------------------+



  //+-------------------------------------------------------------------------------------------+
  //| OCR2 = Output Compare Register Timer/Counter2                                             |
  //+-------------------------------------------------------------------------------------------+
  //|                                                                                           |
  //+-------------------------------------------------------------------------------------------+
  //| user comment                                                                              |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( OCR2   , 0x6E                                                                          ); // 36kHz @8MHz
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+

  //+-------------------------------------------------------------------------------------------+
  //| TIMSK = Timer/Counter Interrupt Mask Register                                             |
  //+-------------------------------------------------------------------------------------------+
  //|                                                                                           |
  //| OCIE2    = timer/counter2, output-compare-match interrupt enable                          |
  //| TOIE2    = timer/counter2, overflow interrupt enable                                      |
  //| TICIE1   = timer/counter1, input-capture interrupt enable                                 |
  //| OCIE1A   = timer/counter1, equal to output-compare-A-match register, interrupt enable     |
  //| OCIE1B   = timer/counter1, equal to output-compare-B-match register, interrupt enable     |
  //| TOIE1    = timer/counter1 overflow interrupt enable                                       |
  //| RESERVED = unused                                                                         |
  //| TOIE0    = timer/counter0 overflow interrupt enable                                       |
  //|                                                                                           |
  //+-------------------------------------------------------------------------------------------+
  //| enable timer/counter0 interrupt                                                           |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|           | Timer2  | Timer2  | Timer1  | Timer1  | Timer1  | Timer1  |    -    | Timer0  |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |    2    |    1    |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|signal name| OCIE2_X | TOIE2_X |TICIE1_X |OCIE1A_X |OCIE1B_X | TOIE1_X |RESERVED | TOIE0_X |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( TIMSK  , OCIE2_H | TOIE2_L |TICIE1_L |OCIE1A_L |OCIE1B_L | TOIE1_L |RESERVED | TOIE0_L );
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 1         .         .         .         .         .         .         .    = 1 = timer/counter2 output-compare-match interrupt enable
  //+-------------------------------------------------------------------------------------------+


  //+-------------------------------------------------------------------------------------------+
  //| SREG =  Status Register                                                                   |
  //+-------------------------------------------------------------------------------------------+
  //|                                                                                           |
  //| GIE  = I = Global Interrupt Enable                                                        |
  //| BCS  = T = Bit Copy Storage                                                               |
  //| HCF  = H = Half Carry Flag                                                                |
  //| SB   = S = Sign Bit                                                                       |
  //| TCOF = V = Two's Complement Overflow Flag                                                 |
  //| GIE  = I = Global Interrupt Enable                                                        |
  //| NF   = N = Negative Flag                                                                  |
  //| ZF   = Z = Zero Flag                                                                      |
  //| CF   = C = Carry Flag                                                                     |
  //|                                                                                           |
  //+-------------------------------------------------------------------------------------------+
  //| programmer settings comment                                                               |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //|bit number |    7    |    6    |    5    |    4    |    3    |     2   |     1   |    0    |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //| SREG      |  GIE_X  |  BCS_X  |  HCF_X  |  SB_X   | TCOF_X  |  NF_X   |  ZF_X   |  CF_X   |
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  SFRX ( SREG   ,  GIE_H                                                                        );
  //+-----------+---------+---------+---------+---------+---------+---------+---------+---------+
  //                 n         .         .         .         .         .         .         .    = 1 = global interrupt enable
  //                 .         n         .         .         .         .         .         .    =
  //                 .         .         n         .         .         .         .         .    =
  //                 .         .         .         n         .         .         .         .    =
  //                 .         .         .         .         n         .         .         .    =
  //                 .         .         .         .         .         n         .         .    =
  //                 .         .         .         .         .         .         n         .    =
  //                 .         .         .         .         .         .         .         n    =
  //+-------------------------------------------------------------------------------------------+


	//enable both engines
  SFRX ( PORTB , SPD_RGT_H | SPD_LFT_H ) ;

	//endless loop
	while(1){

		//switch both engines off for a while, else VCC too low for good ir-rx detection
		SFRX ( PORTB , SPD_LFT_L | SPD_RGT_L ) ;
	
		//switch infrared transmission on by enabling interrupt that generates ir-signal
		SFRX ( TIMSK , OCIE2_H ) ;
	
		//wait for ir-signal detected by ir-chip (takes about 200us)
		//wait for accu-voltage to recover to full value (100ms), else ir-chip will not function
		vDelayXMilliSeconds(100);

		//if infrared signal received from ir-chip
		if ( SFRQ ( PINRD , IR_RXD_L ) ) {
	
			//set both engines reverse
			SFRX ( PORTD , REV_LFT_L | FWD_LFT_H ) ; 
			SFRX ( PORTB , REV_RGT_L | FWD_RGT_H ) ; 

		}
	
		//if no infrared signal is received from ir-chip
		else{
	
			//set both engines to forward
			SFRX ( PORTD , REV_LFT_H | FWD_LFT_L ) ;
			SFRX ( PORTB , REV_RGT_H | FWD_RGT_L ) ;
		
		}

		//switch infrared transmission off by disabling interrupt that generates ir-signal
		SFRX ( TIMSK , OCIE2_L ) ;

		//switch both engines on
		SFRX ( PORTB , SPD_LFT_H | SPD_RGT_H ) ;

		//let engines run on for a while
		vDelayXMilliSeconds(100);
	
	}

	//exit function
	return 0;
	
}

//================================================================================
// interrupt handler, timer/counter2 output compare
// enable bit: register TIMSK bit OCIE2
// #define SIG_OUTPUT_COMPARE2 _VECTOR(3)
//================================================================================
SIGNAL (SIG_OUTPUT_COMPARE2)
{
	//toggle odo leds
	SFRT(PORTD,BOD_COM);

}