//Code for Car
//executing on MEGA163

//Includes
#include<mega32.h>

//definitions
#define begin {
#define end }
#define adc_frontIR 0b01100000
#define adc_frontT  0b01100001
#define adc_backT   0b01100010
#define adc_xout    0b01100110
#define adc_yout    0b01100100                              
#define adc_leftIR  0b01100101
#define frontIR 0
#define frontT  1
#define backT   2
#define xout    3
#define yout    4
#define leftIR  5
#define sideIR  6
#define tx_length 20

//declarations
bit led,led2;
char status, tx_byte;
//				0 - A/d of Xout
//				1 - A/d of Yout
//				2 - A/d of FrontIR
//				3 - A/d of Xout
//				4 - A/d of Yout
//				5 - A/d of FrontTemp
//				6 - A/d of Xout
//				7 - A/d of Yout
//				8 - A/d of BackTemp
//				9 - A/d of Xout
//				10- A/d of Yout
//				11- A/d of Left IR
//				12- jump to Digital IR inputs
//				13- acquisition done, encode
//				14- transmitting
//				15- transmit done, waiting
char data[7]; 
//				data[0] - A/d of FrontIR
//				data[1] - A/d of FrontTemp
//				data[2] - A/d of BackTemp
//				data[3] - A/d of Xout
//				data[4] - A/d of Yout
//				data[5] - A/d of Left IR
//				data[6] - Right IR,  Back IR's 
char tx_data[tx_length];


unsigned int time;

//the encoding...
flash char code[16] = {0b10001011,0b10001101,0b10010011,0b10010101,0b10010110,
0b10011001,0b10011010,0b10011100,0b10100011,0b10100101,0b10100110,0b10101001,
0b10101100,0b10110001,0b10110010,0b10110100};



//**********************************************************
//timer 0 compare ISR
interrupt [TIM0_COMP] void timer0_compare(void)
begin      
	if(time<100) time++; 
end  

//**********************************************************
void encode(void)
begin
	tx_data[0] = 0xaa; //calibration
	tx_data[1] = 0xaa; //calibration
	tx_data[2] = 0xaa; //synchronization
	tx_data[3] = 0xaa; //synchronization
	tx_data[4] = 0xaa; //synch
	tx_data[5] = code[data[0]>>4]; //A/d Front IR High Nibble
	tx_data[6] = code[(data[0]<<4)>>4]; //A/d Front IR Low Nibble
	tx_data[7] = code[data[1]>>4]; //A/d Front T High Nibble
	tx_data[8] = code[(data[1]<<4)>>4]; //A/d Front T Low Nibble
	tx_data[9] = code[data[2]>>4]; //A/d Back T High Nibble
	tx_data[10]= code[(data[2]<<4)>>4]; //A/d Back T Low Nibble
	tx_data[11]= code[data[3]>>4]; //A/d Xout IR High Nibble
	tx_data[12]= code[(data[3]<<4)>>4]; //A/d Xout IR Low Nibble
	tx_data[13]= code[data[4]>>4]; //A/d Yout IR High Nibble
	tx_data[14]= code[(data[4]<<4)>>4]; //A/d Yout IR Low Nibble
	tx_data[15]= code[data[5]>>4]; //A/d Left IR High Nibble
	tx_data[16]= code[(data[5]<<4)>>4]; //A/d Left IR Low Nibble
	tx_data[17]= code[(data[6]<<4)>>4]; //Side IR, Back IR
	tx_data[18] = 0xaa;
	tx_data[19] = 0xaa;
end


//initialization
void init()
begin



//INITIALIZE the PORTS
	//Used for A/D conversion
	DDRA = 0x00;
	//Used for digital IR sensor input
	DDRB = 0xf0;
	PORTB.0 = 1;
	PORTB.6 = 1;
	PORTB.7 = 1;
	//Used for LED array, output
	DDRC = 0xff;
    //PORTD used for TX.
	PORTC=0xff;

	//d7 led, d1 TX, d0,d2..6 unused
	DDRD = 0xff;
	PORTD.7=0; //turn d7 led on as power led
                          
  //set up timer 0  
  TIMSK=2;		//turn on timer 0 cmp match ISR 
  OCR0 = 250;  	//set the compare re to 250 time ticks
  	//prescalar to 64 and turn on clear-on-match
  TCCR0=0b00001011;
  
//A/D Converter
  //init the A to D converter 
  //channel zero/ left adj /INTERNAL Aref
  ADMUX = adc_xout;   
  //enable ADC and set prescaler to 1/128*16MHz=125,000
  //and clear interrupt enable
  //and start a conversion
  ADCSR = 0b11000111; //ADCSR.6

//setup the transmission...
	UCSRB = 0b00001000;  //Bit3-Transmit Enable
	UBRRL = 249; //4000 baud
	
	//initialize variables
	time=0;
	status=0;
	tx_byte=0;
	led=0;
	led2=0;
	PORTD.7=1;
	PORTC = 0xff;
end

void main()
begin
init();

#asm ("sei");
while(1)
begin 

	if(ADCSR.4)
	begin
		switch(status)
		begin

	    	case 0:
				data[xout]=(ADCH >> 2);
				ADMUX=adc_yout;
    			ADCSR.6=1;
    			status++;
	    	break;

	    	case 1:
				data[yout]=(ADCH >> 2);
				ADMUX=adc_frontIR;
    			ADCSR.6=1;
    			status++;
	    	break;

	    	case 2:
				data[frontIR]=ADCH;
				ADMUX=adc_xout;
				PORTB.6 = 1;
   			ADCSR.6=1;
   			status++;
	    	break;

	    	case 3:
				data[xout]+=(ADCH >> 2);
				ADMUX=adc_yout;
    			ADCSR.6=1;
    			status++;
	    	break;

	    	case 4:
				data[yout]+=(ADCH >> 2);
				ADMUX=adc_frontT;
    			ADCSR.6=1;
    			status++;
	    	break;

			case 5:
		    	data[frontT]=ADCH;
				ADMUX=adc_xout;
    			ADCSR.6=1;
    			status++;
	    	break;

	    	case 6:
				data[xout]+=(ADCH >> 2);
				ADMUX=adc_yout;
    			ADCSR.6=1;
    			status++;
	    	break;

	    	case 7:
				data[yout]+=(ADCH >> 2);
				ADMUX=adc_backT;
    			ADCSR.6=1;
    			status++;
	    	break;
	    				
			case 8:
				data[backT]=ADCH;
				ADMUX=adc_xout;
    			ADCSR.6=1;
    			status++;
	    	break;
			
			case 9:
				data[xout]+=(ADCH>>2);
				ADMUX=adc_yout;
    			ADCSR.6=1;
    			status++;
	    	break;
			
			case 10:
				data[yout]+=(ADCH>>2);
				ADMUX=adc_leftIR;
    			ADCSR.6=1;
    			status++;
	    	break;

			case 11:
				data[leftIR]=ADCH;
				PORTB.7 = 1;
				ADMUX=adc_xout;
    			ADCSR.6=1;
    			status++;
	    	break;
						
			default: break;    	
		end//switch
	end//if

	if(status==12)
	begin
		data[sideIR] = PINB;
		status++;
	end
	
	if(status==13)
	begin
		encode();
		status++;
		tx_byte=0;
	end
	
	if(status==14)
	begin
		//start transmitting
		if(UCSRA.5 & tx_byte<tx_length)
		begin
			UDR=tx_data[tx_byte];
			tx_byte++;
		end				
		if(tx_byte==tx_length)
		begin
			status++;
			PORTC.0 = PORTC.0^1;
 		end
	end

	if(status==15)
	begin 
		if(time==90)
		begin
						PORTB.6 = 0; //Turn on Analog IR Transmitter (FRONT)
						PORTB.7 = 0; //Turn on Analog IR Transmitter (LEFT)
		end  
		if(time==100)
		begin	
			status=0;
			time=0;
			led2++;
		end
	end	
end //while
end //main