#include <Mega32.h> 
#include <stdio.h>
 
#define begin {
#define end   } 
#define t0 100
#define t1 100
#define t2 50
#define t3 100
#define numJugs 3
#define lightLimit 30
#define numDrinks 5
#define photoPin  0b01100001; // A1
#define forcePin  0b01100000; // A0
#define pin 0x55


#define but0 0x22
#define but1 0x33
#define but2 0x44


// prototypes
void gets_int(void);	//starts getting a string from serial line
void puts_int(void);	//starts a send to serial line

// eeprom to store reciepes to memory
eeprom int dataBase[numDrinks][numJugs];

char received[5];

int time0, time1, time2, time3;  
int initWeight, initLight;


char selectedDrink;
char state, programState;

int mask;
char currentJug;
int currentDrinks, temp1, temp2, temp3;
int photoADC, forceADC, toggle;  
char wireless, wirelessState; 


int currCupVal, targetForce;
	
//RXC ISR variables								
unsigned char r_index;  //current string index
unsigned char r_buffer[32];	//input string 
unsigned char r_ready;  //flag for receive done
unsigned char r_char;  //current character  

//TX empth ISR variables								
unsigned char t_index;  //current string index
unsigned char t_buffer[50];	//output string 
unsigned char t_ready;  //flag for transmit done
unsigned char t_char;  //current character

//timer 0 compare ISR;  1 ms
interrupt [TIM0_COMP] void timer0_compare(void)
begin      
  if (time0>0)--time0;
  if (time1>0)--time1; 
  if (time2>0)--time2;
  if (time3>0)--time3;
end

// initialize the rs232 stuff
void initRS232(void)
begin
	//serial setop for debugging using printf, etc.     
  	UCSRB = 0x18 ;
	//  UBRRL = 103 ;	// 9600 baud
  	UBRRL = 207 ;   // 4800 baud
  	putsf("\f\r\n Juicer!\r\n");
  	r_ready=0;
  	t_ready=1;
    	gets_int();
end


void init(void)
begin
   //set up timer 0  
   TIMSK=2;		//turn on timer 0 cmp match ISR 
   OCR0 = 249;  		//set the compare re to 249 time ticks
   TCCR0=0b00001011;	//prescalar to 64 and turn on clear-on-match
                
    #asm ("sei");
    time0= t0;
    time1= t1;
    time2= t2;
    time3= t3;
      	
    DDRA = 0x00;	// a will be input
      	            
    DDRB = 0xff;  //  b will be output
    PORTB = 0x00; // init b
        
    DDRD = 0x00;   // d will be input
    PORTD.0 = 1;   // iniit
 
	selectedDrink=-1;
	state =0;
	currentDrinks=0;
	currentJug =0;	
   	toggle =1;   

	// light up the led  
	DDRD=DDRD^0xa0;
 	PORTD.7=0;
  	
  	// setup the ADC
  	ADCSR = 0b11000111; 
  	wirelessState=0;
	currCupVal = 0;
	targetForce = 0;
end   

// toggle between gettin the two sensor values
// and check for the wirelss jumper
void task0 (void)
begin
	time0=t0;
		if (toggle)
			begin
				forceADC = ADCH;
				ADMUX = photoPin;

			end
			else begin
				photoADC = ADCH;
				ADMUX = forcePin;
			end
	        ADCSR.6 =1;          
	        toggle = toggle ^1;
	        
	        
	if (PINA.2 ==0)
		wireless =0;       
	else
		wireless =1;
end

// the linear interpolation of the non liner force sensor
void CalcTargetForce (void)
begin
   	currCupVal += dataBase[selectedDrink][currentJug];
	if (currCupVal < 25) targetForce = initWeight + (currCupVal*60)/100;
	else if (currCupVal < 50) targetForce = initWeight + 60 + ((currCupVal-25)*50)/100;
	else if (currCupVal < 75) targetForce = initWeight + 60 + 50 + ((currCupVal-50)*40)/100;
	else targetForce = initWeight + 60 + 50 + 40 + ((currCupVal-75)*30)/100;
end

// the pour state..  start at the first jug and cycle through each jug when enough has been dispensed.
void Pour(void)
begin
   time1=t1;
   if (currentJug < numJugs)
   begin 
	    if (targetForce > forceADC)
		begin
	    		
	    	mask = 0x00 | (1 << currentJug);			// turn on 
			sprintf(t_buffer, "Pouring drink=%d jug=%d weight%d target%d\n\r", selectedDrink, currentJug, forceADC, targetForce); 
			puts_int();
			while (0==t_ready);
		end
		else	
		begin 
	    		CalcTargetForce();
			
	    	mask = 0x00;
			currentJug++; 

		end
	end
   else	
	begin
		state=0;
		currentJug=0;
		sprintf(t_buffer, "Done with %d\n\r", selectedDrink); 
		puts_int();
		currCupVal=0;
	
		while (0==t_ready);
					
		
	end
	
end

// gets the selection of the user choices
void GetInput(void)
begin
   	time2=t2;
	if (r_ready)    
 	begin
  	
    	sscanf(r_buffer,"%c",&selectedDrink);
    	gets_int(); 
   		
    switch (selectedDrink)
    begin
		case '0': case '1': case '2': case '3':	case '4':
  			selectedDrink = selectedDrink-48;
  		
			initWeight = forceADC;	//  get the initial weight of cup
			initLight = photoADC;	//  get the initial light of cup			
									// do this for wireless also 
			CalcTargetForce();						
			state =2;
				
		 	break;
			
		case 'p': case 'P':
  			sprintf(t_buffer, "Program Mode\n\r"); 
			puts_int();
			while (0==t_ready);
			programState=0;
			state = 3; 						
			break;
		case 's':  
			sprintf(t_buffer, "Show All\n\r"); 
			puts_int();
			while (0==t_ready);

			sprintf(t_buffer, "\f"); 
			puts_int(); 
			while (0==t_ready);

			for (temp1 =0; temp1< numDrinks; temp1++)
			begin
				sprintf(t_buffer, "Drink #%d = %d, %d, %d\n\r",temp1, dataBase[temp1][0], dataBase[temp1][1], dataBase[temp1][2]); 
				puts_int(); 
				while (0==t_ready);
			end
			while (0==t_ready);
			state = 0; 						
			break;
	end
  end     
end  

// program the ee prom with new recipes            
void ProgramDB(void)
begin 
	time3=t3;
	switch (programState)
	begin
		case 0:
			sprintf(t_buffer, "input format = index bin1 bin2 bin3\n\r"); 
			puts_int();
			programState = 1; 
			sprintf(r_buffer, "");
			break;

		case 1:
			if (r_ready)    
			begin			   
				sscanf(r_buffer,"%d %d %d %d", &currentDrinks, &temp1, &temp2, &temp3);
				dataBase[currentDrinks][0]=temp1; 
				dataBase[currentDrinks][1]=temp2; 
				dataBase[currentDrinks][2]=temp3;		     	
				sprintf(r_buffer, "");
				state = 0;
			end		
			break; 
	end
end

// the main state machine
void main(void)
begin  
	init();
	initRS232();
 	while(1)
  	begin
	   	
	  if (time0==0) task0();
       
  		
		switch (state)
   		begin
		case 0:
			sprintf(t_buffer, "#0-4, s, p\n\r");
			puts_int();
			while (0==t_ready); 
			selectedDrink=-1;
			state =1;	 
			
		case 1:		// get serial input
	       if (!wireless){
				if (time2==0) GetInput();	
		  	}
  	      
  	      break;	  	       	
  	      
		case 2: 	// pour state
		
	        
	 		if(time1==0) Pour();
	        
	       // stop checks.  the photo resistor and the for sensor
	       if (photoADC < (initLight -lightLimit)) 
	       begin
		        sprintf(t_buffer, "Stopped by Photo=%d initi=%d\n\r", photoADC, initLight);
				puts_int();
				while (0==t_ready);                                    
				
				state = 0;
				mask = 0x00;
			end
			
			
		 if (forceADC >=198) 
	       begin
	        sprintf(t_buffer, "Stopped by over force limit=%d\n\r", forceADC);
			puts_int();
			while (0==t_ready);                                    
			
			state = 0;
			mask = 0x00;
		end
		
			break;
		case 3:		// programming
			
			if(time3==0) ProgramDB();
		    break;
		end 
	   	PORTB = mask;
	   	if (wireless==1) PORTD.7 =0;
	   	else PORTD.7 =1;
	   	

   end
end  




//********************************************************** 
//  -- non-blocking keyboard check initializes ISR-driven
// receive. This routine merely sets up the ISR, which then
//does all the work of getting a command.
void gets_int(void) 
begin
  r_ready=0;
  r_index=0;
  UCSRB.7=1;
end

//********************************************************** 
//  -- nonblocking print: initializes ISR-driven
// transmit. This routine merely sets up the ISR, then
//send one character, The ISR does all the work.   
void puts_int(void) 
begin
  t_ready=0;
  t_index=0;
  if (t_buffer[0]>0) 
  begin
  	putchar(t_buffer[0]);
  	UCSRB.5=1;
  end 
end

//**********************************************************
//UART character-ready ISR   
// all of the wireless logic for filtering the noise
// it will receive all of the wireless data and only 
// process the information that has been key coded
// kepts the last 5 received symbols.  and if the a command is inbetween
// a head and end key.  then it will process it and tell the 
// main statemachine to start pouring the drink
interrupt [USART_RXC] void uart_rec(void)
begin
	r_char=UDR;    //get a char
    
    
	if (wireless ==0){
		UDR=r_char;    //then print itsssss
		//build the input string
		if (r_char != '\r') r_buffer[r_index++]=r_char;
		else
		begin
			putchar('\n');  			//use putchar to avoid overwrite
			r_buffer[r_index]=0x00;    	//zero terminate
			//r_myBuffer
			r_ready=1;				   	//signal cmd processor
			UCSRB.7=0;   				//stop rec ISR
		end 
	} 
	else
	if(state!=2){ 
	{
//	       	UDR=r_char;    
            received[0]=received[1]; 
   			received[1]=received[2]; 
			received[2]=received[3];            
            received[3]=received[4];
            received[4]=r_char;
            
            if  ((received[0]== 0xaa) 
            	 && (received[1]== 0xaa)
				 && (received[2]== pin) 
				 && (received[4]== pin))   
			{
				if (received[3] == but0)	selectedDrink = 0;
				if (received[3] == but1)	selectedDrink = 1;			
				if (received[3] == but2)	selectedDrink = 2;			
					
				initWeight = forceADC;	//  get the initial weight of cup
				initLight = photoADC;	//  get the initial light of cup			
									// do this for wireless also 		
				CalcTargetForce();
				state =2; 
				
				//UDR=received[3];	debug
				
			}
	}

	}
end

/**********************************************************/
//UART xmit-empty ISR
interrupt [USART_DRE] void uart_send(void)
begin
	t_char = t_buffer[++t_index];
	if (t_char == 0) 	
	{
		UCSRB.5=0; //kill isr 
		t_ready=1; //transmit done 
	}
	else {	
			UDR = t_char ;     //send the char 
	}
end