#include <Mega32.h>
#include <delay.h>
#include <stdio.h>
#include <math.h> 
#include <stdlib.h>  
//#include <string.h>

//I like these definitions
#define begin {
#define end   }         


//stepper motor states (Azimuth)
#define ACOIL1	1
#define ACOIL2	2
#define ACOIL3	3
#define ACOIL4	4

// half step states (Azimuth)
#define HACOIL13 6
#define HACOIL23 7 
#define HACOIL24 8
#define HACOIL41 9
#define HACOIL1 10
#define HACOIL2 11
#define HACOIL3 12
#define HACOIL4 13
 
#define maxkeys 16

//timing definitions
#define KEYCMDTIME 30  
#define USERTIME 15

//keycmd state variables
#define RELEASE 1          //the keycmd state variables
#define DEBOUNCE 2         //keycmd debounces the keypad and reads a single character from the keypad
#define STILLSAME 3        //using the function keypad()
#define DEBOUNCERELEASE 4
#define DONE 5            
#define TERMINATOR 6
#define TERMINATEDEBOUNCE 7
#define STILLSAMETERMINATE 8

#define STARkey 11      //keypad * key (used for - sign)
#define ENTERkey 12     //keypad # key
#define DECIMALkey 13   //keypad button A 
#define BACKkey 14      //keypad button B 
#define UPkey 15        //keypad button C
#define DOWNkey 16      //keypad button D

//userinput state variables
#define START 1
#define IN_ITHACA 2
#define REQUEST_LAT	3
#define REQUEST_LONG 4
#define KEEP_LATLONG 5
#define REQUEST_DATE 6
#define REQUEST_TIME 7
#define REQUEST_TIMEZONE 8
#define REQUEST_DST 10
#define KEEP_STAR 11
#define SELECT_STAR 12
#define REQUEST_DEC 13
#define REQUEST_RASC 14
#define FAST_ROTATE 15
#define CALIBRATE 16
#define AUTO_TRACKING 17 
#define ADJUST 18   
#define MANUAL_TRACKING 19 
#define MANUAL10_TRACKING 20
#define AUTO10_TRACKING 21

#define HALFSTEPANGLE 0.01125
#define FULLSTEPANGLE 0.0225   //calculate these later based on the pulley reduction
#define ANGLE_TOLERANCE 0.5  
#define FAST_ROTATE_SPEED 10
#define ADJUST_SPEED 25        //lower numbers are faster
#define TRACKING_SPEED 2  //every 2.5 sidereal seconds
#define ADJUST_ANGLE 0.5     

#define pi 3.14159265

#define LCDwidth 16

#asm
  .equ __lcd_port=0x15
#endasm
#include <lcd.h>  //LCD driver routines

void motorControl(void);
void keypad(void); 
void keycmd(void);
void resetkeycmd(void);
void userinput(void);  
void calclst(void);
//float calcelev(float,float);   
float calcazim(float,float);   //calcs the azim in the equatorial plane
//int solartosidereal(char,char,char,char,char,char);  
void initialize(void);

// global time variables
unsigned long lst, lstq;  //in seconds
           //add 365/366 = 0.99726775956284153005464480874317 for every (solar) second after this epoch
           //round result to the nearest second
           //alternatively, for every hour, we subtract 236 seconds
           //my calculations indicate that 1 year from the epoch, a float will have a
           //2 second accuracy (+/- 1 sec)
           //1/2 year is fine though...   
           //A long (4 bytes) would be able to hold 4.29e9 seconds, or 136 years
char trackingcount;
// And yes, I know that our epoch *should* be the vernial equinox, because right ascension is taken from the
// First Point of Aries at the Vernial Equinox, but the star chart I used had Nov 20, 8PM
           
int mth,dd,yyyy,hh,mm,ss,ms;  //local time variables - need this to compute LST
int timezone;  //-14 to +14  
char leap, daysinmth;
char dst;  //1 if DST on, 0 if DST off

//motor controls
//unsigned int amotorclk;      //timer for motor test
unsigned char amotorstate, amotor;  //state for motor test
unsigned char amotordirection; //1 = CCW, 0= CW
signed int amotorstepdur;  // how often the motor position is updated 
unsigned char amotorhalfstep;

//I/O variables
unsigned int keyclk;  //timing counters    keycmd()
unsigned int userclk; //timing counter for userinput() 
signed int motorclk;  //timing counter for motorcontrol()
char lcd_buffer[17];        // LCD display buffer

//user input state variables   
unsigned char userstate; //user state machine state
unsigned char retain;    //flag for user retaining prev data
unsigned char prevdata;  //if there is any previous data stored 
unsigned char yesno;     //1 if yes, 0 if no 
signed int star;         //star number
signed int scroll;       //how much to scroll the star coordinates   
signed int scroll_star;  //scrolled star number (what to print)
flash char *starlist[18];

//star calculation variables
float starlistrasc[18]; //right ascension of the star        
float starlistdec[18];  //declination of the star
float rasc, dec;  //right ascension (in hours) and declination (in degrees) of the selected star

// global position variables
float latitude, longitude, current_elev, current_azim, desired_azim, real_elev;  //in equatorial plane. reals are in viewer's plane 
signed int numsteps, numhalfsteps; 
unsigned char stepcalculated;   
signed int calstep;

// unsigned char noprevlat, noprevlong, noprevstar, noprevtime;  //flags for individual previous data set
// unsigned char keeplat, keeplong, keepstar, keeptime;   //flags to determine if prev data should be kept
// //parameters set by the user for lat, long, elev, azi
// //these are used to calculate the delME and delMA for which the motor is stepped through
// float latitude, longitude, lst, elev, azi, MotorE, MotorA, delME, delMA;                        
// //azimuth and elevation wrt equatorial?
// float azim_equat, elev_equat;   
// //X,Y,Z coordinate arrays
// float S[3],Sequat[3];
// //right acension and declination of Star    
// float rtasc,dec;                
// //change in elevation and azimuth that has to be stepped through
// float deltaelev, deltaazim; 
// int scroll;


//********************** keypad variables *******************************
unsigned char key, butnum;  //key: the signal of the key pressed; butnum: the value of the key pressed
unsigned char keycmdstate;  //used to determine the state of the keypad
unsigned char maybe;        //used to store debouncing information for the key press
unsigned char keycount;     //position in the character string
char keystr[16];             //character string
unsigned char decimal;
unsigned char keyready;     //flag for keycmd() to tell query() that a string has been read
flash unsigned char keytbl[16]= {0x7d, 0xee, 0xed, 0xeb, 0xde, 0xdd, 0xdb, 0xbe, 0xbd, 0xbb, 0x7e, 0x7b, 0xe7, 0xd7, 0xb7, 0x77};

interrupt [TIM0_COMP] void timer0_compare(void)         //counts every ms
{     
  //Decrement the time if it is not already zero
  if (motorclk>0) --motorclk;
  if (keyclk>0) --keyclk;  
  if (userclk>0) --userclk; 
  
  ms++;
  if (ms == 1000) begin
    ms = 0;
    ss++;
    if (ss == 60) begin
      ss = 0;
      mm++;
      if (mm == 60) begin
        mm = 0;
        hh++;
        if (hh == 24) begin
          hh = 0;
          dd++;
          if (((dd==32) && (mth%2 == 1) && (mth<8)) || ((dd==29) && (mth==2) && (leap==0)) || ((dd==30) && (mth==2) && (leap==1)) || ((dd==32) && (mth%2 == 0) && (mth>7)) || ((dd==31) && (mth%2 == 0) && (mth<8)) || ((dd==31) && (mth%2 == 1) && (mth>7))) begin
               //jan, mar, may, jul                           //feb                                //feb (leap)                           //aug,oct,dec                                //feb is out alr, so apr,jun                 //sep,nov
            dd = 0;
            mth++;
            if (mth == 13) begin
              mth = 0;
              yyyy++;
            end //yr
          end //mth        
        end //day
      end //hr
    end //min
  end  //sec
}

interrupt [TIM1_COMPA] void timer1a_compare(void)    //counts every 1/1000 sidereal second
{   
  lstq++;
  if(lstq==1000) begin
  	lst++;
  	lstq=0; 
  end
  if (lst == 86400)
    lst = 0;
  if (((lst*1000 + lstq)%2699 == 0) && ((userstate == AUTO_TRACKING) || (userstate == MANUAL_TRACKING))) begin
    motorControl();   //moves the motor once every 2.7 sidereal seconds (we should be doing once every 2.69999 sidereal seconds
  end
  if (((lst*1000 + lstq)%270 == 0) && ((userstate == AUTO10_TRACKING) || (userstate == MANUAL10_TRACKING)))
    motorControl();    //moves the motor 3.7 steps every sidereal second (1 step every 0.27 sec)
}

void main(void)
begin
   initialize();	  
	
 
  //main task scheduler loop 
  while(1)
  {     
    if((motorclk==0) && ((userstate == ADJUST) || (userstate == FAST_ROTATE))) begin
      if (numsteps < 0) begin
        amotorhalfstep = 0;
        amotordirection = 1;    //CCW
        motorControl();   
        numsteps++;
      end  
      else if (numsteps > 0) begin
        amotorhalfstep = 0;
        amotordirection = 0;    //CW
        motorControl();   
        numsteps--;
      end
    end
    if(keyclk == 0)	keycmd(); 
    if(userclk==0)	userinput();       //the clock ticks to 0 (which is every 1ms) 
    
    //set motor timers (amotorstepdur), set motorclk. speed up, slow down
    //calc the speed the motor needs to turn to reach the final dest.
    
    //How the motor control works:
    //The ADJUST and FAST ROTATE states will set desired_azim at some offset away from current_azim 
    //if we are in these states, the while loop will calculate the number of steps required to move
    //to the final destination.
    //We then call the motorControl() numsteps times, at the amotorstepdur interval, decrementing 
    //numsteps at each call (or incrementing if CCW).    
    
    //In ADJUST mode, we recalculate numsteps everyting the user adjusts the desired azimuth
    
    if((userstate == ADJUST) || (userstate == FAST_ROTATE)) begin 
    //numsteps < 0 => move CCW
    //numsteps > 0 => move CW
      if (fabs(desired_azim - current_azim) < 180) begin     
        if ((desired_azim - current_azim) >= ANGLE_TOLERANCE) begin  //there may be a bug if we cross 360 deg...
          //calculate leftover number of steps
          if (stepcalculated == 0) begin
            //if we havent already calculated the number of steps
            numsteps = (int)((float)(desired_azim - current_azim)/FULLSTEPANGLE);
            stepcalculated = 1;
          end
        end
        else if ((current_azim - desired_azim) >= ANGLE_TOLERANCE) begin
          //calculate leftover number of steps
          if (stepcalculated == 0) begin
            numsteps = (int)((float)(desired_azim - current_azim)/FULLSTEPANGLE);   //this will be a negative number (move CCW)
            stepcalculated = 1;
          end
        end
      end
      else begin   //360 = 0 deg 
        //for eg if desired = 358 deg, and current is 1 deg, we cant to move CCW 3 deg not CW 357 deg
        if ((desired_azim > current_azim) && ((360 - desired_azim + current_azim) >= ANGLE_TOLERANCE)) begin  //there may be a bug if we cross 360 deg...
          //calculate leftover number of steps
          if (stepcalculated == 0) begin
            //if we havent already calculated the number of steps
            numsteps = (int)((float)(desired_azim - 360 - current_azim)/FULLSTEPANGLE);  //negative number (move CCW)
            stepcalculated = 1;
          end
        end
        //for eg if desired = 1 deg, and current is 358 deg, we cant to move CW 3 deg not CCW 357 deg
        else if ((desired_azim < current_azim) && ((360 - current_azim + desired_azim) >= ANGLE_TOLERANCE)) begin
          //calculate leftover number of steps
          if (stepcalculated == 0) begin
            numsteps = (int)((float)(desired_azim + 360 - current_azim)/FULLSTEPANGLE);
            stepcalculated = 1;
          end
        end
      end
    end
    
    if (userstate == CALIBRATE) begin
      //disable the motor control by setting amotorstepdur = -1 and motorclk = -1
      //use the userstate to call motorControl
    end
    
    if ((userstate == AUTO_TRACKING) || (userstate == MANUAL_TRACKING)) begin
      //disable the motor control by setting amotorstepdur = -1 and motorclk = -1 
      //use the interrupt to call the motor control
    end                
    
  }
end   


void motorControl(void)
{
   motorclk = amotorstepdur;
   PORTD.0 = 1;  //enable motor control
   
   // full step: 1->3->2->4->1 (CW) or 1->4->2->3->1 (CCW)
   // half step: 1->13->3->23->2->24->4->41->1 (CW) or 1->41->4->24->2->23->3->13->1
   if (userstate != CALIBRATE) begin  //adjust azim variables if not in CALIBRATE mode
     if (amotorhalfstep == 0) begin  //full steps
      if (amotordirection == 0) begin  //CW
        current_azim = current_azim + FULLSTEPANGLE;
        if (current_azim >= 360) current_azim = current_azim - 360;
      end
      else begin //CCW
        current_azim = current_azim - FULLSTEPANGLE;
        if (current_azim < 0) current_azim = current_azim + 360;
      end
     end
     else begin //half steps
      if (amotordirection == 0) begin //CW 
        current_azim = current_azim + HALFSTEPANGLE;
        if (current_azim >= 360) current_azim = current_azim - 360;
      end
      else begin //CCW
        current_azim = current_azim - HALFSTEPANGLE;
        if (current_azim < 0) current_azim = current_azim + 360;
      end
     end                            
   end
   
   switch(amotorstate)
   begin
        case ACOIL1:
         amotor = 0x3 ;
          if (amotorhalfstep == 0) begin 
		        if (amotordirection == 0) amotorstate = ACOIL3;        
		        else amotorstate = ACOIL4;    
		      end
		      else begin                      
  		      if (amotordirection == 0) amotorstate = HACOIL13;         //change this!!!
		        else amotorstate = HACOIL41;    //change this!!...see dir
		      end
        break;                         
        case ACOIL2:
          amotor = 0x5;
		      if(amotorhalfstep == 0) begin 
		        if (amotordirection == 0) amotorstate = ACOIL4;   
		        else amotorstate = ACOIL3;
		      end
		      else begin                      
  		      if (amotordirection == 0) amotorstate = HACOIL24;         //change this!!!
		        else amotorstate = HACOIL23;    //change this!!...see dir
		      end
        break;          
        case ACOIL3: 
          amotor = 0x9;
		      if(amotorhalfstep == 0) begin  
		        if (amotordirection == 0) amotorstate = ACOIL2;       
		        else amotorstate = ACOIL1;
		      end
		      else begin                      
  		      if (amotordirection == 0) amotorstate = HACOIL23;         //change this!!!
		        else amotorstate = HACOIL13;    //change this!!...see dir
		      end
        break;          
        case ACOIL4: 
          amotor= 0x11;
		      if(amotorhalfstep == 0)begin  
		        if (amotordirection == 0) amotorstate = ACOIL1;    
		        else amotorstate = ACOIL2;
		      end
		      else begin                      
  		      if (amotordirection == 0) amotorstate = HACOIL41;         //change this!!!
		        else amotorstate = HACOIL24;    //change this!!...see dir
		      end
        break;
               
        
        case HACOIL1: 
          amotor = 0x3;
          if(amotorhalfstep == 0) begin
            if(amotordirection == 0) amotorstate = ACOIL3;
              else amotorstate = ACOIL4;
          end
          else begin
            if(amotordirection == 0) amotorstate = HACOIL13;
            else amotorstate = HACOIL41;
          end          
        break;
        case HACOIL13:
          amotor = 0xb;     // 11 -> 1011 -> b
          if(amotorhalfstep == 0) begin
            if(amotordirection == 0) amotorstate = ACOIL3;
            else amotorstate = ACOIL1;
          end
          else begin
            if(amotordirection == 0) amotorstate = HACOIL3;
            else amotorstate = HACOIL1;
          end        
        break;
        case HACOIL2:  
          amotor = 0x5;
          if(amotorhalfstep == 0) begin 
		        if (amotordirection == 0) amotorstate = ACOIL4;   
		        else amotorstate = ACOIL3;
		      end
		      else begin                      
  		      if (amotordirection == 0) amotorstate = HACOIL24;        
		        else amotorstate = HACOIL23;  
		      end        
        break;
        case HACOIL23:
          amotor = 0xd;     // 11 -> 1101 -> d
          if(amotorhalfstep == 0) begin
            if(amotordirection == 0) amotorstate = ACOIL2;
            else amotorstate = ACOIL3;
          end
          else begin
            if(amotordirection == 0) amotorstate = HACOIL2;
            else amotorstate = HACOIL3;
          end
        break;
        case HACOIL3:
          amotor = 0x9;
		      if(amotorhalfstep == 0) begin  
		        if (amotordirection == 0) amotorstate = ACOIL2;       
		        else amotorstate = ACOIL1;
		      end
		      else begin                      
  		      if (amotordirection == 0) amotorstate = HACOIL23;
		        else amotorstate = HACOIL13;  
		      end
        break;
        case HACOIL24:
          amotor = 0x15;     // 11 -> 10101 -> 15
          if(amotorhalfstep == 0) begin
            if(amotordirection == 0) amotorstate = ACOIL4;
            else amotorstate = ACOIL2;
          end
          else begin
            if(amotordirection == 0) amotorstate = HACOIL4;
            else amotorstate = HACOIL2;
          end
        break;
        case HACOIL4:
          amotor= 0x11;
		      if(amotorhalfstep == 0)begin  
		        if (amotordirection == 0) amotorstate = ACOIL1;    
		        else amotorstate = ACOIL2;
		      end
		      else begin                      
  		      if (amotordirection == 0) amotorstate = HACOIL41; 
		        else amotorstate = HACOIL24;   
		      end
        break;
        case HACOIL41:
          amotor = 0x13;     // 11 -> 10011 -> 13
          if(amotorhalfstep == 0) begin
            if(amotordirection == 0) amotorstate = ACOIL1;
            else amotorstate = ACOIL4;
          end
          else begin
            if(amotordirection == 0) amotorstate = HACOIL1;
            else amotorstate = HACOIL4;
          end
        break;      
   end 
   PORTD = amotor;  
}

void keypad(void)
{
  //get lower nibble
  DDRA = 0x0f;  // use PORTA as the input for the keypad
  PORTA = 0xf0;
  delay_us(5);
  key = PINA;

  //get upper nibble
  DDRA = 0xf0;
  PORTA = 0x0f;
  delay_us(5);
  key = key | PINA;

  //find matching keycode in keytbl
  if (key != 0xff){
    for (butnum=0; butnum<maxkeys; butnum++)
      if (keytbl[butnum]==key)  break;
    if (butnum==maxkeys) butnum=0;
    else butnum++;	   //adjust by one to make range 1-16
  }
  else butnum=0;

} 

// keycmd - debounces the keypad and writes to a string                                              ################ KEYCMD() ###########
void keycmd(void) 
{                                           
  int i,j; //loop variable
  keyclk = KEYCMDTIME; // reset 30ms counter

  // query() will
  // reset the keycmd state machine (this state machine) to RELEASE
  // and reset keycount to 0, and keyready to 0.
  // This state machine runs every 30ms.

  switch(keycmdstate){
    case RELEASE:
      keypad();
      if (butnum == 0)
        keycmdstate = RELEASE;
      else begin
        keycmdstate = DEBOUNCE;
        maybe = butnum;
      end
    break;
  
    case DEBOUNCE:
      keypad();
      if (butnum==maybe)
        keycmdstate = TERMINATOR;
      else
        keycmdstate = RELEASE;
    break;
  
    case TERMINATOR:            //checks if the button pressed is the terminate/backspace/decimal/up/down key    
      if (butnum == ENTERkey) begin
        keycmdstate = STILLSAMETERMINATE;      
        keystr[keycount]= 0;
        maybe = butnum;
      end 
      else if (butnum == BACKkey) begin
        keycmdstate = STILLSAME;
        keystr[--keycount] = 0;
        maybe = butnum;
      end
      else if (butnum == DECIMALkey) begin
        if (decimal == 0) begin
          keycmdstate = STILLSAME;
          if (keycount<15)
            keystr[keycount++] = '.';
          maybe = butnum;
          decimal = 1;           
        end 
        else begin               //ignores decimal pt if one has already been pressed
          keycmdstate = STILLSAME;          
          maybe = butnum;
        end
      end
      else if (butnum == UPkey) begin
        if ((userstate==SELECT_STAR) || (userstate==ADJUST) || (userstate==CALIBRATE)) begin
          scroll = 1;            //pressing the up button will not affect keystr, only scroll the text.
          keycmdstate = STILLSAME;
          maybe = butnum;
        end 
        else begin
          keycmdstate = STILLSAME;
          maybe = butnum;
        end
      end
      else if (butnum == DOWNkey) begin
        if ((userstate==SELECT_STAR) || (userstate==ADJUST) || (userstate==CALIBRATE)) begin 
          scroll = -1; 
          keycmdstate = STILLSAME;
          maybe = butnum;
        end 
        else begin
          keycmdstate = STILLSAME;
          maybe = butnum;
        end
      end
      else if (butnum == STARkey) begin
        keycmdstate = STILLSAME;  //Negative sign
        if (keycount == 0) 
          keystr[keycount++] = '-';
        maybe = butnum;
      end 
      else begin  // 1<= butnum <= 10
        keycmdstate = STILLSAME;
        maybe = butnum;
        if (keycount<15)   //to make sure we don't overflow our array - ignore all numbers after 15 digits (to leave space for the '\0')
          keystr[keycount++] = butnum + 0x2F;  // to get an ASCII character      
      end                                                                  
      lcd_gotoxy(0,1);      
      lcd_puts(keystr);
      sprintf(lcd_buffer," ");    //to erase remnants of previous input 
      for (i=keycount;i<16;i++)     
        lcd_puts(lcd_buffer);
      
    break;
  
    case STILLSAME:                       //check for debounce release
      keypad();
      if (butnum == maybe)
        keycmdstate = STILLSAME;
      else
        keycmdstate = DEBOUNCERELEASE;
    break;
  
    case DEBOUNCERELEASE:
      keypad();
      if (butnum == maybe)        //STOPPED HERE
        keycmdstate = STILLSAME;
      else
        keycmdstate= RELEASE;
    break;       
      
    case TERMINATEDEBOUNCE:         //this is to debounce the terminate/play/stop keys 
                                    //so we don't accidentally press "Enter" twice
      keypad();
      if (butnum == maybe) begin
        keycmdstate = STILLSAMETERMINATE;
      end
      else begin
        keycmdstate = DONE;
        keyready = 1;
      end
    break; 
      
    case STILLSAMETERMINATE:
        keypad();
        if (butnum == maybe) begin
          keycmdstate = STILLSAMETERMINATE;
        end                                
        else begin
          keycmdstate = TERMINATEDEBOUNCE;
        end
    break;
      
    case DONE:
        keycmdstate= DONE;
    break;
  } //switch
  
}

void resetkeycmd(void)
{
  int i;
  keycmdstate = RELEASE;
  for (i=0;i<16;i++)
    keystr[i] = 0;
  keyready = 0;
  decimal = 0;
  keycount = 0;  
}

//User Input - Main Querying state machine to get data from the users                             ################ USERINPUT() ###########
void userinput(void)
{
  //signed int deg,minutes,seconds;
  
  userclk = USERTIME;
  switch (userstate){
    case START:
      lcd_gotoxy(0,0);
      lcd_putsf("Manual=1 Auto=0 ");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = ADJUST;
          amotorstepdur = ADJUST_SPEED;
          motorclk = ADJUST_SPEED;  //reset the motor clock when we enter this state
          numsteps = 0;
          stepcalculated = 0;
          //prevdata = 0;
        end
        else if (yesno == 0) begin
          if (prevdata == 1) userstate = KEEP_LATLONG;
          else userstate = IN_ITHACA;
        end
        else userstate = START;
      end            
    break; 
    
    case ADJUST:          //in manual mode, the actual elevation and azimuth do not matter
                          //everything is controlled by the human
                          //the azim variables are just used to move the motor
      //everytime we press the scroll buttons, we move the motor 1 deg from its current location
      //in the appropriate direction
      lcd_gotoxy(0,0);
      lcd_putsf("Move(C,D),1=Done");
      if (scroll == 1) begin
        scroll = 0;                  //FIGURE OUT HOW TO CONTROL THE MOTOR!!!!         
        desired_azim = desired_azim + ADJUST_ANGLE;
        if (desired_azim >= 360) desired_azim = desired_azim - 360;
        lcd_gotoxy(0,1); 
        sprintf(lcd_buffer,"C%5.2f,%5.2f",desired_azim,current_azim);       
        lcd_puts(lcd_buffer);
        stepcalculated = 0;
      end
      else if (scroll == -1) begin
        scroll = 0; 
        desired_azim = desired_azim - ADJUST_ANGLE;
        if (desired_azim < 0) desired_azim = desired_azim + 360;
        lcd_gotoxy(0,1);
        sprintf(lcd_buffer,"A%5.2f,%5.2f",desired_azim,current_azim);       
        lcd_puts(lcd_buffer);
        stepcalculated = 0;
      end
      else if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();   
        if (yesno == 1) begin
          userstate = MANUAL_TRACKING;
          amotorstepdur = -1;  //disable motor
          motorclk = -1;
          amotorhalfstep = 1;
          amotordirection = 0; //CW - opposite to earth's rotation
        end
        else userstate = ADJUST;
      end
      lcd_gotoxy(0,1); 
      sprintf(lcd_buffer," %5.2f,%5.2f",desired_azim,current_azim);       
      lcd_puts(lcd_buffer);
    break;
    
    case IN_ITHACA:
      lcd_gotoxy(0,0);
      lcd_putsf("In Ithaca?(1,0)");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = REQUEST_DATE;
          latitude = 42.44;
          longitude = -76.48;
        end
        else if (yesno == 0) begin
          userstate = REQUEST_LAT;
        end
        else userstate = IN_ITHACA;
      end      
    break;  
    
    case REQUEST_LAT:
      lcd_gotoxy(0,0);
      lcd_putsf("Enter Latitude: ");
      if (keyready == 1) begin
        latitude = atof(keystr);
        resetkeycmd();              
        if ((latitude < -90.0) || (latitude > 90.0)) begin 
          userstate = REQUEST_LAT;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin
          userstate = REQUEST_LONG;
          lcd_gotoxy(0,1);
          lcd_putsf("Lat=");
          sprintf(lcd_buffer,"%5.2f",latitude);       
          lcd_puts(lcd_buffer);
        end
      end
    break;
    
    case REQUEST_LONG:
      lcd_gotoxy(0,0);
      lcd_putsf("Enter Longitude:");
      if (keyready == 1) begin
        longitude = atof(keystr);
        resetkeycmd();
        if ((latitude < -180.0) || (latitude > 180.0)) begin 
          userstate = REQUEST_LONG;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin
          userstate = REQUEST_DATE;
          lcd_gotoxy(0,1);
          lcd_putsf("Long=");
          sprintf(lcd_buffer,"%5.2f",longitude);       
          lcd_puts(lcd_buffer);
        end
      end
    break;   
    
    case KEEP_LATLONG:
      lcd_gotoxy(0,0);
      lcd_putsf("KeepLatLong? 1,0");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = KEEP_STAR;
        end
        else if (yesno == 0) begin
          userstate = IN_ITHACA;
        end
        else userstate = KEEP_LATLONG;
      end 
    break;
    
    case REQUEST_DATE:
      lcd_gotoxy(0,0);
      lcd_putsf("Date in MMDDYYYY");
      if (keyready == 1) begin
        sscanf(keystr,"%2d%2d%4d",&mth, &dd, &yyyy);
        resetkeycmd(); 
        
        if (yyyy%4==0) begin     //calc if yr is leap
          if (yyyy%100==0 && yyyy%400==0) leap = 1;
          else if (yyyy%100==0 && yyyy%400!=0) leap = 0;
          else leap = 1;
        end
        else leap = 0;
        
        if ((mth%2 == 1) && (mth<8)) daysinmth = 31;     //jan,mar,may,jul
        else if ((mth==2) && (leap==0)) daysinmth = 28; //feb
        else if ((mth==2) && (leap==1)) daysinmth = 29; //feb (leap yr)
        else if ((mth%2 == 0) && (mth>7)) daysinmth = 31; //aug,oct,dec
        else if ((mth%2 == 0) && (mth<8)) daysinmth = 30; //feb is out alr, so apr,jun
        else if ((mth%2 == 1) && (mth>7)) daysinmth = 31; //sep,nov
        
        if ((dd < 1) || (dd > daysinmth) || (mth < 1) || (mth > 12) || (yyyy < 2007) || (yyyy > 2010)) begin 
          userstate = REQUEST_DATE;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin
          userstate = REQUEST_TIME;
          lcd_gotoxy(0,1);
          lcd_putsf("Date=");
          sprintf(lcd_buffer,"%2d,%2d,%4d",mth,dd,yyyy);
          lcd_puts(lcd_buffer);
        end
      end
    break;
       
    case REQUEST_TIME:
      lcd_gotoxy(0,0);
      lcd_putsf("Time in HHMMSS  ");
      if (keyready == 1) begin
        sscanf(keystr,"%2d%2d%2d",&hh, &mm, &ss);
        resetkeycmd();
        if ((hh < 0) || (hh > 23) || (mm < 0) || (mm > 59) || (ss < 0) || (ss > 59)) begin 
          userstate = REQUEST_TIME;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin
          userstate = REQUEST_TIMEZONE;
          lcd_gotoxy(0,1);
          lcd_putsf("Time=");
          sprintf(lcd_buffer,"%2d:%2d:%2d",hh,mm,ss);
          lcd_puts(lcd_buffer);
        end
      end
    break;
    
    case REQUEST_TIMEZONE:
      lcd_gotoxy(0,0);
      lcd_putsf("Timezone[-14,14]");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&timezone);
        resetkeycmd();
        if ((timezone<-14) || (timezone>14)) begin 
          userstate = REQUEST_TIMEZONE;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin
          userstate = REQUEST_DST;
          lcd_gotoxy(0,1);
          lcd_putsf("Timezone="); 
          if (timezone>0)
            sprintf(lcd_buffer,"+%d",timezone);
          else sprintf(lcd_buffer,"%d",timezone);
          lcd_puts(lcd_buffer);
        end
      end
    break;  
    
    case REQUEST_DST:
      lcd_gotoxy(0,0);
      lcd_putsf("DST On=1 Off=0  ");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = SELECT_STAR;
          //timezone++;
          hh--;
          if (hh<0){
            dd--;
            hh = 23;
            if (dd<0){
              mth--;
              if ((mth%2 == 1) && (mth<8)) daysinmth = 31;     //jan,mar,may,jul
              else if ((mth==2) && (leap==0)) daysinmth = 28; //feb
              else if ((mth==2) && (leap==1)) daysinmth = 29; //feb (leap yr)
              else if ((mth%2 == 0) && (mth>7)) daysinmth = 31; //aug,oct,dec
              else if ((mth%2 == 0) && (mth<8)) daysinmth = 30; //feb is out alr, so apr,jun
              else if ((mth%2 == 1) && (mth>7)) daysinmth = 31; //sep,nov
              dd = daysinmth;
              if (mth<0){
                yyyy--;
                mth = 12;
              }
            }
          }
          calclst();
        end
        else if (yesno == 0) begin
          userstate = SELECT_STAR;
          calclst();
        end
        else userstate = REQUEST_DST;
      end 
    break;
    
    case KEEP_STAR:
      lcd_gotoxy(0,0);
      lcd_putsf("KeepPrevStar?1,0");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = CALIBRATE; 
          calstep = 0;
          amotorstepdur = -1;
          motorclk = -1;  //disable motor          
        end
        else if (yesno == 0) begin
          userstate = SELECT_STAR;
        end
        else userstate = KEEP_STAR;
      end 
    break;                        
    
    case SELECT_STAR:
      lcd_gotoxy(0,0);
      lcd_putsf("CD=scroll,0=user");
      lcd_gotoxy(0,1);
      //sprintf(lcd_buffer,"%s",starlist[scroll_star]);
      //strcpy(lcd_buffer,starlist[scroll_star]);
      //lcd_putsf(starlist[scroll_star]);
      
      if (scroll == 1) begin
        scroll = 0;
        if(scroll_star<17) scroll_star++;  
        lcd_gotoxy(0,1);
        //sprintf(lcd_buffer,"%s",starlist[scroll_star]);
        lcd_putsf(starlist[scroll_star]);
      end
      else if (scroll == -1) begin
        scroll = 0;
        if(scroll_star>0) scroll_star--; 
        lcd_gotoxy(0,1);
        //sprintf(lcd_buffer,"%s",starlist[scroll_star]);
        lcd_putsf(starlist[scroll_star]);
      end
      else if (keyready == 1) begin
        sscanf(keystr,"%d",&star);
        resetkeycmd();   
        if (star == 0) begin
          userstate = REQUEST_DEC;
        end
        else if ((star > 18) || (star < 0)) begin
          userstate = SELECT_STAR;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin
          //load the declination and right ascension values
          rasc = starlistrasc[star-1];
          dec = starlistdec[star-1];  
          lcd_gotoxy(0,1);
          //sprintf(lcd_buffer,"%s",starlist[star-1]);   //this doesn't work
          //lcd_putsf(starlist[star-1]);                        //might want to try starlist[star-1] directly
          sprintf(lcd_buffer,"R=%5.2fD=%5.2f",rasc,dec);  
          lcd_puts(lcd_buffer);
          //CALCULATE THE DESIRED ELEV AND AZIM
          desired_azim = calcazim(dec,rasc);
          if (real_elev < 0) begin
            lcd_gotoxy(0,1);
            lcd_putsf("STAR NOT VISIBLE");
            userstate = SELECT_STAR;
          end 
          else begin 
          	lcd_gotoxy(0,1);
    				lcd_putsf("                ");    
            amotorstepdur = FAST_ROTATE_SPEED;
            motorclk = FAST_ROTATE_SPEED;  //reset motor
            userstate = FAST_ROTATE; 
            stepcalculated = 0;
            numsteps = 0;  
          end      
        end
      end
    break;
    
    case REQUEST_DEC:
      lcd_gotoxy(0,0);
      lcd_putsf("Declination(deg)");
      if (keyready == 1) begin
        dec = atof(keystr);
        resetkeycmd();
        if ((dec < -90.0) || (dec > 90.0)) begin 
          userstate = REQUEST_DEC;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin
          userstate = REQUEST_RASC;
          lcd_gotoxy(0,1);
          lcd_putsf("Dec=");
          sprintf(lcd_buffer,"%5.2f",dec);       
          lcd_puts(lcd_buffer);
        end
      end
    break;
    
    case REQUEST_RASC:
      lcd_gotoxy(0,0);
      lcd_putsf("Rt Ascension(hr)");
      if (keyready == 1) begin
        rasc = atof(keystr);
        resetkeycmd();
        if ((rasc < 0) || (rasc > 24)) begin 
          userstate = REQUEST_RASC;
          lcd_gotoxy(0,1);
          lcd_putsf("Invalid.        ");
        end
        else begin          
          lcd_gotoxy(0,1);
          lcd_putsf("RtAsc=");
          sprintf(lcd_buffer,"%5.2f",rasc);       
          lcd_puts(lcd_buffer);
          //CALCULATE THE DESIRED ELEV AND AZIM
          desired_azim = calcazim(dec,rasc);
          if (real_elev < 0) begin
            lcd_gotoxy(0,1);
            lcd_putsf("STAR NOT VISIBLE");
            userstate = REQUEST_DEC;
          end 
          else begin            
            amotorstepdur = FAST_ROTATE_SPEED;
            motorclk = FAST_ROTATE_SPEED;
            userstate = FAST_ROTATE;
            stepcalculated = 0;
            numsteps = 0;
          end
        end
      end
    break;
    
    case FAST_ROTATE: 
    	lcd_gotoxy(0,0);
    	lcd_putsf("WAIT...         ");  
    	lcd_gotoxy(0,1); 
      sprintf(lcd_buffer,"%5.2f,%5.2f",desired_azim,current_azim);       
      lcd_puts(lcd_buffer);
      if ((fabs(desired_azim - current_azim) < ANGLE_TOLERANCE)) begin  //MOD!!
        userstate = CALIBRATE;
        calstep = 0;                                                                                         
        amotorstepdur = -1;
        motorclk = -1;  //disable motor
      end
      else userstate = FAST_ROTATE; 
      
      
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
        	userstate = CALIBRATE;
        	calstep = 0;                                                                                         
        	amotorstepdur = -1;
        	motorclk = -1;  //disable motor
        end
      end
    break;
    
    case CALIBRATE:
      lcd_gotoxy(0,0);
      lcd_putsf("Move(C,D),1=Done");
      if (scroll == 1) begin
        scroll = 0;                  //FIGURE OUT HOW TO CONTROL THE MOTOR!!!! 
        calstep--;
        lcd_gotoxy(0,1);
        sprintf(lcd_buffer,"CCW-step=%d   ",calstep);       
        lcd_puts(lcd_buffer);
        amotorhalfstep = 1;
        amotordirection = 1;
        motorControl();
      end
      else if (scroll == -1) begin
        scroll = 0;
        calstep++; 
        lcd_gotoxy(0,1);
        sprintf(lcd_buffer,"CW-step=%d    ",calstep);       
        lcd_puts(lcd_buffer);
        amotorhalfstep = 1;
        amotordirection = 0;
        motorControl();
      end
      else if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();   
        if (yesno == 1) begin 
          userstate = AUTO_TRACKING;   //motor already disabled...
          amotorhalfstep = 1;
          amotordirection = 0; //CW - opposite to earth's rotation
        end
        else userstate = CALIBRATE;
      end
    break;
    
    case AUTO_TRACKING:
      lcd_gotoxy(0,0);
      lcd_putsf("Aut 1=Stop 0=10x");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = START;
          prevdata = 1;
        end 
        else if (yesno == 0) userstate = AUTO10_TRACKING;
        else userstate = MANUAL_TRACKING;
      end 
    break;
    
    case MANUAL_TRACKING:  
      lcd_gotoxy(0,0);
      lcd_putsf("Man 1=Stop 0=10x");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = START;
          //prevdata = 0;
        end
        else if (yesno == 0) userstate = MANUAL10_TRACKING;
        else userstate = MANUAL_TRACKING;
      end          
    break; 
    
    case AUTO10_TRACKING:
      lcd_gotoxy(0,0);
      lcd_putsf("Auto 1=1x       ");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = AUTO_TRACKING;
        end 
        else userstate = AUTO10_TRACKING;
      end 
    break;
    
    case MANUAL10_TRACKING:
      lcd_gotoxy(0,0);
      lcd_putsf("Manual 1=1x     ");
      if (keyready == 1) begin
        sscanf(keystr,"%d",&yesno);
        resetkeycmd();
        if (yesno == 1) begin
          userstate = MANUAL_TRACKING;
        end 
        else userstate = MANUAL10_TRACKING;
      end 
    break;   
    
       
  } 
} //userinput

float calcazim(float de,float ra)   
{
	float elev, azim, elev_rad, azim_rad, de_rad, ra_rad;
  float second_angle, second_angle_rad; 
  float S[3], S_eq[3]; 
  float lengthS;

  
  second_angle = (float)lst - ra*240;  //ra must be converted to seconds (of time - 15 deg to 1 hr)
  de_rad = de*pi/180;
  ra_rad = ra*pi/180;
  second_angle_rad = second_angle*pi/43200;  //1 hr of time = 15 deg = 3600 sec *15/3600 to get degrees *pi/180 to get rad
  
  elev_rad = asin((sin(latitude*pi/180)*sin(de_rad)) + (cos(latitude*pi/180)*cos(de_rad)*cos(second_angle_rad)));
  azim_rad = atan2((-cos(de_rad)*sin(second_angle_rad)), (cos(latitude*pi/180)*sin(de_rad) - sin(latitude*pi/180)*cos(de_rad)*cos(second_angle_rad)));
  
  elev = elev_rad*180/pi;
  azim = azim_rad*180/pi;
  if (azim<0) azim = azim + 360;
  if (azim >= 360) azim = azim - 360;
  //printf("Elevation=%f\n",elev);
  
  // how do we check if the star is viewable?
  real_elev = elev;
  // perform coordinate rotation...  (see proj proposal)
  S[0] = sin(azim*pi/180);
  S[1] = cos(azim*pi/180);
  S[2] = sin(elev*pi/180);                
  lengthS = sqrt(S[0]*S[0] + S[1]*S[1] + S[2]*S[2]);
  
  S[0] = S[0]/lengthS;
  S[1] = S[1]/lengthS;
  S[2] = S[2]/lengthS;
  
  S_eq[0] = S[0];
  S_eq[1] = cos(-latitude*pi/180)*S[1] + sin(-latitude*pi/180)*S[2];
  S_eq[2] = -sin(-latitude*pi/180)*S[1] + cos(-latitude*pi/180)*S[2];
  
  elev = 180*atan(S_eq[2])/pi;
  azim = 180*atan2(S_eq[0],S_eq[1])/pi;
  if (azim<0) azim = azim + 360;
  if (azim >= 360) azim = azim - 360;
   
  return azim;
}

//takes in the solar time variables and calculates the local sidereal time
//the greenwich sidereal time at our 1 Jan 2007 12AM GMT epoch is 6:41:04.3
void calclst(void) 
{
	 int n; //loop variable
	 int numleap = 0;
	 long numdays = 0;
	 char currentyrleap = 0;
	 float lsttemp = 0;
	 long secondoffset;
	 
	 //calculate the number of sidereal seconds passed from the 1 Jan 2007 12AM GMT epoch
	 
   //the greenwich sidereal time at our 1 Jan 2007 12AM GMT epoch is 6:38:18.1	 
	 //For each additional day, add 00:03:56. (that is, 236 seconds) as a reasonable approximation.
   //Add the time from midnight of your local time, add 10 seconds for each hour 
   //(240 seconds for each 24 hours). This is the Greenwich Sidereal Time. 
   
   //======== calculate number of days since Jan 1, 2007 ========== 
    
   // calculate the number of leap years for the years in between 2007 and the curent yr
   // not including 2007 and the current year
   if (yyyy > 2008) begin //2009 or later add number of days in the years 2008...yyyy-1
      for (n=2008; n<yyyy; n++) begin
        if (((n%4==0) && (n%100!=0)) || ((n%400==0))) numleap++;
      end 
      numdays += 365*(yyyy - 2007 - 1 - numleap);
      numdays += 366*numleap;
   end
     
   if (yyyy > 2007) begin //2008 and later add the 365 days in 2007
      numdays += 365;
   end
   
   //for all years 2007 or later add the days in the year up to the current date
   if (((yyyy%4==0) && (yyyy%100!=0)) || ((yyyy%400==0))) currentyrleap = 1;
   numdays += dd;
   if (mth > 1) numdays += 31;
   if ((mth > 2) && (currentyrleap == 1)) numdays += 29;
   if ((mth > 2) && (currentyrleap == 0)) numdays += 28;
   if (mth > 3) numdays += 31;
   if (mth > 4) numdays += 30;
   if (mth > 5) numdays += 31;
   if (mth > 6) numdays += 30;
   if (mth > 7) numdays += 31;
   if (mth > 8) numdays += 31;
   if (mth > 9) numdays += 30;
   if (mth > 10) numdays += 31;
   if (mth > 11) numdays += 30;  //if the mth is dec, we will enter every single if statement
   
   // convert this number of days to sidereal seconds
   // each solar day is 366.25/365.25*24*60*60 sidereal seconds = 86636.55031 sidereal seconds
   lsttemp = 86636.55031*numdays;
   lsttemp += 3609.856263*(hh - timezone);
   lsttemp += 60.16427105*mm;
   lsttemp += 1.002737851*ss;   
   
   secondoffset = (long)(longitude*240);  //offset greenwich sidereal time to the local longitude
   
   lst = (long)(fmod(23898.1 + lsttemp + secondoffset,86400));    // 6:38:18.1 = 23898.1 sec  
}

void initialize(void)
{
   int i;
   DDRD = 0xff;  //PORTD = Motor output
   DDRA = 0x00;  //PORTA = keypad input
   DDRC = 0xff;  //PORTC = LCD output
   //TIMSK = 0x2;
   TIMSK = 0x12; //turn on timer 0 output compare match ISR (bit 1 - Manual p80)
                  //turn on timer 1 output compare match A 
                  
   OCR0 = 249;  	//set the compare to 250 time ticks. (1ms)
   TCCR0 = 0b00001011;	//prescalar to 64 (clk/64: count every 4us) and turn on clear-on-match  
   
   // 1 sidereal second = 0.99726 seconds
   // 1 sidereal ms = 0.0009972677 sec = 15956.28415 counts at 62.5ns per count (prescalar = clk/1)
   OCR1AH = 0x3e;
   OCR1AL = 0x53;  //reset every 15956 counts - i.e, 1/1000 sidereal second. 
                   //We gain 0.28415*62.5ns every tick, or 0.63934s every 10 hours
   TCCR1A = 0;
   TCCR1B = 0b00001001;  //prescalar to 1 - increment every 62.5 ns

//init the LCD
  lcd_init(LCDwidth);     	//initialize the LCD display
  lcd_clear();  
  lcd_putsf("Hi");  
   
 //keypad initialization
  butnum=0;  
  keycmdstate=RELEASE;
  keycount=0;
  for (i=0;i<16;i++)
    keystr[i]=0;
  keyready=0;
  
 //init keycmd variables    
   keyclk = KEYCMDTIME;
   scroll = 0;
   decimal = 0;
   star = -1;
   scroll_star = 0; //polaris
 
 //init motor variables
   amotorstepdur = 25;  //start at 200 ms per step first
   motorclk = -1;      //so that the motor does not move at all
   amotorstate = HACOIL1; 
   amotorhalfstep = 1;
   amotordirection = 0;    

 
 //init userinput variables     
   userstate = START;
   userclk = USERTIME;
   
 // global positioning variables
   latitude = 42.44;
   longitude = -76.48;
   current_elev = 0;
   real_elev = 0;
   current_azim = 0;
   desired_azim = 0;
   numsteps = 0;  
   numhalfsteps = 0;
   stepcalculated = 0; 
   calstep=0;
   //runtime = -1;        //so that the motor does not move yet
   
 // global timing variables
   lst = 0;  //in seconds from the Nov 20, 2006, 8PM local standard time epoch
           //add 365/366 = 0.99726775956284153005464480874317 for every (solar) second after this epoch
           //round result to the nearest second
           //alternatively, for every hour, we subtract 236 seconds
           //my calculations indicate that 1 year from the epoch, a float will have a
           //2 second accuracy (+/- 1 sec)
           //1/2 year is fine though... 
   lstq=0;   
   trackingcount = 0;
           
   mth = 11;  //init to Nov 11, 2006, 8PM EST
   dd = 20;
   yyyy = 2006;
   hh = 20;
   mm = 0;
   ss = 0;  //local time variables - need this to compute LST 
   ms = 0;
   daysinmth = 30; //november
   timezone = -5;  //-14 to +14
   dst = 0;  //1 if DST on, 0 if DST off  
   leap = 0;    
   
// star list
   starlist[0] = "1.Polaris       \0";
   starlist[1] = "2.Alcor-Ursa Maj\0";
   starlist[2] = "3.Algol-Perseus \0";
   starlist[3] = "4.Arcturus      \0";
   starlist[4] = "5.A-Aquarius    \0"; 
   starlist[5] = "6.Betelgeuse    \0";
   starlist[6] = "7.Capella-Auriga\0";
   starlist[7] = "8.Dubhe-Ursa Maj\0";
   starlist[8] = "9.Eltanin-Draco \0";
   starlist[9] = "10.E-Sagittarius\0";
   starlist[10] = "11.Markab-Pegsus\0";
   starlist[11] = "12.Mirach-Androm\0";
   starlist[12] = "13.Pleiades-Leo \0";
   starlist[13] = "14.Pollux-Gemini\0";
   starlist[14] = "15.Regulus-Leo  \0";
   starlist[15] = "16.Rigel-Orion  \0";
   starlist[16] = "17.Sirius       \0";
   starlist[17] = "18.Vega-Lyra    \0";
   
//star variables   
   //declination of the star (deg)
   starlistdec[0] = 90;
   starlistdec[1] = 55;
   starlistdec[2] = 41;
   starlistdec[3] = 19;
   starlistdec[4] = 0;
   starlistdec[5] = 7;
   starlistdec[6] = 46;
   starlistdec[7] = 62;
   starlistdec[8] = 51;
   starlistdec[9] = -35;
   starlistdec[10] = 15;
   starlistdec[11] = 36;
   starlistdec[12] = 24;
   starlistdec[13] = 28;
   starlistdec[14] = 12;
   starlistdec[15] = -9;
   starlistdec[16] = -17;
   starlistdec[17] = 39;
   //right ascension of the star (degrees)      
   starlistrasc[0] = 37.25;
   starlistrasc[1] = 201.25;
   starlistrasc[2] = 47;
   starlistrasc[3] = 213.75;
   starlistrasc[4] = 331.25;
   starlistrasc[5] = 88.75;
   starlistrasc[6] = 79;
   starlistrasc[7] = 165.75;
   starlistrasc[8] = 268.75;
   starlistrasc[9] = 376.25;
   starlistrasc[10] = 346;
   starlistrasc[11] = 17.25;
   starlistrasc[12] = 56.25;
   starlistrasc[13] = 116.25;
   starlistrasc[14] = 152;
   starlistrasc[15] = 78.5;
   starlistrasc[16] = 101.25;
   starlistrasc[17] = 279;
   //right ascension (in degrees) and declination (in degrees) of the selected star  
   rasc = 37.25;
   dec = 90;  
 
//    noprevlat = 1;
//    noprevlong = 1;
//    noprevtime = 1;
//    noprevstar = 1;
//    keeplat = 0;
//    keeplong = 0;
//    keeptime = 0;
//    keepstar = 0;
//    elev_equat = 0;
//    azim_equat = 0;
//    latitude = 0;
//    longitude = 0;
//    lst = 0;
//    elev = 0; 
//    azi = 0; 
//    MotorE = 0; 
//    MotorA = 0; 
//    delME = 0; 
//    delMA = 0; 
//    rtasc = 0;
//    dec = 0;
//    for (i=0;i<3;i++){
//      	S[i]=0;
//      	Sequat[i]= 0;
//    }  
  

  
  #asm
  	sei
  #endasm 
}