/*---------------------------------------------------------------------------
 * IR 센서 실험
 *---------------------------------------------------------------------------*/
#include <stdio.h>
#include <dos.h>
#include <conio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>

#include "tb386ex.h"

#define IRDRIVE			0x202	/* IR 출력포트 정의, 8비트 TR 출력 (500mA)*/
#define AD10158PORT	0x208	/* ADC 포트 */
#define BAR_LED			0x203	/* Bar LED On Board*/

#define SDELAY	25

#define STEPPORT	0x201	/* Step Motor Pulse Output */
#define STEPPOWER	0x203	/* Step Motor Power Level */

typedef  unsigned char BYTE;

BYTE MPhaseRight[] = { 0x20,0x80,0x10,0x40 };  /* 1상 구동 */
BYTE MPhaseLeft[] = { 0x02,0x08,0x01,0x04 };  /* 1상 구동 */




/* ---------------------------------------------------------------------------
 *---------------------------------------------------------------------------*/
void
InitTrace386Port(void)
{
	outportb(P1CFG, 0x00);
	outportb(P1DIR, 0xEB);
	outportb(P2DIR, 0x7F);
	outportb(P3CFG, 0x3E);
	outportb(P3DIR, 0xBF);
	outportb(P3LTC, 0xBF);
}

/* ---------------------------------------------------------------------------
			Timer Support Start
 *---------------------------------------------------------------------------*/
#define IRSM	OCW2MDOS	/* Interrupt Controller Master */
#define IRSS	OCW2SDOS	/* Interrupt Controller Slave */
#define IMM	OCW1MDOS	/* Interrupt Mask Master */
#define IMS	OCW1SDOS	/* Interrupt Mask Slave */
#define EOI	0x20		/* end of interrupt command */
#define TIMER_INT	0x72

#define STEPPORT	0x201	/* Step Motor Pulse Output */
#define STEPPOWER	0x203	/* Step Motor Power Level */

BYTE MPhaseOne[] = { 0x22,0x88,0x11,0x44 };  /* 1상 구동 */

volatile int HardDelayTimerCount;
unsigned char master_org, slave_org;

void
interrupt
NewIRQ10(void)  /*IRQ10*/
{
	HardDelayTimerCount++;
	outportb(IRSS, EOI);	/* End-Of-Interrupt to Master 8259A */
	outportb(IRSM, EOI);	/* End-Of-Interrupt to Slave 8259A */
}

void
InitTimer1(unsigned short MaxCount)  /* Counter Input = 1000KHz */
{
	disable();
	outportb(TMRCONDOS, 0x74);		/* Timer1 => MODE2 */
	outportb(TMR1DOS, MaxCount & 0xFF);
	outportb(TMR1DOS, (MaxCount >> 8) & 0xFF);
	setvect(TIMER_INT, NewIRQ10);
	master_org = inportb(IMM);		/* Save PIC master's mask */
	outportb(IMM, master_org & 0xFB);	/* Enable IRQ2 */
	slave_org = inportb(IMS);		/* Save PIC slave's mask */
	outportb(IMS, slave_org & 0xFB);	/* Enable IRQ10 */
	enable();
}

void
CloseTimer1(void)
{
	disable();
	outportb(IMM, master_org);	/* Restore IRQ2 */
	outportb(IMS, slave_org);	/* Restore IRQ10 */
	enable();
}

void Delay_10ms(int count)  /* delay 함수 */
{
	HardDelayTimerCount = 0;  
	for (;;)
		if (HardDelayTimerCount > count)
			break;
}


/*--------------------------------------------------------------------------*/
void
DelayIR(void)
{
	int i;

	for(i = 0; i < SDELAY; i++)
		;					   /* 포토 TR/다이오드가 안정화 될때까지 기다림 */
}

void
DelayADC(void)
{
	int i;

	for(i = 0; i < 2; i++)
		;					   /* ADC가 안정화 될때까지 기다림 */
}

BYTE
ReadSensor(int ir)
{
	int advalue;
	
	outportb(IRDRIVE, 1 << ir);
	DelayIR();
	outportb(AD10158PORT, 0x60 + ir);
	DelayADC();
	inportb(AD10158PORT);
	advalue = inportb(AD10158PORT);
	return advalue;
}

void
Exam(void) /* IR센서 시험 루틴 */
{
	BYTE value;
	int i;
	
	printf("Print Sensing Value:\n");
	for (;;) {
		for (i = 0; i < 6; i++) {
			value = ReadSensor(i);
			printf("%3d ", value);
		}
		printf("\n");
		Delay_10ms(10); 
		if (kbhit() && (getch() == 'q'))
			break;
	}     
}

void
Exam1()
{
	BYTE value;
	int i;
	int led = 0xFF;
	
	printf("Print Sensing Value:\n");
	for (;;) {
		for (i = 0; i < 6; i++) {
			value = ReadSensor(i);
			printf("%3d ", value);
			if(value > 50)
			{
				if(i < 3) led -= pow(2,i);
				else led -= pow(2,i+2);
			}
			
		}
		outportb(BAR_LED, led);
		printf("\n");
		Delay_10ms(10); 
		led = 0xFF;
		if (kbhit() && (getch() == 'q'))
			break;
	}   
}

#define LEFT 1
#define RIGHT 2

int left_tick;
int right_tick;
void Rolling(int count, int left_right)
{
	int i;
	for(i = count ; i > 49 ; i-=50)
	{
		if(left_right == LEFT)	outportb(STEPPORT, MPhaseLeft[left_tick++ % 4]);
		else if(left_right == RIGHT) outportb(STEPPORT, MPhaseRight[right_tick++ % 4]);
		Delay_10ms(1);
	}
}
void
Exam2()
{
	BYTE value;
	int i, left, right;

	CloseTimer1();
	InitTimer1(1800);
	printf("Print Sensing Value:\n");
	outportb(STEPPOWER, 0xF5);
	for (;;) {
		left = ReadSensor(0);
		right = ReadSensor(5);
		
		Rolling(left, LEFT);
		Rolling(right, RIGHT);
		
		if (kbhit() && (getch() == 'q'))
			break;
	}
	outportb(STEPPOWER, 0xFF);
}

/*---------------------------------------------------------------------------*
 *---------------------------------------------------------------------------*/
void
Exams(void) /* IR센서 시험 루틴 */
{
	Exam();
	Exam1();
	Exam2();
}

/*--------------------------------------------------------------------------*/
void
main(void)
{
	InitTimer1(10000);
	InitTrace386Port();

	Exams();

	CloseTimer1();
}