//////////////////////////////////////////////////////////////////////
// A3968 DRIVER
// NUTS AND VOLTS
// Author: Peter Best
// Version: 1.0
// Date: 09/22/06
//////////////////////////////////////////////////////////////////////
#include <pic18.h>
#include <stdio.h>
//******************************************************************
//*	Configuration Fuse Setings
//******************************************************************
// Settings for PIC18F252
__CONFIG(1,OSCSDIS & HS);
__CONFIG(2,BORDIS & PWRTDIS & WDTDIS);
__CONFIG(3,CCP2RB3);
__CONFIG(4,DEBUGEN & LVPDIS & STVREN);
__CONFIG(5,UNPROTECT);
__CONFIG(6,WRTEN);
//******************************************************************
//*	Function Prototypes
//******************************************************************
void BRAKE (char motor);
void FWD (char motor);
void REV (char motor);
void speed (char motor);
void motors_init(void);
//******************************************************************
//*	Global Variables
//******************************************************************
char days,hours,mins, secs,secs_timer;
//******************************************************************
//*	Real Time Clock Interrupt Handler
//* 	This routine runs every second
//******************************************************************
void interrupt TIMERS(void)
{
  if((TMR1IF) && (TMR1IE))
  {
   TMR1H = 0x80;
   TMR1IF = 0;
   if(60 == ++secs)
   {
	secs = 0;
	++mins;
   }
   if(60 == mins)
   {
	mins = 0;
	++hours;
   }
   if(24 == hours)
   {
        hours = 0;
        ++days;
   }
   ++secs_timer;	//this value increments every second
 }
}
//******************************************************************
//*	Motor Functions
//******************************************************************
void BRAKE (char motor)
{
	switch(motor)
	{
		case 1:
			CCP1CON &= 0b11110000; //disable PWM		
			LATC2 = 1;				
			LATB0 = 1;						
			LATB1 = 1;
  		break;	
		case 2:
			CCP2CON &= 0b11110000; //disable PWM		
			LATB3 = 1;				
			LATB2 = 1;						
			LATB4 = 1;
  		break;
  	}
}				
void REV (char motor)
{
	switch(motor)
	{
		case 1:
			CCP1CON |= 0b00001111; //enable PWM	
			LATB0 = 0;				
  			LATB1 = 1;
  		break;	
		case 2:
			CCP2CON |= 0b00001111; //enable PWM	
			LATB2 = 0;				
  			LATB4 = 1;	
  		break;
  	}
}
void FWD (char motor)
{
	switch(motor)
	{
		case 1:
			CCP1CON |= 0b00001111; //enable PWM	
			LATB0 = 1;				
  			LATB1 = 0;
  		break;
  		case 2:	
			CCP2CON |= 0b00001111; //enable PWM	
			LATB2 = 1;				
  			LATB4 = 0;	
  		break;
  	}
}					
void speed(char motor)
{
	unsigned char x;
	
	x = 200;
	while(x--);
		
	switch(motor)
	{
		case 1:
			CHS0 = 0;		//select ADC channel 0
			GODONE = 1;		//start the 10-bit conversion
			while(GODONE);		//wait for conversion to complete
			CCP1CON &= 0b00001111;	//clear bits 4 and 5
			CCP1CON |= ADRESL >> 2;	//load bits 4 and 5 from conversion value
			CCPR1L = ADRESH;	//load upper 8 bits of conversion value
		break;
		case 2:
			CHS0 = 1;
			GODONE = 1;
			while(GODONE);
			CCP2CON &= 0b00001111;
			CCP2CON |= ADRESL >> 2;
			CCPR2L = ADRESH;
		break;
	}
}
void motors_init(void)
{
	TRISB = 0b00000000;
	TRISC = 0b00000011;
}
//******************************************************************
//*	Application Code
//******************************************************************
void main(void)
{
	unsigned int x;

	motors_init();
//******************************************************************
//*	CONFIGURE ADC
//******************************************************************
	ADCON0 = 0b01000001;	//ADC ON
	ADCON1 = 0b01000000;	//all analog - Fosc/32
//******************************************************************
//*	CONFIGURE AND START TIMER1
//* SET TO OVERFLOW EVERY 1S
//******************************************************************
	TMR1ON = 0;		//turn TMR1 OFF
	TMR1H = 0x80;		//set TMR1 to overflow every second
	TMR1L = 0x00;
	T1CON = 0b00001110;	//1:1 prescale-enable TMR1 osc-TMR1 on
	TMR1IE = 1;			//enable TMR1 interrupt
	days = 0x00;		//initialze time of day counters
	hours = 0x00;
	mins = 0x00;
	secs = 0x00;
	TMR1ON = 1;		//turn TMR1 on
//******************************************************************
//*	CONFIGURE AND START TIMER2
//******************************************************************
	T2CON = 0x7A;	//set prescaler and postscaler to 16		
	PR2 = 0xFF;	//set pwm period to maximum
	TMR2ON = 1;	//turn on TMR2
//******************************************************************
//*	ENABLE GLOBAL INTERRUPTS
//******************************************************************
	PEIE = 1;	//enable all unmasked peripheral interrupts
  	GIE = 1;	//enable all unmasked interrupts
 //******************************************************************
//*	INITIALIZE PWM DUTY CYCLES
//******************************************************************
 	CCPR1L = 0x80;	//set pwm duty cycle for 50%
  	CCPR2L = 0x80;
//******************************************************************
//*	APPLICATION AREA
//******************************************************************
	while(1)
	{
		FWD(1);
		x = secs_timer;
		while(secs_timer < x+2);
		BRAKE(1);
		x = secs_timer;
		while(secs_timer < x+2);
		REV(1);
		x = secs_timer;
		while(secs_timer < x+2);
	}
			
}