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#include ".\cidla.h"
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//#include <stdlib.h>
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#use rs232(baud=110,parity=N,xmit=PIN_B1,rcv=PIN_B0,bits=8,restart_wdt)
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#define IRRX      PIN_B0
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#define  TRESHOLD_MAX   60    // rozhodovaci uroven  pro cidla cerna/bila
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#define  TRESHOLD_MIN   40
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#define  CIHLA          50    // doba, po kterou musi byt detekovana cihla
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unsigned int8 radius;         // co cidla vidi
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unsigned int8 last_radius;    // rozsah
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unsigned int8 last_cidla;     // co cidla videla minule
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unsigned int8 shure;          // citac doby, po kterou musi byt detekovana cihla
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//tuning
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/*#define  PULZACE  3  // urcuje rychlost pulzovani pomoci PWM
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//Vystup PWM je na PIN_B3
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////////////////////////////////////////////////////////////////////////////////
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void pulzovani()  // postupne rozsvecuje a zhasina podsvetleni
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{
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unsigned int8 i,n;
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   for(n=0;n<=3;n++)
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   {
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      for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani
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      for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani
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   }
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}
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*/
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////////////////////////////////////////////////////////////////////////////////
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void main()
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{
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   int8 cidla;
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   unsigned int8 a;
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   unsigned int8 n;
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   setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD);
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   setup_adc(ADC_CLOCK_INTERNAL);
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   setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_2(T2_DISABLED,0,1);
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   setup_comparator(NC_NC_NC_NC);
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   setup_vref(FALSE);
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   last_radius=0b00001000;  // minimalni rozsah snimani od stredu
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   last_cidla=0b00001000;
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   shure=0;
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   while(true)
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   {
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      set_adc_channel(0);
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      cidla=0;
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      Delay_us(10);
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      a=read_adc();
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      set_adc_channel(1);
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      if(a<TRESHOLD_MAX)         //hystereze cidel
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      {
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         if(a>TRESHOLD_MIN)
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         {
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            cidla |= (last_cidla & 0b00000001);
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         }
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         else cidla |= 0b00000001;
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      }
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      a=read_adc();
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      set_adc_channel(2);
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      if(a<TRESHOLD_MAX)
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      {
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         if(a>TRESHOLD_MIN)
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         {
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            cidla |= (last_cidla & 0b00000010);
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         }
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         else cidla |= 0b00000010;
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      }
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      a=read_adc();
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      set_adc_channel(3);
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      if(a<TRESHOLD_MAX)
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      {
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         if(a>TRESHOLD_MIN)
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         {
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            cidla |= (last_cidla & 0b00000100);
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         }
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         else cidla |= 0b00000100;
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      }
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      a=read_adc();
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      set_adc_channel(4);
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      if(a<TRESHOLD_MAX)
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      {
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         if(a>TRESHOLD_MIN)
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         {
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            cidla |= (last_cidla & 0b00001000);
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         }
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         else cidla |= 0b00001000;
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      }
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      a=read_adc();
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      set_adc_channel(5);
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      if(a<TRESHOLD_MAX)
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      {
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         if(a>TRESHOLD_MIN)
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         {
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            cidla |= (last_cidla & 0b00010000);
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         }
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         else cidla |= 0b00010000;
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      }
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      a=read_adc();
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      set_adc_channel(6);
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      if(a<TRESHOLD_MAX)
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      {
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         if(a>TRESHOLD_MIN)
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         {
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            cidla |= (last_cidla & 0b00100000);
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         }
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         else cidla |= 0b00100000;
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      }
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      a=read_adc();
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      if(a<TRESHOLD_MAX)
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      {
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         if(a>TRESHOLD_MIN)
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         {
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            cidla |=(last_cidla & 0b01000000);
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         }
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         else cidla |= 0b01000000;
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      }
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      last_cidla=cidla;
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      if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;};
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      if (shure>CIHLA) cidla|=0b10000000;
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      cidla=~cidla;
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      spi_write(cidla);
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   }
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}