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/* accel.c */
/* accel. {{{
 *
 * Copyright (C) 2004 Thomas Burg
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * Contact :
 *      Email: <burg@efrei.fr>
 * }}} */

/*
 * Brochange :
 * Xout <--> (ICP1)PB0
 * Yout <--> (AIN0)PD6
 *
 */


#include <avr/io.h>
#include <inttypes.h>
#include <avr/signal.h>
#include <avr/interrupt.h>
#include <string.h>
#include <n/avr/rs232/rs232.h>
#include <n/avr/proto/proto.h>

#include "calcul.h"
#include "avrconfig.h"

//#define DEBUG

#ifdef DEBUG
#define debug_putc(x) rs232_putc (x)
#else
#define debug_putc(x) 
#endif

/* definition de nouveau type necessaire � l'acquisition 
 * des donn�es
 * */

//enum T_etat {strt_at_Ta, rd_at_Tb, rd_at_Tc, rd_at_Td, calcul };
volatile uint16_t Tb,Tc,Td;
uint16_t Tx,Ty,T2;
int16_t Gx,Gy;
uint16_t Timer1;
int16_t Vx,Vy;
int16_t Dx,Dy;

/* Variable Globale
 */

//volatile enum T_etat etat;

/* Interruption input_capture */

SIGNAL(SIG_INPUT_CAPTURE1)
{
	//code de l'interruption
	switch (etat)
	{
	case strt_at_Ta :
		debug_putc('A');
		TCNT1 = 0; // remise de TCNT1 (counter 16bits)
		TCCR1B &= ~_BV(ICES1); // trigge sur le front descendant
		//TIMSK |= 0x20; //autorise les interruptions Input Capture
		etat = rd_at_Tb;
		break;
	case rd_at_Tb :
		debug_putc('B');
		Tb = ICR1; // sauvegarde du registre Input Capture
		etat = rd_at_Tc;
		//TIMSK &= ~0x20; //d�sactive les interruptions Input Capture
		ACSR |= 0x04; //change d'entr�e : analogue comparator
		TCCR1B |= _BV(ICES1); //trigge sur le front montant
		//TIMSK |= 0x20; // R�active les interruptions Input Capture
		break;
	case rd_at_Tc :
		debug_putc('C');
		Tc = ICR1; // sauvegarde du registre Input Capture
		//TIMSK &= ~0x20; //d�sactive les interruptions Input Capture
		TCCR1B &= ~_BV(ICES1); // trigge sur le front descendant
		//TIMSK |= 0x20; // R�active les interruptions Input Capture
		etat = rd_at_Td;
		break;
	case rd_at_Td :
		debug_putc('D');
		Td = ICR1; // sauvegarde du registre Input Capture
		etat = calcul;
		//TIMSK &= ~0x20; //d�sactive les interruptions Input Capture
		ACSR &= ~0x04; //change d'entr�e : IPC
		TCCR1B |= _BV(ICES1); //trigge sur le front montant
		//TIMSK |= 0x20; // R�active les interruptions Input Capture
		break;
	default :proto_send1('E',3); 
		break; // Ce cas ne doit pas arriver
	}
}

SIGNAL(SIG_OVERFLOW1)
{
	proto_send1('E',1); //erreur 1 Overflow timer/compteur1
}

void
test_callback (uint8_t c, uint8_t argc, proto_arg_t argv[])
{
    //proto_send (c, argc, argv);
    if (argc == 0)
      {
	switch (c)
	  {
	  case 'c' : proto_send0('C');
		     calibration();
		     break;
	  case 'x' : proto_send2('X',Tx >> 8, Tx);
		     break;
	  case 'y' : proto_send2('Y',Ty >> 8, Tx);
		     break;
	  case 't' : proto_send2('T',Timer1 >> 8, Timer1);
		     break;
	  case 'g' : proto_send2('x',Gx >> 8, Gx);
		     proto_send2('y',Gy >> 8, Gy);
		     break;
	  case 'k' : proto_send2('K',T2 >> 8, T2);
		     break;
	  case 'v' : rs232_putc('V');
		     proto_send2('x',Vx >> 8,Vx);
		     rs232_putc('V');
		     proto_send2('y',Vy >> 8,Vy);
		     break;
	  default : proto_send1('E',2); //erreur 2 Command incorrect
	  }
      }
    else 
      {
      }
}

int
main (void)
{
	//initialisation
	rs232_init();
	proto_init(test_callback,rs232_putc);
		
	proto_send0('Z');
	
	//initialisation du timer prescaler 254
	TCCR1B = _BV(ICES1) | _BV(CS12);
	// Input Capture Interrupt enable & Timer 1 overflow
	TIMSK = _BV(TICIE1) | _BV(TOIE1); 	
	sei ();
	//Boucle
	while(1)
	{
		if ( rs232_poll() )
		{
		  /* polling sur la reception serie
		   * */
		  proto_accept(rs232_getc());
		}
		// calcul des Tons
		if (etat == calcul)
		  {
		    Tx = Tb;	   // Calcul des Ton
		    Ty = Td - Tc;
		    // Todo T2 ne doit pas �tre calculer tout le temps
		    T2 = (Td + Tc - Tb) /2;
		    // remise de TCNT1 pour mesurer le temps
		    TCNT1 = 0;
		    Gx = calculG(Tx,T2_cal,G0x);
		    Gy = calculG(Ty,T2_cal,G0y);
		    Vx += (Gx) >> 8;
		    Vy += (Gy) >> 8;
		    Timer1 = TCNT1;
		    //remise dans l'�tat de capture
		    //Todo : remettre dans cette �tat plut�t
		    etat = strt_at_Ta; 
		  }

	}
	return 0;
}