/*******************************************************************************
*
* Rotation.c
*
*
A rotation controller for the target motor drive.


Uses a PIC12F675.

*
* 3/9/05 by Dave Peterson
*******************************************************************************/

/*****************************************************************
*
* Update information
*
* Date       Change
* --------   -----------------------------------------------------
* 3/9/05	Initial form. Adapted from Valve.C.
* 3/11/05	Added most of the features.
* 3/14/05	Turned off comparators.
* 3/18/05	Removed motor commands if there is lack of trigger.
* 8/ 4/06	Shortened minimum motor time.
******************************************************************/


/*** Defines ***/
// +5 volts on pin 1, Gnd on pin 8.
#define Analog_In	PIN_A0	// pin 7
#define Yellow_LED	PIN_A5	// pin 2
#define Green_LED	PIN_A4	// pin 3
#define Trigger_In	PIN_A2	// pin 5
#define Motor_Drive	PIN_A1	// pin 6

#define MOVING	1
#define NOT_MOVING 0


/*** Include Files ***/

#include <12F675.H>
#fuses INTRC_IO, NOWDT, NOMCLR, PUT
#device ADC=16


/*** Clock Speed ***/
#use Delay(Clock=4000000)	


/*** Function Prototypes ***/


/*** Global Variables ***/

#byte _ADRESH = 0x1e 
#byte _ADRESL = 0x9e
#byte _OSCCAL = 0x90
#byte cmcon = 0x19


/*** Routines ***/

// External Interrupt routine
int trig_count;

#int_ext
ext_isr()
{
	trig_count++;
}

// Real Time Interrupt routine
#define INTS_PER_TENTH 49     // (4000000/(4*256*8))

int int_count;    // Number of interrupts left before a tenth has elapsed
int tenths_count;
int sec_count;
	
#int_rtcc		// This function is called every time
clock_isr() 		// the RTCC (timer0) overflows (255->0).
{ 
    if(--int_count==0)
    {
        int_count=INTS_PER_TENTH;
        // Do things once per tenth here...
        
        if(--tenths_count==0)
      	{
      		tenths_count=10;
      		
      		// Do things once per second here
      		if (sec_count>0)
      		{
      			--sec_count;
      		}
      	}   		
    }

} // End of Clock ISR

/*** Main Program ***/
main()
{
	
	unsigned long volts;
	int mode, i;
			
  	// Set up ADC.
  	setup_adc_ports(AN0_ANALOG); 
	setup_adc(ADC_CLOCK_INTERNAL );
	set_adc_channel( 0 );
	
	cmcon = 0x07;	// Comparators off.
	_OSCCAL = 0x9C;
	
	// Set up interrupts
	int_count=INTS_PER_TENTH;
	tenths_count=10;
	set_rtcc(0);
	setup_counters( RTCC_INTERNAL, RTCC_DIV_8);
	enable_interrupts(INT_RTCC);
	enable_interrupts(INT_EXT);
	enable_interrupts(GLOBAL);

	
	// Initialize System.
	trig_count=0;
	sec_count=10;
	output_high(Motor_Drive);
	
	// Blink the LEDs.
	for(i=0;i<8;++i) 
  	{
  		output_high(Yellow_LED);
  		output_low(Green_LED);
  		delay_ms(100);
  		output_low(Yellow_LED);
  		output_high(Green_LED);
  		delay_ms(100);
  	}
  	output_low(Green_LED);
	
	while(1)
	{
		volts = read_adc();	// Read junky value.
		volts = make16(_ADRESH,_ADRESL); // Read full value.
		volts = volts>>8;	// Scale to 255 counts.  This is for 5.00 volts full scale.
		
		// Check for trigger.
		if(trig_count>0)
		{
			trig_count=0;
			sec_count=10;
			output_low(Yellow_LED);
			
			output_low(Motor_Drive);
			output_high(Green_LED);
			delay_ms(100);
			output_low(Green_LED);
			
			
			for(i=0;i<10;++i) 
  			{
  				delay_ms(volts);
  			}
  			output_high(Motor_Drive);
		}
		
		// Check for long lack of trigger.
		if (sec_count==0)
      		{
      			output_high(Yellow_LED);
      		}
      			
			
	}// End of loop
} // End of Main