// control.c
//
// needs:
//   ax_0.c
//   ax_1.c
//   cx_0.c
//   cx_1.c
//   dy.c
//   def.h

#include <16f877.h>
#device ADC=10
#fuses HS, NOWDT, PUT, NOPROTECT
#use delay(CLOCK = 20000000)
#use fast_io(C)
#use fast_io(D)

#include "def.h"

static int icount;
int i, u_data;

unsigned int8 a,b,c,d,e;

signed int16 x[N];
signed int16 y, u, sum, p;
signed int16 tmp, x_tmp;

#int_timer0
void intval()
{
	set_timer0(0x16); // 0.75msec
	icount++;
}

void calc_ax_0()
{
#include "ax_0.c"
}

void calc_ax_1()
{
#include "ax_1.c"
}

void main()
{
	setup_adc_ports(ALL_ANALOG);
	setup_adc(ADC_CLOCK_DIV_32);

	for(i = 0; i < N; i++){
		x[i] = 0;
	}
	u = 0;
	a = b = e = 0x7a;

	set_tris_c(0x00);  //port C;output
	set_tris_d(0x03);  //port D0, D1;input  D2-D7;output

	icount = 0;
	setup_timer_0(RTCC_INTERNAL | RTCC_DIV_16);
	set_timer0(0x16);  // 0.75msec
	enable_interrupts(INT_TIMER0);
	enable_interrupts(GLOBAL);

	while(1){
		if(icount >=1){
			icount = 0;
		
			set_adc_channel(0);

#include "cx_1.c"
			// y = S/8*(read_adc() - 511);
			// y = (read_adc() - 511) << 1; // S = 16
			// y = (read_adc() - 511) << 2; // S = 32
			y = (read_adc() - 511) << 3; // S = 64
			// y = (read_adc() - 511) << 4; //
#include "dy.c"

			// u_data = (u + 1024) >> 3;
			u_data = (u + 2048) >> 4; // S = 64 の場合
			// u_data = (u + 4096) >> 5; // 0.75msec

			if(input(PIN_D0)){
				output_high(PIN_D5); // LED off
			}else{
				output_low(PIN_D5); // LED on
				output_c(u_data);
			}

			calc_ax_0();
			calc_ax_1();
#include "cx_0.c"

			e = a;
			a >>= 2;  a &= 0x01;
			b >>= 7;  b &= 0x01;
			d = a^b;
			e <<= 1;
			e += d;
			a = e; b = e;
			e &= 0x80;
			if(input(PIN_D1)){
				output_high(PIN_D4); // LED off
			}else{
				output_low(PIN_D4); // LED on
				if( e == 0x80 ){
					output_high(PIN_D2);
				}else{
					output_low(PIN_D2);
				}
			}

		}
	}
}