/*****************************************************************************

* main.c
*
* Description:
* Sample code to show how to monitor Sharp GP2D12 infrared proximity
* detector with the CCS compiler.
*
* Created by: Martin Dubuc (martin.dubuc@rogers.com)
*
* Creation date: February 12, 2003
*
****************************************************************************/

#include <16f877.h>

#fuses HS,NOPROTECT,NOWDT,BROWNOUT,PUT,NOLVP

#ORG 0x1F00,0x1FFF {} /* Reserve memory for bootloader for the 8k 16F876/7 */

#device PIC16F877 *=16 /* Allow RAM to expand beyond 256 bytes */

#device adc=10 /* Make sure that we are sampling on 10 bits. This directive
is required for compiler version 2.7. */

/* Set the clock speed */

#use delay(clock=20000000)

/* Directive for RS-232 interface */

#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7)

/* Definitions */

/* Analog channel definitions */

#define ADC_DELAY 20 /* Delay in microseconds */

#define DISTANCE_ANCH 4 /* Port A5/AN4 */

/* IR calibration data */
#define IR_DISTANCE_BASE 10
#define IR_DISTANCE_STEP 2
#define NUM_IR_CALIB_DATA 31

/* Type definitions */

typedef int uint8_t;

typedef long uint16_t;

/* Public interface */
void main(void);

void init_pins(void);
void init(void);

void display_ir_distance(void);

/* IR sensor interface */
uint8_t get_ir_distance(uint8_t ir_reading);
void monitor_ir_distance_sensor(void);
/* Variable definitions */
static const uint8_t ir_calib_data[NUM_IR_CALIB_DATA] = {
124, 107, 93, 83, 75, 67, 62, 57, 53, 49, 47, 44, 42, 39, 38, 36,
34, 33, 32, 30, 29, 28, 27, 26, 25, 25, 24, 23, 23, 22, 21
};

uint8_t distance = 0xff;

/*****************************************************************************
* Init hardware pins: Set up the TRIS, set up analog ports, set the
* pins to their default values.
****************************************************************************/
void
init_pins(void) {
/* Set up the various pins in/out */
set_tris_a(0b00100000); /* Pin A5 is input. Rest is not used. */
set_tris_b(0b00000000); /* Port B is not used. */
set_tris_c(0b10000000); /* C6 is output. C7 is input. Rest is not used. */
set_tris_d(0b00000000); /* Port D is not used. */
set_tris_e(0b00000000); /* Port E is not used. */
} /* init_pins */

/*****************************************************************************
* Board initialization. Initialize pins.
****************************************************************************/
void
init(void) {
init_pins();
} /* init */

/*****************************************************************************
* This is the main control loop.
****************************************************************************/
void
main(void) {
char c;

init();

printf("ADC Demo\r\n\r\n");

for ( ; ; ) {
printf("press key to get ADC value: ");
for ( ; ; ) {
if (kbhit())
break;

c = getc();

printf("\r\n");

monitor_ir_distance_sensor();
display_ir_distance();
}
}
} /* main */

void
display_ir_distance(void) {
printf("distance = %u cm\r\n", distance);
} /* display_status */

/* IR sensor implementation */

/*
* get_ir_distance
*
* Determine distance in cm based in the A/D value and the calibration table.
*
* Parameters:
* ir_reading (IN) - A/D value for the IR sensor
*/
uint8_t
get_ir_distance(uint8_t ir_reading) {
int i;

for (i = 0; i < NUM_IR_CALIB_DATA; i++) {

if (ir_calib_data[i] < ir_reading) {
return IR_DISTANCE_BASE + i * IR_DISTANCE_STEP;
}
}

return IR_DISTANCE_BASE + (i - 1) * IR_DISTANCE_STEP;

} /* get_ir_distance */

/*****************************************************************************
* This function monitors the IR distance sensor.
* This function updates the distance global variable.
****************************************************************************/
void
monitor_ir_distance_sensor(void) {
uint16_t value;

/* Read ADC for left sensor */

setup_adc_ports(A_ANALOG);
setup_adc(ADC_CLOCK_DIV_8);

set_adc_channel(DISTANCE_ANCH); /* Read Port A5/AN4 */

delay_us(ADC_DELAY);
value = Read_ADC();
setup_adc(ADC_OFF);

value >>= 2;

distance = get_ir_distance(value);
} /* monitor_ir_distance_sensor */