dnl ################################################################################
dnl # This program is free software; you can redistribute it and/or modify it      #
dnl # under the terms of the GNU General Public License (either version 2 or       #
dnl # version 3) as published by the Free Software Foundation.                     #
dnl #                                                                              #
dnl # This program is distributed in the hope that it will be useful,              #
dnl # but WITHOUT ANY WARRANTY; without even the implied warranty of               #
dnl # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #
dnl # GNU General Public License for more details.                                 #
dnl #                                                                              #
dnl # You should have received a copy of the GNU General Public License            #
dnl # along with this program; if not, write to the Free Software                  #
dnl # Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.                    #
dnl #                                                                              #
dnl # For more information on the GPL, please go to:                               #
dnl # http://www.gnu.org/copyleft/gpl.html                                         #
dnl #                                                                              #
dnl #                                                                              #
dnl # Programm Erstellung:                                                         #
dnl #   Copyright (c) 08/2009 - Michael Schultz <ethersex@keyb.de>                 #
dnl #                                                                              #
dnl ################################################################################
dnl

uint8_t delay = 0;

#include <hardware/lcd/hr20.h>

CONTROL_START
	ECMD_GLOBAL(pos,   0, uint16_t);
	ECMD_GLOBAL(dir,   0, uint8_t);			dnl Drehrichtung
	ECMD_GLOBAL(move,  0, uint8_t);
	ECMD_GLOBAL(speed, 0, uint8_t);

	ECMD_GLOBAL(coun,  0, uint16_t);		dnl Counter fr timer0 interrupt berlauf durchgnge

	THREAD(update_temp)
		HR20_SHOW_TEMP(hr20_temp_get());
		WAIT(2)
		HR20_SHOW_VOLTAGE(HR20_GET_BATT());
		WAIT(1)
	THREAD_END(update_clock)





	THREAD(motor)
		WAIT(60);
		DEBUG(`"ich lebe noch... :-)"');
	THREAD_END(motor)

	ON STARTUP DO
			dnl		TCCR0A		CS02	CS01	CS00		Datenblatt Seite 44
			dnl				0	0	0	No clock source (Timer/Counter stopped)
			dnl				0	0	1	clkI/O/(No prescaling)
			dnl				0	1	0	clkI/O/8 (From prescaler)
			dnl				0	1	1	clkI/O/64 (From prescaler)
			dnl				1	0	0	clkI/O/256 (From prescaler)
			dnl				1	0	1	clkI/O/1024 (From prescaler)
			dnl				1	1	0	External clock source on T0 pin. Clock on falling edge.
			dnl				1	1	1	External clock source on T0 pin. Clock on rising edge.

		TCCR0A &= ~_BV(CS02);		dnl TCCR0A(CS02) = 0	counter0 prescaler = 0
		TCCR0A &= ~_BV(CS01);		dnl TCCR0A(CS01) = 0	counter0 prescaler = 0
		TCCR0A |=  _BV(CS00);		dnl TCCR0A(CS00) = 1	counter0 prescaler = 0

		TIMSK0 |=  _BV(TOIE0);		dnl TIMSK0(TOIE0) = 1	Timer0 Interrupt Aktivieren
		PCMSK0 |=  _BV(PCINT4);		dnl Interrupt aktivierung fr Lichtschranke
						dnl Gendertes Layout !!!!!

		DDRB   &= ~_BV(PB0);		dnl switch pin for Input	DDRB(PB0) = 0
		DDRB   &= ~_BV(PB1);		dnl switch pin for Input	DDRB(PB1) = 0
		DDRB   &= ~_BV(PB2);		dnl switch pin for Input	DDRB(PB2) = 0
		DDRB   &= ~_BV(PB4);		dnl switch pin for Input	DDRB(PB4) = 0
		DDRB   &= ~_BV(PB5);		dnl switch pin for Input	DDRB(PB5) = 0
		PORTB  |=  _BV(PB0);		dnl	PORTB(PB0) = 1		seite 56 und 57
		PORTB  |=  _BV(PB1);		dnl	PORTB(PB1) = 1		seite 56 und 57
		PORTB  |=  _BV(PB2);		dnl	PORTB(PB2) = 1		seite 56 und 57
		PORTB  &= ~_BV(PB4);		dnl	PORTB(PB4) = 0		seite 56 und 57
		PORTB  &= ~_BV(PB5);		dnl	PORTB(PB5) = 0		seite 56 und 57
		PCMSK1 |=  _BV(PCINT8);		dnl Interrupt aktivierung fr Taste1
		PCMSK1 |=  _BV(PCINT9);		dnl Interrupt aktivierung fr Taste2
		PCMSK1 |=  _BV(PCINT10);	dnl Interrupt aktivierung fr Taste3
		PCMSK1 |=  _BV(PCINT12);	dnl Interrupt aktivierung fr wahlrad
		PCMSK1 |=  _BV(PCINT13);	dnl Interrupt aktivierung fr wahlrad
		EIMSK  |=  _BV(PCIE1);

		DDRE   &= ~_BV(PE4);		dnl Eingang Schalten
		PORTE  &= ~_BV(PE4);		dnl Pullup deaktivieren
		PCMSK1 |=  _BV(PCINT4);		dnl interrupt fr den pin aktivieren
		EIMSK  |=  _BV(PCIE0);		dnl interrupt generell fr pereferie 0 aktivieren

		DDRE   |=  _BV(PE2);		dnl	Lichtschranken pinne, vorbereiten, aber aus
		DDRE   |=  _BV(PE3);		dnl	Lichtschranken pinne, vorbereiten, aber aus
dnl		PORTE  &= ~_BV(PE2);		dnl	Lichtschranken pinne, vorbereiten, aber aus
dnl		PORTE  &= ~_BV(PE3);		dnl	Lichtschranken pinne, vorbereiten, aber aus
		PORTE  |=  _BV(PE2);		dnl	Lichtschranke aktivieren ( port output and high )
		PORTE  |=  _BV(PE3);		dnl	Lichtschranke aktivieren ( port output and high )


dnl		hr20_lcd_putchar (2, 4);			dnl	4 an stelle 2 schreiben
		hr20_lcd_putchar (0, HR20_LCD_CHAR_DEG);	dnl	0 an stelle 0 schreiben


dnl		PB0 / PCINT8	Taste		PCINT1		out	pullup
dnl		PB1 / PCINT9	Taste		PCINT1		out	pullup
dnl		PB2 / PCINT10	Taste		PCINT1		out	pullup
dnl		PB4 / PCINT12	Rad		PCINT1		out	pullup
dnl		PB5 / PCINT13	Rad		PCINT1		out	pullup
dnl		PG3 T1		Motor Ansteuerung
dnl		PG4 T0		Motor Ansteuerung
dnl		PE2		Lichtschranke LED Out							out	pullup
dnl		PE3		Lichtschranke LED Out / Spannungs versorgung Input			out	pullup
dnl		PE4		Lichtschranke Input !!!gendert!!!	Pin Change Interrupt4		PCINT4	in


		DEBUG("Startup C6");


dnl		PCINT0		Pin Change Interrupt Request 0
dnl		PCINT1		Pin Change Interrupt Request 1
dnl		INT0		External Interrupt Request 0
dnl		TIMER0 OVF	Timer/Counter0 Overflow

		THREAD_START(motor)
		THREAD_START(update_temp)
	END


CONTROL_END


#include <avr/interrupt.h>

ISR(TIMER0_OVF_vect)
{
	coun ++;
	if ( move >= 1 ) {
		delay ++;

		if ( delay >= speed ) {
			if ( dir == 1 ) {
				PORTG &= ~_BV(PG3) ;		dnl	PORTG(PG3) = 0
				PORTG &= ~_BV(PG4) ;		dnl	PORTG(PG4) = 0
			} else {
				PORTG &= ~_BV(PG3) ;		dnl	PORTG(PG3) = 0
				PORTG &= ~_BV(PG4) ;		dnl	PORTG(PG4) = 0
			}
		} else {
			if ( dir == 1 ) {
				PORTG |= _BV(PG3) ;		dnl	PORTG(PG3) = 1
				PORTG &= ~_BV(PG4) ;		dnl	PORTG(PG4) = 0
			} else {
				PORTG &= ~_BV(PG3) ;		dnl	PORTG(PG3) = 0
				PORTG |= _BV(PG4) ;		dnl	PORTG(PG4) = 1
			}
		}
	}

}

dnl	uint8_t delay = 0;
dnl	ECMD_GLOBAL(pos,  0, uint16_t);
dnl	ECMD_GLOBAL(dir,   0, uint8_t);
dnl	ECMD_GLOBAL(move, 0, uint8_t);
dnl	ECMD_GLOBAL(speed, 0, uint8_t);


ISR(PCINT0_vect)
{
	DEBUG("pcint0");
	if ( PORTE & ( 1 << 4 ) ) { DEBUG("pcint0 4"); }

	if ( dir == 1 ) {
		pos ++ ;
		DEBUG("pcint0 pos +");
	} else {
		pos -- ;
		DEBUG("pcint0 pos -");
	}

}

ISR(PCINT1_vect)
{
	DEBUG("pcint1 +");

	if ( (PINB & ( 1 << 0 )) == 0) { DEBUG("pcint1 0"); }
	if ( (PINB & ( 1 << 1 )) == 0) { DEBUG("pcint1 1"); }
	if ( (PINB & ( 1 << 2 )) == 0) { DEBUG("pcint1 2"); }
dnl	if ( (PINB & ( 1 << 3 )) != 0) { DEBUG("pcint1 3"); }
	if ( (PINB & ( 1 << 4 )) != 0) { DEBUG("pcint1 4"); }
	if ( (PINB & ( 1 << 5 )) != 0) { DEBUG("pcint1 5"); }
dnl	if ( (PINB & ( 1 << 6 )) != 0) { DEBUG("pcint1 6"); }
dnl	if ( (PINB & ( 1 << 7 )) != 0) { DEBUG("pcint1 7"); }

}

dnl	if (! (PORTB & _BV(PB0) ) ) { DEBUG("pcint1 0"); }
dnl	if (! (PORTB & _BV(PB1) ) ) { DEBUG("pcint1 1"); }
dnl	if (! (PORTB & _BV(PB2) ) ) { DEBUG("pcint1 2"); }
dnl	if (   PORTB & _BV(PB4)   ) { DEBUG("pcint1 4"); }
dnl	if (   PORTB & _BV(PB5)   ) { DEBUG("pcint1 5"); }
dnl	if ( PIN_LOW (PORTB(PB0))) { DEBUG("pcint1 0"); }
dnl	if ( PIN_LOW (PORTB(PB1))) { DEBUG("pcint1 1"); }
dnl	if ( PIN_LOW (PB2)) { DEBUG("pcint1 2"); }
dnl	if ( PIN_LOW (PB4)) { DEBUG("pcint1 4"); }
dnl	if ( PIN_LOW (PB5)) { DEBUG("pcint1 5"); }
dnl	if (PIN_HIGH (pinname )) ...
dnl
dnl	THREAD(output_data)
dnl		DEBUG("test");
dnl		WAIT(10);
dnl	THREAD_END(output_data)
dnl
dnl		THREAD_START(output_data)
dnl
dnl
dnl		PINB   &= ~_BV(PINB0);
dnl		PINB   &= ~_BV(PINB1);
dnl		PINB   &= ~_BV(PINB2);
dnl		PINB   &= ~_BV(PINB4);
dnl		PINB   &= ~_BV(PINB5);
dnl
dnl		MCUCR  &= ~_BV(PUD);
dnl
dnl	
dnl	struct key_press key;
dnl	
dnl	CONTROL_START
dnl	    ON STARTUP DO
dnl		TCP_LISTEN(1332, message_handler);
dnl	    END
dnl	    TCP_HANDLER_PERSIST(message_handler)
dnl		for (;;) {
dnl		    key = PS2_GET();
dnl		    if (key.keycode != 0) {
dnl			TCP_SEND("%c", key.data)
dnl		    }
dnl		}
dnl	    TCP_HANDLER_END();
dnl	CONTROL_END
dnl	
dnl	PT_WAIT_UNTIL ((key = PS2_GET(), key.keycode != 0 ));  TCP_SEND("%c", key.data")
dnl