/********************************************************************************/
/*File Name:                                                                    */  
/***PIC18F2520.c                                                                */  
/*------------------------------------------------------------------------------*/  
/*Description:                                                                  */
/***This program enables the PIC18F2520 to communicate with the 9XCite RF Module*/
/***and the Basic Atom 24.                                                      */
/*------------------------------------------------------------------------------*/
/*Function:                                                                     */
/***The PIC18F2520 must interpret and process the data received by the RF Module*/ 
/***at any given time and interrupt the Basic Atom in case of an important      */
/***message. An important message will consist of information indicating that   */
/***the enemy robot is in this robots personal territory. Also, this MCU will   */
/***calculate for the Basic Atom, angle and distance information for any        */
/***destination coordinate.                                                     */
/*------------------------------------------------------------------------------*/
/*Authors:                                                                      */
/***Iván C. Filpo                                                               */
/***Cory D. Lawrence                                                            */
/***Eduardo María Antonieta de las Maricas de hoy día                           */
/********************************************************************************/


//The below declaration declares variables store the information received by the
//9XCite RF Module. The 'o' stands for 'our', as in our theta for instance.
//On the other hand, the init stands for initial. These are the initial coords

#include <18f2520.h>
#include <p18cxxx.h>

#define ANGLE(A) A*360/255;
#define XCOORD(X) X*6/255;
#define YCOORD(Y) Y*8/255;

#define BAUD_RATE(X) 20000000/16*X-1;

/* Definition of Functions */
void rfint(void);
void changevector(void);

/* Definition of Structures*/
static int count,color;
struct location{
       int theta;
       int x;
       int y;
}init,our,their;

#pragma code
void main(void){

     /*If interrupts are desired, then set the RCIE bit and configure the RCIP, GIE/GIEH and
     PEIE/GIEL bits, appropriately.*/     
     PIE1 = PIE1 | 0x20;     //Enable Usart Receive Interrupt
     IPR1 = IPR1 | 0x20;     //Make it a high priority interrupt
     INTCON = INTCON | 0x80; //Enable all hight priority unmasked interrupts

     /*Set USART Baud Rate*/
     /*Baud Rate = FOSC/(16(X+1)), X is value to be set in SPBRG register*/
     TXSTA = TXSTA | 0x02;
     SPBRG = BAUD_RATE(9600);

}

#pragma code high_vector=0x08
void changevector(void){
     _asm GOTO rfint _endasm
}

#pragma interrupt rfint
void rfint(void){      
         switch(count){ 
                case 0:
                     blue.theta = RCREG;
                     count++;
                     break;
                case 1:
                     red.theta = RCREG;
                     count++;
                     break;
                case 2:
                     blue.x = RCREG;
                     count++;
                     break;
                case 3:
                     red.x = RCREG;
                     count++;
                     break;
                case 4:
                     blue.x = (our.x << 8) | RCREG;    
                     count++;
                     break;
                case 5:
                     red.x = (their.x << 8) | RCREG;
                     count++;
                     break;
                case 6:
                     blue.y = RCREG;
                     count++;
                     break;
                case 7:
                     red.y = RCREG;
                     count++;
                     break;
         }                               
}