//  Watch Winder Multi Deluxe

//Import libraries
#include <xc.h>
#include <stdio.h>
#include <math.h>
#include <plib/timers.h>
#include <plib/usart.h>
#include <plib/pwm.h>
#include <stdbool.h>

// PIC18F26K22 configurations
#pragma config FOSC=INTIO67,PLLCFG=ON,PRICLKEN=OFF,FCMEN=OFF,IESO=OFF,PWRTEN=ON
#pragma config BOREN=OFF,BORV=190,WDTEN=OFF,WDTPS=512,PBADEN=OFF,MCLRE=INTMCLR
#pragma config STVREN=OFF,LVP=OFF,DEBUG=OFF,CP0=OFF,CP1=OFF,CP2=OFF,CP3=OFF
#pragma config CPB=OFF,CPD=OFF,WRT0=OFF,WRT1=OFF,WRT2=OFF,WRT3=OFF,WRTC=OFF
#pragma config WRTB=OFF,WRTD=OFF,EBTR0=OFF,EBTR1=OFF,EBTR2=OFF,EBTR3=OFF,EBTRB=OFF
#pragma config CCP3MX=PORTB5

// I/O pin definitions
// RA0-RA7 = LCD
#define ENK                 PORTBbits.RB0           //   Rotation counter input
#define UP                  PORTBbits.RB1 == 0      //   Button up pressed
#define DOWN                PORTBbits.RB2 == 0      //   Button down pressed
#define START               PORTBbits.RB3 == 0      //   Button start pressed
#define RIGHT               PORTBbits.RB4 == 0      //   Button right pressed
#define LEFT                PORTBbits.RB5 == 0      //   Button left  pressed
// RB6-RB7 programming pins
#define LCDRS               LATCbits.LATC0          //   LCD
#define LCDE                LATCbits.LATC1          //   LCD
//RC2 L293E PWM control
//RC3 L293E current measurement
#define IN2                 LATCbits.LATC4          // L293E input
#define IN1                 LATCbits.LATC5          // L293E input
// RC6-RC7 UART

#define TimeOver            INTCONbits.TMR0IF      //  Timer0 overload flag
#define _XTAL_FREQ  8000000                        //  PIC oscillator frequency
#define USE_AND_MASKS


// Variable declarations
unsigned char command,direction[15];
int pwm=0,hours[15],minutes[15],seconds[15],step=1,steps=1,position=1,cycle,NewEnc=0;;
float TotalTime=0,speed[15],TotalStepTime[15],RotationTime=0,current=0;

// Function declarations
void PICinit();
void LCDinit();
void LCDsend(unsigned int command);
void LCDwrite(unsigned int command);
void LCDposition(unsigned int position ,unsigned int row);
void LCDclear();

void Delay(unsigned long b);
void Wait(long ms);
void SetHours();
void SetMinutes ();
void SetSeconds();
void SetDirection();
void SetSpeed();
void interrupt Encoder();

//******************************************************************************
// Motor current measurement
int Current(int samples)   // RC3 = AN15
{
    long j2,result=0;

    for(j2=0;j2<samples;j2++)
    {
        ADCON0=0b00111101;    // setting channel RC3(AN15), turn on ADC
	ADCON0=0b00111111;    // turn on conversion
    	while(ADCON0==0b00111111);	// waiting for finishing conversion
        result+=ADRES;
    }
    return (result/samples);
}

//******************************************************************************
// PIC initiation
void PICinit()
{
 BSR=15;

 // I/O pins setting
 TRISA=0; ANSELA=0; LATA=0;
 TRISB=0b00111111; ANSELB=0; LATB=0;
 TRISC=0b00001000; ANSELC=0b00001000; LATC=0;

 INTCON2=0; WPUB=0b00111110;   // buttons pull-ups setting

 OSCCON=0b01100000;  // 8MHz internal oscillator
 OSCCON2=0;

   ADCON2=0b10111001; // setting ADC adjustment right, delay 20TAD, conversion frequency FOSC/8
   ADCON1=0;  // voltage reference = VDD

 // Setting encoder interrupt
    INTCONbits.GIE=1;      //global interrupt enable
    INTCON2bits.INTEDG0=0; //Encoder at INT0 changing at falling edge
    INTCONbits.INT0IE=1;   // INT0 interrupt enable
    INTCONbits.INT0IF=0;   // INT0 interrupt flag


 // Setting PWM at RC2
    TRISCbits.TRISC2=1;
    CCPTMRS1=0;         // CCP1 uses Timer 2 for PWM
    CCP1CON=0b00001100; // PWM on
    PR2=255;            // time base
    CCPR1L=0;           // PWM duty
    PIR1bits.TMR2IF=0;
    T2CON=0b00000110;   // Timer 2 on, prescaler 1:16
    TRISCbits.TRISC2=0;

    T0CON=0b10000101; // TMR0 16bit prescaler 64

 }

//******************************************************************************
// TIMING FUNCTIONS

void Delay(unsigned long b)
{
  for(;b>0;b--);
}

void Wait(long ms)
{
    for(long bb=0;bb<ms;bb++) __delay_ms(1);
}


//******************************************************************************
// LCD DISPLAY INITIATION CODE

void LCDinit()
{
  LCDRS=0;

  Wait(50);            // wait at least 40 ms for power stabilisation
  command=0b00111000;	// 2-line display N=1, 5x8 dots F=0
  LCDsend(command);

  Wait(1);            // wait at least 39 us
  command=0b00111000;	// 2-line display N=1, 5x8 dots F=0
  LCDsend(command);

  Wait(1);            // wait at least 37 us
  command=0b00001100;	// display on, blink off, cursor off
  LCDsend(command);
   
  Wait(1);            // wait at least 37 us
  command=0b00000001;	// clear display
  LCDsend(command);
  
  Wait(3);             // wait at least 1.53 ms
  command=0b00000110;	// position added I/D=1, shift off S=0
  LCDsend(command);

}

//******************************************************************************
// LCD display control

void LCDposition(unsigned int position, unsigned int row)
{
  LCDRS=0;
  if(position>16 || row>2 || position==0 || row==0) LCDsend(128);
  else LCDsend((position+((row-1)*64))+127);
}

void LCDwrite(unsigned int command)
{
  LCDRS=1;
  LCDsend(command);
}

void LCDsend(unsigned int command)
{
  LATA=command;
  LCDE=1;
  Delay(5);
  LCDE=0;
  Delay(5);
}

void LCDclear()
{
    LCDposition(1,1);
    printf("                 ");
    LCDposition(1,2);
    printf("                 ");
    LCDposition(1,1);
}

extern void putch(char c)   // printf enable
{
    LCDwrite(c);
    return;
}


//***********************************************************************************************************************************************************
//*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*
//***********************************************************************************************************************************************************
void main()
{
    PICinit();LCDinit();
    
    // INITIAL WINDOW
    LCDposition(3,1); printf("WatchWinder");
    LCDposition(2,2); printf("Multi Deluxe");
    Wait(1000);LCDclear();
    
//****************************************************************************** 
    // SETTINGS WINDOW (select number of steps)
    
    LCDposition(5,1);printf("SETTINGS");
    LCDposition(1,2);printf("Steps: ");
    
    while(!START)
    {
        if(UP) steps++; if(DOWN) steps--;
        if(steps<1) steps=9; if(steps>9) steps=1;
        
        LCDposition(8,2);printf("%i" ,steps);Wait(150);
        LCDposition(8,2);printf("  " ,steps);Wait(100);
    }
//******************************************************************************
    // ROTATION PARAMETERS SETTING WINDOW (step time, direction, rotation speed rps)
    
    LCDclear();
    LCDposition(1,1); printf("#  Time   :  :");
    LCDposition(1,2); printf("Dir:   Rps:");
    for(int a=0;a<=9;a++) {hours[a]=0; minutes[a]=0;seconds[a]=0;direction[a]='<';speed[a]=3.0;}

    for(step=1;step<=steps;step++)
    {
         LCDposition(2,1); printf("%i" ,step);
         LCDposition(9,1); printf("%02i" ,hours[step]);
         LCDposition(12,1); printf("%02i" ,minutes[step]);
         LCDposition(15,1); printf("%02i" ,seconds[step]);
         LCDposition(5,2); printf("%c" ,direction[step]);
         LCDposition(12,2); printf("%.1f" ,speed[step]);
         Wait(500);
                
        while(!START)
        {
            if(LEFT) {position--;if(position<1) position=5;Wait(200);}
            if(RIGHT){position++;if(position>5) position=1;Wait(200);}
            if(position==1) SetHours();
            if(position==2) SetMinutes();
            if(position==3) SetSeconds();
            if(position==4) SetDirection();
            if(position==5) SetSpeed();
        }
      }
   
    for(int a=1;a<=9;a++) TotalStepTime[a]=(hours[a]*3600.0)+(minutes[a]*60.0)+seconds[a];
    
//******************************************************************************  
    // WATING FOR START WINDOW
        
    LCDclear();
    Wait(500);
    LCDposition(3,1);printf("Press any key");
    LCDposition(4,2);printf("for START!");
    while(!START && !DOWN && !UP && !RIGHT && !LEFT);
    LCDclear();
//******************************************************************************
  
   for(cycle=1;cycle<=steps;cycle++)
  {
      TotalTime=0; TimeOver=0; WRITETIMER0(0);  // start timer
      if(direction[cycle]=='>') {IN1=1;IN2=0;}  // set motor direction
      else {IN1=0;IN2=1;}
      pwm=50;
      CCPR1L=pwm; // set motor power
      
      while(TotalTime<TotalStepTime[cycle])
      {
          
       if(NewEnc==1)   // new rotation is detected
           {
            NewEnc=0;
            TotalTime+=RotationTime/1000000.0;
            current=(float)Current(100)*2.222;
            
            TotalStepTime[0]=TotalStepTime[cycle]-TotalTime;

             if(current>500)  // turn off the motor if current over 500 mA is detected
                    {IN1=0;IN2=0;
                     LCDposition(1,2);printf(" Overcurrent !!!");
                     while(1);
                    }
            
            hours[0]=(int)(TotalStepTime[0]/3600.0);
            minutes[0]=(int)(((unsigned long)TotalStepTime[0]%3600)/60.0);
            seconds[0]=((unsigned long)TotalStepTime[0]-(hours[0]*3600+minutes[0]*60));
            speed[0]=1000000.0/RotationTime;
            if(speed[cycle]>speed[0]) {pwm++;if(pwm>255)pwm=255;}
            if(speed[cycle]<speed[0]) {pwm--;if(pwm<0)  pwm=0;}
            CCPR1L=pwm;
            
            LCDclear();
            LCDposition(1,1);printf("#%i" ,cycle);
            LCDposition(4,1);printf("%02i:%02i:%02i" ,hours[0],minutes[0],seconds[0]);
            LCDposition(13,1);printf("%0.f%%" ,(float)(pwm*0.3922));
            LCDposition(1,2);printf("%c" ,direction[cycle]);
            LCDposition(3,2);printf("%.1frps" ,speed[0]);
            LCDposition(12,2);printf("%0.fmA" ,current);
          }
                     
           
        if(TimeOver==1)  // turn off the motor if rotation takes more than 2 seconds
        {
            IN1=0;IN2=0;
            LCDposition(1,2);printf(" Roll blocked!!!");
            while(1);

        }
       
      }
  }
//******************************************************************************    
    // PROGRAM END WINDOW
        
    IN1=0;IN2=0;
    LCDclear();
    LCDposition(1,1);printf(" The program is");
    LCDposition(3,2);printf("FINISHED!!!!");
   
    while(!START && !LEFT && !RIGHT && !UP && !DOWN);

    LCDclear();
    LCDposition(1,1);printf("Thanks for using");
    LCDposition(3,2);printf("WatchWinder!");
    
    while(1);
}

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

// ROTATION PARAMETERS SETTING FUNCTIONS

void SetHours()
{
    while(!RIGHT && !LEFT && !START)
    {
        if(UP) hours[step]++;
        if(DOWN) hours[step]--;
        if(hours[step]<0) hours[step]=24; if(hours[step]>24) hours[step]=0;
       
        LCDposition(9,1);
        printf("  ");
        Wait(100);
        LCDposition(9,1);
        printf("%02i" ,hours[step]);
        Wait(150);    
     }
}

void SetMinutes ()
{
    while(!RIGHT && !LEFT && !START)
    {
        if(UP)   minutes[step]++;
        if(DOWN) minutes[step]--;
        if(minutes[step]<0) minutes[step]=59; if(minutes[step]>59) minutes[step]=0;

        LCDposition(12,1);
        printf("  ");
        Wait(100);
        LCDposition(12,1);
        printf("%02i" ,minutes[step]);
        Wait(150);      
     }
}

void SetSeconds()
{
    while(!RIGHT && !LEFT && !START)
    {
        if(UP)   seconds[step]++;
        if(DOWN) seconds[step]--;
        if(seconds[step]<0) seconds[step]=59; if(seconds[step]>59) seconds[step]=0;

        LCDposition(15,1);
        printf("  ");
        Wait(100);
        LCDposition(15,1);
        printf("%02i" ,seconds[step]);
        Wait(150);      
     }
}

void SetDirection()
{
    while(!RIGHT && !LEFT && !START)
    {
        if(DOWN) direction[step]='<';
        if(UP) direction[step]='>';
        
        LCDposition(5,2);
        printf(" ");
        Wait(100);

        LCDposition(5,2);
        printf("%c" ,direction[step]);
        Wait(150);        
     }
}

void SetSpeed()
{
   while(!RIGHT && !LEFT && !START)
    {
        if(UP)   speed[step]=speed[step]+0.1;
        if(DOWN) speed[step]=speed[step]-0.1;
        if(speed[step]<1) speed[step]=10; if(speed[step]>10) speed[step]=1;
        LCDposition(12,2);
        printf("    " ,speed[step]);
        Wait(100);

        LCDposition(12,2);
        printf("%.1f" ,speed[step]);
        Wait(150);    
     }
}

//******************************************************************************
//******************************************************************************
//******************************************************************************
// ROTATION COUNTER DETECTION

void interrupt Encoder(void)
{
    if(INTCONbits.INT0IF==1 && INTCONbits.INT0IE==1)
    {
      INTCONbits.INT0IE=0; INTCONbits.INT0IF=0;
       NewEnc=1;
       RotationTime=(READTIMER0()*32.0);
       TimeOver=0; WRITETIMER0(0); 
                    
       INTCONbits.INT0IE=1;INTCONbits.INT0IF=0;
      
       return;
    }
}