// CONFIG
#pragma config FOSC = HS        // Oscillator Selection bits (HS oscillator)
#pragma config WDTE = OFF       // Watchdog Timer Enable bit (WDT disabled)
#pragma config PWRTE = OFF      // Power-up Timer Enable bit (PWRT enabled)
#pragma config BOREN = OFF      // Brown-out Reset Enable bit (BOR disabled)
#pragma config LVP = OFF        // Low-Voltage (Single-Supply) In-Circuit Serial Programming Enable bit (RB3 is digital I/O, HV on MCLR must be used for programming)
#pragma config CPD = OFF        // Data EEPROM Memory Code Protection bit (Data EEPROM code protection off)
#pragma config WRT = OFF        // Flash Program Memory Write Enable bits (Write protection off; all program memory may be written to by EECON control)
#pragma config CP = OFF         // Flash Program Memory Code Protection bit (Code protection off)

#include <stdio.h>
#include <stdlib.h>
#include <pic16f877a.h>

unsigned short tempPortB;       //pouze pro nacitani PORTB, pri interrupt-on-change
unsigned int pocet_FS = 0;      //celkovy pocet impulsu FS na 360 stupnu
unsigned int aktualni_FS = 0;   //aktualni pocet impulsu
unsigned int maximum_FS = 0;    //pocet impulsu, kde je namereno maximalni napeti
unsigned int maximum_U = 0;     //maximalni napeti
unsigned int aktualni_U = 0;

/*
 * variable krok
 *  udava ve kterem kroku se program prave nachazi
 *
 * 0. natoceni do vychozi polohy
 * 1. obeh o 360 stupnu a pocitani FS
 * 2. natoceni do vychozi polohy
 * 3. mereni maxima
 * 4. cesta do maxima
 * 5. antena je v maximu - cekani na stisk tlacitka
 */
int krok = 0;

void Start(){
    INTEDG = INTF = RBIF = krok = 0;
    GIE = INTE = 1;

    //zapnuti motoru
    TRISB3 = 0;
    RB3 = 1;

    //pockani na zmereni celkoveho poctu impulsu
    while(krok!=2);
}
void Delay(unsigned int count)  // Zhruba ?eká ?as v ms
{
  int i;
  while(count--) for(i=0;i!=0xA3;i++);
}
void PockejTlacitko(){
    RB3 = 0;
    GIE = 0;
    INTF = RBIF = 0;
    int count;          //cas v ms

    while(1){
        if(RB4!=1){
            GIE = INTE = RBIE = 1;
            return;
        }
    }
//    while(1){
//        count = 6;
//        while(count-- && RB4!=1){
//            Delay(200);
//            if(count==1)
//            {
//                GIE = 1;
//                return;
//            }
//        }
//    }
}

void MereniMaxima(){
    ADCON0bits.ADON = 1;
    ADCON0bits.GO = 1;
    Delay(1);               //cekani na nabiti kondenzatoru
    while(ADCON0bits.GO);   //cekani na dokonceni prevodu
    ADIF = 0;
    ADCON0bits.ADON = 0;

    aktualni_U = (ADRESH<<8)|ADRESL;
    if(aktualni_U > maximum_U){
        maximum_U = aktualni_U;
        maximum_FS = aktualni_FS;
    }
    return;
}
void NajetiDoVychoziPolohy(){
    if(RB0==0){          //pokud jiz jsme ve vychozi poloze
        krok=3;
        ADCON0 = 0x01;
        ADCON1 = 0b10001110;
        //ADCS0 = ADCS1 = ADCS2 = 1;          /////////////////////////////////////
        ADFM = 1;
        aktualni_FS = 0;
        //zapnuti motoru
        RB3 = 1;
        RBIF = 0;
        RBIE = 1;
    }
    else{
        RB3=1;
        //while(RB0!=0);
    }
    return;
}
void NajetiDoMaxima(){
    if(aktualni_FS == 120){
        RB3=0;
        RBIE = RBIF = 0;
        krok = 5;
    }
    return;
}
void PreruseniS0(){
    if(krok==0){
        krok=1;
        RBIF = 0;
        RBIE = 1;
    }
    else if(krok==1){
        krok=2;
        RBIF = 0;
        RBIE = 0;
        RB3 = 0;
        pocet_FS = aktualni_FS;
    }
    else if(krok==2){
        krok = 3;
        ADCON1 = ADCON0 = 0;
        ADCON1 = 0b10001110;
        //ADCS0 = ADCS1 = ADCS2 = 1;          /////////////////////////////////////
        ADFM = 1;
        ADON = 1;
        ADIE = 0;
        aktualni_FS = 0;
        //zapnuti motoru
        RB3 = 1;
        RBIF = 0;
        RBIE = 1;
    }
    else if(krok==3){
        krok = 4;
        aktualni_FS = 0;
        ADCON1 = ADCON0 = 0;
    }
    return;
}
void interrupt ISR(){
//    if(ADIF==1){
//        ADIF = 0;
//    }
//    else
    if(INTF==1){
        INTF = RBIF = 0;
        PreruseniS0();
    }
    else if(RBIF==1){
        tempPortB = PORTB;      //read portB
        RBIF = 0;
        if(RB5){
            aktualni_FS++;      //pocitani impulsu FS
            if(krok==3){        //cteni z AD prevodniku a ukladani
                MereniMaxima();
            }
            else if(krok==4){   //if aktualni_FS == maximum_FS -> STOP
                NajetiDoMaxima();
            }
        }
    }
    TMR0IF = RBIF = INTF = 0;
    GIE = 1;
    return;
}
int main(int argc, char** argv) {
    Start();
    while(1){
        PockejTlacitko();
        aktualni_FS = maximum_FS = maximum_U = aktualni_U = 0;
        NajetiDoVychoziPolohy();
        while(krok!=5);
        //TODO reset
        INTF = RBIF = RBIE = 0;
        krok = 2;
    }

    return (EXIT_SUCCESS);
}