/***********************************************************/
// Electro-mechanical Aeropress full code - Group 3 Bump N Grind
// Zoe Bryant, James Hilton, Rob Hill, Kareem Machnouk
// 12/01/18
//*************************************************************************/
// #pragma config FOSC = INTIO67
// #pragma config WDTEN = OFF, LVP = OFF, MCLRE = OFF
/*                                                                          */

#pragma config FOSC = INTIO67
#pragma config WDTEN = OFF, LVP = OFF, MCLRE = OFF

/**INCLUDES********************/
#include "p18f45k20.h"

#include <delays.h>


/**SUBFUNCTIONS***************/
void Step_Nema_17_FWD (void);
void Step_Nema_17_BWD (void);
int Nema_17_Steps = 0;

void Step_Nema_23_DWN (void);
void Step_Nema_23_UP (void);
int Nema_23_Steps = 0;

int limit17count = 0;
int limit23count = 0;

int Coffee_Choice = 0; //Used to determine Brew Time
void PrintCoffee (void); //Prints Coffee Option (based on Coffee_Choice variable)
int Delay_Repeats = 0; //How many times brew animation has run
int Brew_Timer (void); //Sets number of repeats of animation


void Frame_1 (void); //Frame 1 of loading animation
void Frame_2 (void); //Frame 2 of loading animation

int detectButtonPress(void);

void LCD_Clear (void);
void LCD_Custom (void);

void LCD_init (void);

int ADC_Convert(void);
void ADC_Init(void);

/**DEFINES*****************/

#define CLEAR_SCREEN    0b00000001
#define FOUR_BIT        0b00101100
#define LINES_5X7       0b00111000
#define CURSOR_BLINK    0b00001111
#define CURSOR_RIGHT    0b00000110
#define CURSOR_HIDE     0b00001100

#define DATA_PORT  LATD
#define RS_PIN     PORTDbits.RD6
#define E_PIN      PORTDbits.RD7


int detectButtonPress(void)
{
    int button1count = 0;
    int button2count = 0;
    int button3count = 0;
    int button4count = 0;
    int button5count = 0;
    int button6count = 0;

    while (button1count < 5 && button2count < 5 && button3count < 5 && button4count < 5 && button5count <5 && button6count < 5) {
        if (PORTAbits.RA4 == 1) {
            button1count = 0;
        } else {
            button1count++;
        }

        if (PORTAbits.RA1 == 1) {
            button2count = 0;
        } else {
            button2count++;
        }

        if (PORTAbits.RA2 == 1) {
            button3count = 0;
        } else {
            button3count++;
        }

        if (PORTAbits.RA3 == 1) {
            button4count = 0;
        } else {
            button4count++;
        }


        Delay10TCYx(25);    // delay 250 cycles or 1ms.
    }

    if (button1count >= 5)
    {
        return 1;
    }

    if (button2count >= 5)
    {
        return 2;
    }

    if (button3count >= 5)
    {
        return 3;
    }

    if (button4count >= 5)
    {
        return 4;
    }

}


void Delay5milli(void)                          //Suitable delay for LCD
{

Delay1KTCYx(2);
}


void SetAddr(unsigned char DDaddr)
{
        DATA_PORT &= 0xf0;                      // Write upper nibble
        DATA_PORT |= (((DDaddr | 0b10000000)>>4) & 0x0f);

        RS_PIN = 0;                             // Set control bit
        Delay5milli();
        E_PIN = 1;                              // Clock the cmd and address in
        Delay5milli();
        E_PIN = 0;

        DATA_PORT &= 0xf0;                      // Write lower nibble
        DATA_PORT |= (DDaddr&0x0f);

        Delay5milli();
        E_PIN = 1;                              // Clock the cmd and address in
        Delay5milli();
        E_PIN = 0;
}

void WriteCmd(unsigned char cmd)
    {
        DATA_PORT &= 0xf0;
        DATA_PORT |= (cmd>>4)&0x0f;
        RS_PIN = 0;                             // Set control signals for command
        Delay5milli();
        E_PIN = 1;                              // Clock command in
        Delay5milli();
        E_PIN = 0;


        DATA_PORT &= 0xf0;                      // Lower nibble interface
        DATA_PORT |= cmd&0x0f;
        Delay5milli();
        E_PIN = 1;                              // Clock command in
        Delay5milli();
        E_PIN = 0;
    }

void WriteChar(char data)
{
        DATA_PORT &= 0xf0;
        DATA_PORT |= ((data>>4)&0x0f);

        RS_PIN = 1;                             // Set control bits
        Delay5milli();
        E_PIN = 1;                              // Clock nibble into LCD
        Delay5milli();
        E_PIN = 0;


        DATA_PORT &= 0xf0;                      // Lower nibble interface
        DATA_PORT |= (data&0x0f);

        Delay5milli();
        E_PIN = 1;                              // Clock nibble into LCD
        Delay5milli();
        E_PIN = 0;
}

 void WriteString(const rom char *buffer)
{
        while(*buffer)                          // Write data to LCD up to null
        {
          Delay5milli();
          WriteChar( *buffer);                  // Write character to LCD
          buffer++;                             // Increment buffer
        }
        return;
}

/**MAIN***********************/
void main (void) //main body
{

//SET UP
    TRISD  = 0b00000000;                        //sets PORTd
    LATD   = 0b00000000;                        //turns off PORTd outputs, good start position
    TRISC = 0b00000000;     // PORTC bits to output (0)
    ANSEL = 0;
    ANSELH = 0;

    LCD_init();
    LCD_Custom();

while (1) //looping section of main
{
    LCD_Clear();
    WriteString("Aeropress");
    SetAddr (0xc0);
    WriteString("Welcome");

        while (detectButtonPress() != 1) //Hang until button 1 is pressed
        {
        }

        LCD_Clear();
        WriteString("Callibrating");

        limit17count = 0;
        limit23count = 0;

        while (limit17count <= 5)
        {
        Step_Nema_17_BWD();
        if (PORTAbits.RA7 == 1)
            {
            limit17count = 0;
            }
            else
            {
                limit17count++;
            }
        }

        while (limit23count <= 5)
        {
        Step_Nema_23_UP();
        if (PORTAbits.RA5 == 1)
            {
            limit23count = 0;
            }
            else
            {
                limit23count++;
            }
        }

        LCD_Clear();
        WriteString("Press SW1   ");
        SetAddr (0xc0);
        WriteString("To Start    ");

        while (detectButtonPress() != 1) //Hang until Button 1 is pressed
        {
        }

        PrintCoffee();

        do{                             //Change menu options untill button 1 is pressed

        switch (detectButtonPress()){
        case 2:
        Coffee_Choice = (Coffee_Choice+1) % 4; //cycle option up
        PrintCoffee();
        break;

        case 3:
        Coffee_Choice = (Coffee_Choice-1) % 4; //cycle option down
        PrintCoffee();
        break;
        }
        }   while (detectButtonPress() != 1);



        LCD_Clear();
        WriteString("Moving Coffee   ");
        SetAddr (0xc0);
        WriteString("Chamber Forwards   ");

        for (Nema_17_Steps=0; Nema_17_Steps < 325; Nema_17_Steps++)
                {
                    Step_Nema_17_FWD();                 //Steps Forward 1
                }

        LCD_Clear();
        WriteString("Insert Coffee     ");
        SetAddr (0xc0);
        WriteString("& Water      ");

        while (detectButtonPress() != 1) //wait till button 1 is pressed
        {
        }


    limit17count = 0;

    while (limit17count <= 5)
        {
        Step_Nema_17_BWD();
        if (PORTAbits.RA7 == 1)
            {
            limit17count = 0;
            }
            else
            {
                limit17count++;
            }
        }

    //ADC check that Coffee chamber is homed properly
        ADC_Init();
            ADC_Convert();
            while (ADRESH < 0b01100000) //if further than ~5cm away Print Warning Screen
            {
                LCD_Clear();
                    WriteString("Warning! Add");
                SetAddr (0xc0);
                WriteString("Brew Chamber");
                ADC_Convert();

            }


        LCD_Clear();
        WriteString("Brewing");

        Delay_Repeats == 0;

        for (Nema_23_Steps=0; Nema_23_Steps < 250; Nema_23_Steps++) //steps to plunge limit
            {
                Step_Nema_23_DWN();                 //Steps Forward 1
            }

        for (Delay_Repeats=0; Delay_Repeats < Brew_Timer(); Delay_Repeats++) //repeat number of times equal to Brew_Timer value
            {
            Frame_1();
            Delay10KTCYx(16);   //1s delay accounting for time to print
            Frame_2();
            Delay10KTCYx(16);   //same
            }

        LCD_Clear();
        WriteString("Plunging");

        for (Nema_23_Steps=0; Nema_23_Steps < 2600; Nema_23_Steps++) //steps to plunge limit
            {
                Step_Nema_23_DWN();                 //Steps Forward 1
            }

        LCD_Clear();
        WriteString("Coffee Ready");
        SetAddr (0xc0);
        WriteString("Remove Mug");

        while (detectButtonPress() != 1)
        {
        }

        /*LCD_Clear();
        WriteString("Remove Cap");
        SetAddr (0xc0);
        WriteString("Add Waste Bin");


        while (detectButtonPress() != 1)
        {
        }

        for (Nema_23_Steps=0; Nema_23_Steps < 300; Nema_23_Steps++) //steps till lower limit
            {
                Step_Nema_23_DWN();                 //Steps Forward 1
            }*/

        LCD_Clear();
        WriteString("Press SW4");
        SetAddr (0xc0);
        WriteString("To Reset");

        while (detectButtonPress() != 4)
        {
        }

        for ( ; Nema_23_Steps != 0; Nema_23_Steps--)
                {
                Step_Nema_23_UP();
                }
}
}
void Step_Nema_17_FWD(void) //moves Nema 17 stepper motor forwards 1
{
    LATCbits.LATC2 = 0; //Anticlockwise
    LATCbits.LATC3 = 1;
    Delay1KTCYx(5);
    LATCbits.LATC3 = 0;
    Delay1KTCYx(5);
}

void Step_Nema_17_BWD(void) //moves Nema 17 stepper motor backwards 1
{
    LATCbits.LATC2 = 1; //Clockwise
    LATCbits.LATC3 = 1;
    Delay1KTCYx(5);
    LATCbits.LATC3 = 0;
    Delay1KTCYx(5);
}

void Step_Nema_23_DWN(void) //moves Nema 23 stepper motor down 1
{
    LATCbits.LATC0 = 0; //Anticlockwise
    LATCbits.LATC1 = 1;
    Delay1KTCYx(5);
    LATCbits.LATC1 = 0;
    Delay1KTCYx(5);
}

void Step_Nema_23_UP(void) //moves Nema 23 stepper motor up 1
{
    LATCbits.LATC0 = 1; //Clockwise
    LATCbits.LATC1 = 1;
    Delay1KTCYx(5);
    LATCbits.LATC1 = 0;
    Delay1KTCYx(5);
}

void LCD_init (void) //initialises the LCD
{
    WriteCmd ( 0x02 );                          // sets 4bit operation
    WriteCmd ( CLEAR_SCREEN);
    WriteCmd ( FOUR_BIT & LINES_5X7 );          // sets 5x7 and multiline operation.
    WriteCmd ( CURSOR_HIDE );                  // hides cursor
    WriteCmd ( CURSOR_RIGHT  );                 // moves cursor right
}


void LCD_Clear (void) //clears the LCD screen
{
    SetAddr  (0);
            Delay1KTCYx(5);
            WriteCmd ( CLEAR_SCREEN);
            Delay1KTCYx(5);                            //delay
}


int Brew_Timer (void) //use coffee selection value to set how many times animation with timer repeats
{                       //can be 1, 3, 4 or 5min. Animation is 1sec a frame, 2 frame animation
switch(Coffee_Choice){
    case 0:
            return 30;
    break;
    case 1:
            return 90;
    break;
    case 2:
            return 120;
    break;
    case 3:
            return 150;
    break;
}
}




void PrintCoffee (void) //Prints current coffee selection
{

switch(Coffee_Choice){
case 0:
        LCD_Clear();
        WriteString("1min brew");
break;
case 1:
        LCD_Clear();
        WriteString("3min brew");
break;
case 2:
        LCD_Clear();
        WriteString("4min brew");
break;
case 3:
        LCD_Clear();
        WriteString("5min brew");
break;
}
}

void LCD_Custom (void) //defines custom LCD characters
{
WriteCmd (0x40);
WriteChar (0b00011111);
WriteChar (0b00011111);
WriteChar (0b00010000);
WriteChar (0b00001111);
WriteChar (0b00000111);
WriteChar (0b00000111);
WriteChar (0b00000011);
WriteChar (0b00000001);


WriteCmd (0x48);
WriteChar (0b00011111);
WriteChar (0b00011111);
WriteChar (0b00000010);
WriteChar (0b00011110);
WriteChar (0b00011100);
WriteChar (0b00011100);
WriteChar (0b00011000);
WriteChar (0b00010000);

WriteCmd (0x50);
WriteChar (0b00000001);
WriteChar (0b00000010);
WriteChar (0b00000110);
WriteChar (0b00000100);
WriteChar (0b00001100);
WriteChar (0b00001000);
WriteChar (0b00011111);
WriteChar (0b00011111);

WriteCmd (0x58);
WriteChar (0b00010000);
WriteChar (0b00001000);
WriteChar (0b00001100);
WriteChar (0b00000100);
WriteChar (0b00000110);
WriteChar (0b00000010);
WriteChar (0b00011111);
WriteChar (0b00011111);

WriteCmd (0x60);
WriteChar (0b00011111);
WriteChar (0b00011111);
WriteChar (0b00001000);
WriteChar (0b00001100);
WriteChar (0b00000100);
WriteChar (0b00000110);
WriteChar (0b00000010);
WriteChar (0b00000001);

WriteCmd (0x68);
WriteChar (0b00011111);
WriteChar (0b00011111);
WriteChar (0b00000010);
WriteChar (0b00000110);
WriteChar (0b00000100);
WriteChar (0b00001100);
WriteChar (0b00001000);
WriteChar (0b00010000);

WriteCmd (0x70);
WriteChar (0b00000001);
WriteChar (0b00000010);
WriteChar (0b00000110);
WriteChar (0b00000111);
WriteChar (0b00001111);
WriteChar (0b00001111);
WriteChar (0b00011111);
WriteChar (0b00011111);

WriteCmd (0x78);
WriteChar (0b00010000);
WriteChar (0b00001000);
WriteChar (0b00001100);
WriteChar (0b00011100);
WriteChar (0b00011110);
WriteChar (0b00011110);
WriteChar (0b00011111);
WriteChar (0b00011111);
}

void Frame_1 (void) //prints frame 1 of timer animation (using 4 custom characters)
{
LCD_Clear();
//printf("%d", Delay_Repeats , exp(Delay_Repeats));
SetAddr  (0x07);
WriteChar (0);
SetAddr (0x08);
WriteChar (1);
SetAddr (0xc7);
WriteChar (2);
SetAddr (0xc8);
WriteChar (3);
}

void Frame_2 (void) //prints frame 2 of timer animation (using 4 custom characters)
{
LCD_Clear();
//printf("%d", Delay_Repeats , exp(Delay_Repeats));
SetAddr  (0x07);
WriteChar (4);
SetAddr (0x08);
WriteChar (5);
SetAddr (0xc7);
WriteChar (6);
SetAddr (0xc8);
WriteChar (7);
}

void ADC_Init(void)
{
    // initialize the Analog-To-Digital converter.
    // First, we need to make sure the AN0 pin is enabled as an analog input
    // as the demo board potentiometer is connected to RA0/AN0
    // Don't forget that RB0/AN12 must be digital!

    ANSEL = 0;  //turn off all other analog inputs
    ANSELH = 0;
    ANSELbits.ANS0 = 1; // turn on RA5 analog

    // Sets bits VCFG1 and VCFG0 in ADCON1 so the ADC voltage reference is VSS to VDD

    ADCON1 = 0;

    //
    // ADFM = 0 so we can easily read the 8 Most Significant bits from the ADRESH
    // Special Function Register

    ADCON2 = 0b00111000;

    // Select channel 0 (AN0) to read the An0 voltage and turn on ADC
    ADCON0 = 0b00000001;

}

int ADC_Convert(void)

{ // start an ADC conversion and return the 8 most-significant bits of the result
    ADCON0bits.GO_DONE = 1;             // start conversion
    while (ADCON0bits.GO_DONE == 1);    // wait for it to complete
    return ADRESH;                      // return high byte of result
}