/*
 * File:   zadatakful.c
 * Author: Admin
 *
 * Created on 25 March 2019, 20:43
 */
// 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 disabled)
#pragma config BOREN = ON       // Brown-out Reset Enable bit (BOR enabled)
#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 <xc.h>
#include<stdio.h>
#include<stdlib.h>
#include<conio.h>
#define _XTAL_FREQ 20000000
#define Baud_rate 9600

#define CRVENA RC1
#define ZUTA RC2
#define RS RD2
#define EN RD3
#define D4 RD4
#define D5 RD5
#define D6 RD6
#define D7 RD7

void Lcd_Port(char a){
    if(a&1)
        D4=1;
    else
        D4=0;
    if(a&2)
        D5=1;
    else
        D5=0;
    if(a&4)
        D6=1;
    else
        D6=0;
    if(a&8)
        D7=1;
    else
        D7=0;

}

void Lcd_Cmd(char a){
    RS=0;
    Lcd_Port(a);
    EN=1;
    __delay_ms(4);
    EN=0;
}

Lcd_Clear(){
    Lcd_Cmd(0);
    Lcd_Cmd(1);
}


void Lcd_Set_Cursor(char a, char b){
    char temp, z, y;
    if(a==1){
        temp=0x80+b-1;
        z=temp>>4;
        y=temp&0x0F;
        Lcd_Cmd(z);
        Lcd_Cmd(y);
    }
    else if(a==2){
        temp=0xC0+b-1;
        z=temp>>4;
        y=temp&0x0F;
        Lcd_Cmd(z);
        Lcd_Cmd(y);

    }
}

void Lcd_Init(){
    Lcd_Port(0x00);
    __delay_ms(20);
    Lcd_Cmd(0x03);
    __delay_ms(5);
    Lcd_Cmd(0x03);
    __dely_ms(11);
    Lcd_Cmd(0x03);
    Lcd_Cmd(0x02);
    Lcd_Cmd(0x03);
    Lcd_Cmd(0x08);
    Lcd_Cmd(0x00);
    Lcd_Cmd(0x0C);
    Lcd_Cmd(0x03);
    Lcd_Cmd(0x06);
}

Lcd_Write_Char(char a){
    char temp, y;
    temp=a&0x0F;
    y=a&0x0F;
    RS=1;
    Lcd_Port(y>>4);
    EN=1;
    __delay_us(40);
    EN=0;
    Lcd_Port(temp);
    EN=1;
    __delay_us(40);
    EN=0;
}

void Lcd_Write_String(char *a){
    int i;
    for(i=0;a[i]!='\0';i++){
        Lcd_Write_Char(a[i]);

    }

}


void UART_Init(void){
    TRISC6=0;
    TRISC7=1;

    SPBRG=((_XTAL_FREQ/16)/Baud_rate)-1;
    BRGH=1;

    SYNC=0;
    SPEN=1;

    TXEN=1;
    CREN=1;

    TX9=0;
    RX9=0;


}

char UART_Send_Char(char a){
    while(!TXIF);
    TXREG=a;

}

char UART_Get_Char(){
    if(OERR){
        CREN=0;
        CREN=1;
    }
    while(!RCIF);
    return RCREG;

}


void putch(char a){
    UART_Send_Char(a);

}

void ADC_Initialize(){
    ADCON0=0b01000001;
    ADCON1=0b11000000;
}

unsigned int ADC_Read(unsigned char channel){
    ADCON0 &=0X11000101;
    ADCON0 |=channel<<3;
    __delay_ms(2);
    GO_nDONE=1;
    while(GO_nDONE);
    return((ADRESH<<8)+ADRESL);

}

void ServoRotiraj0(){
    unsigned int i;
    for(i=0;i<50;i++){
        RC0=1;
        __delay_us(800);
        RC0=0;
        __delay_us(19200);
    }
}

void ServoRotiraj90(){
    unsigned int i;
    for(i=0;i<50;i++){
        RC0=1;
        __delay_us(1500);
        RC0=0;
        __delay_us(18500);
    }
}

void ServoRotiraj180(){
    unsigned int i;
    for(int i=0;i<50;i++){
        RC0=1;
        __delay_us(2200);
        RC0=0;
        __delay_us(17800);
    }
}

void main(void) {

    PORTB=0;
    TRISB=0;
    TRISC0=0;
    TRISC1=0;
    TRISC2=0;
    PORTD=0;
    TRISD=0;
    Lcd_Init();
    Lcd_Clear();
    UART_Init();
    float adc;
    float volt, temp;
    int C1, C2, C3, C4, temp1;
    ADC_Initialize();

    char DISPLEJ[10]={0x3F, 0x06, 0x05B, 0x4F, 0x66, 0x6D, 0x7D, 0x07, 0x7F, 0x6F};
    char broj=0;
    int opcija;
    CRVENA=0;
    ZUTA=0;

    do{
        printf("****Dobrodosli!****");
        printf("\r1. Rotiranje servo motora");
        printf("\r2.Brojanje na 7sef displeju");
        printf("\r3.Ispis trenutne temperature na LCD-u");
        printf("\r**************************************");
        printf("\r Molimo vas da izaberete opciju 1, 2 ili 3");
        opcija=UART_Get_Char();
        UART_Send_Char(opcija);
        printf("\r********");

        switch(opcija){
            case '1':
                printf("\r Izabrali ste opciju 1");
                Lcd_Set_Cursor(1,1);
                Lcd_Write_String("Rotiranje servo motora u jednu,");
                Lcd_Set_Cursor(2,1);
                Lcd_Write_String("a zatim u drugu stranu 3 puta");

                for(int i=0;i<3;i++){
                    ServoRotiraj0();
                    CRVENA=1;
                    ZUTA=0;
                    __delay_ms(150);
                    ServoRotiraj180();
                    ZUTA=1;
                    CRVENA=0;
                    __delay_ms(150);
                }
                Lcd_Clear();
                ZUTA=0;
                CRVENA=0;
                break;

            case '2':
                printf("\r\r Izabrali ste opciju 2");
                Lcd_Clear();
                Lcd_Set_Cursor(1,1);
                Lcd_Write_String("Brojanje na 7seg displeju");
                Lcd_Set_Cursor(2,1);
                Lcd_Write_String("0-9, 0-5, 0-2-4-6-8-1-3-5-7-9-0");

                for(int i=0;i<10;i++){
                    PORTB=DISPLEJ[i];
                    __delay_ms(350);
                    if(i==9){
                        __delay_ms(5000);
                        for(int j=0;j<6;j++){
                            PORTB=DISPLEJ[j];
                            __delay_ms(350);
                            if(j==5){
                                for(int k=0;k<9;k++){
                                    if(k%2==0){
                                        PORTB=DISPLEJ[k];
                                        __delay_ms(350);
                                        if(k==8){
                                            for(int z=0;z<10;z++){
                                                if(z%2!=0){
                                                    PORTB=DISPLEJ[z];
                                                    __delay_ms(350);
                                                    if(z==9)
                                                        PORTB=DISPLEJ[0];
                                                }
                                            }
                                        }
                                    }
                                }
                            }
                        }

                    }


                }
                Lcd_Clear();
                break;


            case '3':
                printf("\r\r Izabrali ste opciju 3");
                adc=(ADC_Read(4));
                volt=adc*4,88281;
                temp=volt/10.0;
                temp1=temp*100;

                C1 =(temp1/1000)%10;
                C2 =(temp1/100)%10;
                C3 =(temp1/10)%10;
                C4 =(temp1/1)%10;

                printf("\r\r Temperatura: ");
                printf("%i",C1);
                printf("%i",C2);
                printf(".");
                printf("%i",C3);
                printf("%i",C4);
                printf("C");
                printf("\r\r");
                Lcd_Clear();
                Lcd_Set_Cursor(1,3);
                Lcd_Write_String("Temperatura ");
                Lcd_Set_Cursor(2,5);
                Lcd_Write_Char(C1+'0');
                Lcd_Write_Char(C2+'0');
                Lcd_Write_String(".");
                Lcd_Write_Char(C3+'0');
                Lcd_Write_Char(C4+'0');
                Lcd_Write_Char(0xDF);
                Lcd_Write_String("C");
                __delay_ms(3000);
                Lcd_Clear();
                break;




        }



    }
    while(opcija!=0);



}