/*
 Created on :   3 Mar 2018
 Author:        Maciej Ryba
 */

#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>

// 1-Wire DS18B20 library
#include "1Wire/ds18x20.h"
// 1-Wire DHT11 library
#include "dht11/dht11.h"
//  LCD 16x2 library
#include "LCD/lcd44780.h"

#define heater      (1<<PD6)
#define direction_1 (1<<PA1)
#define direction_2 (1<<PA2)

//map function
uint32_t map(uint32_t x, uint32_t in_min, uint32_t in_max, uint32_t out_min, uint32_t out_max);
void motor_direction(uint8_t direction);            // left = 1, right = 0
void motor_PWM_value(uint8_t duty);                 // duty cycle of PWM ( 0-100% )
void motor_increase_PWM(uint8_t from, uint8_t to);  // soft increase of duty cycle

// volatile variables
volatile uint8_t PWM;                                                   // duty cycle
volatile uint8_t ms10_counter, ms10_delay_flag, seconds, seconds_flag;  // for setting delays

// global variables
uint8_t sensors_counter;
uint8_t subzero, cel, cel_fract_bits; // sign of temperature, total part of measurement, fraction part of measurement
int8_t temperature = 0;
volatile int8_t humidity = 0;

int main()
{
    //LCD settings
    lcd_init();

    lcd_locate(0,4);
    lcd_str("Loading");
    _delay_ms(2000);


    //TIMER0 (delay) settings
    TIMER0_init();

    //TIMER2 (PWM) settings
    TCCR2 |= (1<<WGM21);            // CTC
    TCCR2 |= (1<<CS22);             // prescaler = 64
    TIMSK |= (1<<OCIE2);            // compare match interrupt enable
    OCR2 = 5;

    //PWM, motor pinout settings
    DDRA |= (1<<PA0);       // PWM output
    DDRA |= direction_1;    // direction output
    DDRA |= direction_2;    // direction output

    //Heater
    DDRD |= heater;
    PORTD |= heater;        // heater off

    //interrupts enable
    sei();

    //variables
    uint8_t i = 0;  // for incrementation of loop
    uint8_t x = 0;  // for incrementation of accelaration

    sensors_counter = search_sensors();                 // Amount of sensors ( 1Wire bus )

    lcd_cls();

    for(;;)
    {
        motor_direction(1);

        if ( ms10_delay_flag )
        {
        /* temperature measurement */

            if (  !(ms10_counter%74) )                      // wait for measurement (750ms)
            DS18X20_start_meas(DS18X20_POWER_EXTERN, NULL); // Read temperature, normal mode
            ms10_delay_flag = 0;

        /* temperature measurement */

            humidity = dht11_gethumidity();
            lcd_locate(1,0);
            lcd_int(humidity);

/*------------------------------------------------------------ temperature control ----------------------------------------------------------*/
        if( DS18X20_OK == DS18X20_read_meas(gSensorIDs[0], &subzero, &cel, &cel_fract_bits) )   // Read temperature
        {
            lcd_locate(0,0);
            if( subzero ) lcd_str("-");     // if negative temperature show "-"
            else lcd_str(" ");
            lcd_int(cel);                   // total part of temperature
            lcd_str(".");
            lcd_int(cel_fract_bits);        // fraction part of temperature
            lcd_str(" C");

            /*      hysteresis loop         */
                if ( cel <= 22  )
                {
                    PORTD &= ~heater;
                }

                if ( cel >= 24 )
                {
                    PORTD |= heater;
                }
            /*      hysteresis loop         */


                    if ( cel >= 25 && cel <= 27 )
                    {
                        if ( x < 25 )
                        {
                                if ( !(ms10_counter%9) )    // delay 100ms
                                x++;
                                motor_PWM_value(x);
                                ms10_delay_flag = 0;
                        }
                    }
                    else if ( cel >= 28 && cel <= 30 )
                    {
                        if (x < 40)
                        {
                                if ( !(ms10_counter%9) )    // delay 100ms
                                x++;
                                motor_PWM_value(x);
                                ms10_delay_flag = 0;
                        }
                    }
                    else if( cel >= 31 )
                    {
                        if ( x < 60 )
                        {
                                if ( !(ms10_counter%9) )    // delay 100ms
                                x++;
                                motor_PWM_value(x);
                                ms10_delay_flag = 0;
                        }
                    }
                    else
                    {
                        x = 0;              // if temperature < 25, fan stop
                        motor_PWM_value(0);
                    }
                }/* end of measurement loop */
            else
            {
                lcd_cls();
                lcd_locate(1,0);
                lcd_str("Error");
            }
        }/* end of delay if  */
/*---------------------------------------------------------- temperature control ----------------------------------------------------------*/
    } /* end of infinite loop */
}/* end of main loop */




uint32_t map(uint32_t x, uint32_t in_min, uint32_t in_max, uint32_t out_min, uint32_t out_max)
{
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void motor_direction(uint8_t direction)
{
    if(direction)
    {
        PORTA |= direction_1;
        PORTA &= ~direction_2;
    }
    else
    {
        PORTA &= ~direction_1;
        PORTA |= direction_2;
    }
}

void motor_PWM_value(uint8_t duty)
{
    PWM = map(duty, 0, 100, 0, 255);
}

void motor_increase_PWM(uint8_t from, uint8_t to)
{
    uint8_t i;

    if ( ms10_delay_flag )
    {
        for ( i = from; i < to; i++ )
        {
            if ( !(ms10_counter%9) )
            motor_PWM_value(i);
            ms10_delay_flag = 0;
        }
    }
}

// PWM interrupt
ISR(TIMER2_COMP_vect)
{
    static uint8_t counter; // counter for compare with PWM ( duty cycle )

    if ( counter >= PWM )
    {
        PORTA &= ~(1<<PA0);
    }
    else
    {
        PORTA |= (1<<PA0);
    }

    counter++;
}