#include <ioavr.h>
#include <intrinsics.h>
#include <string.h>
#include <stdlib.h>
#define E 0
#define RS 1
#define delTime 30000
#define delTime1 9000
#define LCDPORT PORTB
#define LCDCTRL PORTC

static volatile int distance = 0;//interger  to access all though the program
static volatile int i=0;
static volatile long q=0;
static volatile long z=delTime1;
//static volatile int timerVar=0;
static volatile int mode=0;

void init (void)
{
    //DDRD=0xFF;
    DDRD=0x10;//0b00010000; the 4th as output for triggering, rest are the inputs
    PORTD=0x00;
    DDRC=0xFF;
    DDRB=0xFF;
    EICRA |= (1 << ISC00);
    EICRA |= (1 << ISC11);// zmiana logiczna
    EIMSK |= (1 << INT0);
    EIMSK |= (1 << INT1);// int 1 wlacz
    TCCR1B = 0;
    TCCR0B|=(1<<CS00);
    TIMSK0|=(1<<TOIE0);

}

void send (unsigned char data){
    LCDCTRL|=(1<<E);
    LCDPORT=(data>>4);
    __delay_cycles(1000);
    LCDCTRL&=~(1<<E);
  __delay_cycles(1000);
  LCDCTRL|=(1<<E);
    LCDPORT=(data);
    __delay_cycles(1000);
    LCDCTRL&=~(1<<E);
    __delay_cycles(1000);
}


void initlcd (void){
    __delay_cycles(100000);
    LCDCTRL&=~(1<<RS);
    send(0x33);
    send(0x32);
    send(0x28);
    send(0x06);
    send(0x0C);
    send(0x01);
    __delay_cycles(100000);

}
void clear (void){
    LCDCTRL&=~(1<<RS);
    send(0x01);
    __delay_cycles(400000);
    LCDCTRL|=(1<<RS);

}

void goTo10 (void){
    LCDCTRL&=~(1<<RS);
    send(0x8A);
   __delay_cycles(6000);
    LCDCTRL|=(1<<RS);
}
void goTo0 (void){
    LCDCTRL&=~(1<<RS);
    send(0x80);
   __delay_cycles(6000);
    LCDCTRL|=(1<<RS);
}


int main(void)
{

    int r;
    int q;
    int check=mode;;
    init();
    initlcd();
    LCDCTRL|=(1<<RS);

      char txt[5];
      char n1[]="Object in ";
//      char tekst[]="Distance =";
//      char a3[]="Object in D";
//      char s4[]="Searching...";
      txt[3]='c';
      txt[4]='m';
   __enable_interrupt();

    while(1)
      {
        if(mode==0)
        {
          if(mode!=check)
          {
            clear();
//            for(q=0;q<10;q++)
//              {
//                 send(w2[q]);
//              }
            check=mode;
          }

          if(distance<1000 && distance>=100/*&& z==delTime1*/)
            {
                txt[2]=distance%10+'0';
                distance=distance/10;
                txt[1]=distance%10+'0';
                distance=distance/10;
                txt[0]=distance%10+'0';

                for(r=0;r<5;r++)
                {
                  send(txt[r]);
                }
                goTo0();
                z=0;

                __delay_cycles(5000000);
            }
             else if(distance<100 && distance>=10/*&& z==delTime1*/)
            {
                txt[2]=distance%10+'0';
                distance=distance/10;
                txt[1]=distance%10+'0';
                txt[0]=0+'0';

                for(r=0;r<5;r++)
                {
                  send(txt[r]);
                }
                goTo0();
               z=0;
                __delay_cycles(5000000);
            }
            else if(distance<10 && distance>0/*&& z==delTime1*/)
            {
                txt[2]=distance%10+'0';
                txt[1]=0+'0';
                txt[0]=0+'0';

                for(r=0;r<5;r++)
                {
                  send(txt[r]);
                }
                goTo0();
              z=0;
                __delay_cycles(5000000);
            }
            else if(distance<0/*&& z==delTime1*/)
            {
                send('-');
                send('-');
                send('-');
                goTo0();

                 z=0;
            }
        }
        else
        {
         if(mode!=check)
          {
            clear();
            for(q=0;q<10;q++)
              {
                 send(n1[q]);
              }
        //    __delay_cycles(8000000000);
            check=mode;
          }
          if(distance<100&&distance>=50)
          {
//              for(q=0;q<11;q++)
//              {
//                 send(n1[q]);
//              }
              send('D');
              send('1');
              goTo10();

              __delay_cycles(800000);
          }
          else if(distance<50&&distance>=20)
          {
//              for(q=0;q<11;q++)
//              {
//                 send(w2[q]);
//              }
              send('D');
              send('2');
              goTo10();

              __delay_cycles(800000);
          }
          else if(distance<20&&distance>=0)
          {
//              for(q=0;q<11;q++)
//              {
//                 send(a3[q]);
//              }
              send('D');
              send('3');
              goTo10();

              __delay_cycles(800000);
          }
          else if(distance>=100)
          {
              send('-');
              send('-');
              goTo10();

          }

        }

          PORTD|=(1<<PD4);

          __delay_cycles(300);///trigger

          PORTD &=~(1<<PD4);
      }
}



#pragma vector = TIMER0_OVF_vect
__interrupt void click()
{
  if(q<delTime)
  {
    q++;
  }
//  if(z<delTime1)
//  {
//    z++;
//  }
}




#pragma vector = INT0_vect
__interrupt void mier()
{
    if (i==1)//when logic from HIGH to LOW
    {

        TCCR1B=0;//wylaczamy counter

        /*
          16MHz=1/T => T=0.0625us
          (0.0625us*340m/s)/2=0.001063 cm
           distance=TCNT1*0.001063  with prescaler =1
           distance=TCNT1*0.001063*8 with prescaler =8
           1/900=0.0011
        */


        if(TCNT1<1600)
        {
          distance = TCNT1/108;
        }else if(TCNT1>=1600 && TCNT1<6500)
        {
            distance=TCNT1/114;
        }
        else if(TCNT1>=6500 /*&& TCNT1<18000*/)
        {
            distance=TCNT1/115;
        }
//        else if(TCNT1>=18000 )
//        {
////          distance = (TCNT1/9)*8;
////          distance=distance/101;
//            distance=TCNT1/116;
//           // distance=distance/910;
//        }
         if(distance>300)
        {
          distance=-1;
        }

        if(TCNT1<400)
        {
          distance=-1;
        }

        TCNT1=0;//reset

        i=0;
    }

    if (i==0)
    {
        //TCNT1=0;
        //TCCR1B|=(1<<CS10);//wlacznie counter
        TCCR1B|=(1<<CS11);
        i=1;

    }

}

 #pragma vector = INT1_vect
__interrupt void switchMode()
{
  if(q==delTime)
  {
    if(mode==0)
  {

    mode=1;


  }else if (mode==1)
  {

    mode=0;


  }
  q=0;
  }

}