/*************************************************************************
                            test.c
                            ------
   Detta ar huvudprogrammet som ar skrivet i ANSI C. Exekveringen av hela
   programpaketet borjar i pmain.68k (lage __main). 

   exp4() anropas fran assemblyprogrammet exp4.68k vid avbrott.
   
   _avben() anropar avben.68k vilket tillater avbrott fran PI/T.
****************************************************************************/

unsigned short int *adleft,*adright,*readbutton,*adread,*latch1,*latch2,*sram,*resettid,*switchen,*minne; /* Ett annat satt att */
                                                      /* definiera adresser */
unsigned short int left,right,refdiod,run,leftadjust,rightadjust,previous,wait,button,secondWheel,go,lr,first,avb2,ontejp,first,kor,latchen,offtejp,hopp,avb5,onigen,switcha,startminne;
 

main()
{
  startminne = 0;
  starten:	
  adleft = (unsigned short int *) 0x01c001; 
  adright = (unsigned short int *) 0x01c000; 
  adread = (unsigned short int *) 0x01c000;
  readbutton = (unsigned short int *) 0x01c002;
  /*latch1 = (unsigned short int *) 0x008000; */
  latch2 = (unsigned short int *) 0x00c000;
  sram = (unsigned short int *) 0x018000;
  minne = (unsigned short int *) 0x018100;
  resettid = (unsigned short int *) 0x00a000;
  switchen = (unsigned short int *) 0x01c003;
  *latch2 = 0x00;
  secondWheel = 0;
  hopp = 0;
  latchen = 0x00;
  run = 1;
  switcha = 0x00;
  previous = 0;
  ontejp = 0;
  offtejp = 0;
  onigen = 0;
  first = 0;
  go = 0;
  lr = 0;
  kor = 0;
  first = 0;
  avb2 = 0;
  avb5 = 0;
  button = 0xff;
  refdiod = 0x00;
  right = 0x00;
  left = 0x00;
  _avben();                 /* tillat avbrott */
  wait = 0;
  waitforbutton(); 
  initdiods();
  waitforbutton();
  startad();

  tejploop:

  if (ontejp == 1)
  {
     if (left <= refdiod || right <= refdiod)
     {
        onigen = 1;
        if (previous == 0)
        {
           hopp = 0x26;       /* hoger motor och hoger lysdiod lyser */
        }
        else
        {
           hopp = 0x89;       /* vanster motor och vanster lysdiod lyser */
        }
        ontejp = 0;
     }
  }
  else if (left > refdiod && right <= refdiod) 
  {
     previous = 0;
     latchen = 0x89;       /* vanster motor och hoger lysdiod lyser */
  }
  else if (left <= refdiod && right > refdiod)
  {
     previous = 1;
     latchen = 0x26;       /* hoger motor och vanster lysdiod lyser */
  } 
  else if (left <= refdiod && right <= refdiod)
  {
     latchen = 0xaf;       /* bada motorerna och bada lysdioderna lyser */
  } 
  if (left > refdiod && right > refdiod)
  { 
     ontejp = 1;
     if (previous == 0)
     {
        latchen = 0x88;       /* vanster motor och ingen lysdiod lyser */
     }
     else
     {
        latchen = 0x24;       /* hoger motor och ingen lysdiod lyser */
     }
  }
  if (switcha > 90 && startminne == 0)
  {
     startminne = 1;
     goto starten;
  }
  goto tejploop;         /* evig loop */
}

  

void startad()
{
  go = 5;
  *switchen = 0x00;
  return;
}


void waitforbutton()
{
  first = 0;
  button = 0xff;
  go = 1;
  while (wait == 0)
  {
    avb2 = 0;
    while (avb2 == 0);
    if (button == 0x00)
    {
      wait = 1;
      go = 0;
    } 
  }
  return;
}


void initdiods()
{
  avb2 = 0;
  go = 2;
  while (avb2 == 0);
  avb2 = 0;
  go = 3;
  while (avb2 == 0);
  avb2 = 0;
  go = 4;
  while (avb2 == 0);
  avb2 = 0;
  refdiod = ((leftadjust + rightadjust)/2);
  blink();
  go = 0;
  return;
}


void blink()
{
  unsigned long int whilei;
  whilei = 0;
  while (whilei < 3)
  {
    blink1();
    whilei++;
  }
  return;
}

void blink1()
{
  unsigned long int whilek,whilel,whilem,whilen;
  whilek = 0;
  whilel = 0;
  whilem = 0;
  whilen = 0;
  while (whilek < 3000)
  {
     *latch2 = 0x02;
     whilek++;
  }
  while (whilel < 3000)
  {
     *latch2 = 0x03;
     whilel++;
  }
  while (whilem < 3000)
  {
     *latch2 = 0x01;
     whilem++;
  }
  while (whilen < 5000)
  {
     *latch2 = 0x00;
     whilen++;
  }
  return;
}

void slask3()
{
return;
}

void slask2()
{
return;
}

void slask()
{
return;
}

exp2()               /* avbrottsprogram */
{ 
  if (go == 10)
  {
    avb2 = 1;
    switcha = *adread;
    *readbutton = 0x00;
  }
  else if (go == 0)
  {
    *readbutton = 0x00;
    return;
  }
  else if (go == 1)
  {
    avb2 = 1;
    if (first == 1)
    {
       button = *adread;
    }
    first = 1;
    *readbutton = 0x00;
    return;
  }
  else if (go == 2)
  {
    avb2 = 1;
    *adleft = 0x00;
    return;
  }
  else if (go == 3)
  {
    avb2 = 1;
    leftadjust = *adread;
    *adright = 0x00;
    return;
  }
  else if (go == 4)
  {
    avb2 = 1;
    rightadjust = *adread;
    *readbutton = 0x00;
    return;
  }
  else
  {
    if (lr == 0)
    {
      switcha = *adread;
      lr = 1;
      *adright = 0x00;
    }
    else if (lr == 1)
    {
      right = *adread;
      lr = 2;
      *adleft = 0x00;
    }
    else 
    {
      left = *adread;
      lr = 0;
      *switchen = 0x00;
    }
  }
  return;
}

exp5()               /* avbrottsprogram */
{
  if (switcha > 0x90)
  {
    *latch2 = *minne;
    minne++;
    *resettid = 0x00;
    return;
  }
  else if (go == 5)
  { 
    avb5 = 1;
    if (onigen > 0)
    {
       *latch2 = hopp;
       *minne = hopp;
       minne++;
       onigen++;
       if (onigen == 20)
       {
          onigen = 0;
       }
    }
    else if (run == 3)
    {
       *latch2 = 0xaf;          /* bada motorerna och bada lysdioderna lyser */   
       *minne = 0xaf;            /* spara undan i minnet */
       minne++;
    }
    else if (run == 4)
    {
       *latch2 = 0x00;          /* ingen motor och ingen lysdiod lyser */   
       *minne = 0x00;            /* spara undan i minnet */
       minne++;
    }
    else
    {
       *latch2 = latchen;       /* skickar det aktuella värdet till latchen */   
       *minne = latchen;         /* spara undan i minnet */
       minne++;
    }
    run++;
    if (run >= 5)
    {
      run = 1;
    }
    *resettid = 0x00;
    return;
  }
  else
  {
    *resettid = 0x00;
    return;
  }
}