//ICC-AVR application builder : 2008-5-18 11:09:55
// Target : M16
// Crystal: 1.0000Mhz

#include <iom16v.h>
#include <macros.h>
# define Read_PD0       ((PIND<<7)>>7)  //平衡傳感器
# define Read_PD1       ((PIND<<6)>>7)  //平衡傳感器
# define Read_PD2       ((PIND<<5)>>7) //左右傳感器
# define Read_PD3       ((PIND<<4)>>7) //左右傳感器    

unsigned char  sec,second,mini,minute=0,minisecond,miao,fen;
void qianjin2(void);
void run2(void);
void run3(void);
void runback(void);
void qianjin1(unsigned i) ;
void port_init(void)
{
 PORTA = 0x00;
 DDRA  = 0x00;
 PORTB = 0x00;
 DDRB  = 0x00;
 PORTC = 0x00; //m103 output only
 DDRC  = 0xff;
 PORTD = 0x00;
 DDRD  = 0xc0;
}
///////////////計時中斷函數/////////////////////////////////////////
void time_inite(void)
{
TCCR2|= 0x05;//分頻比64
 mini=0;
 second=0;
 minisecond=0;
}

#pragma interrupt_handler  time2_isr:5
void  time2_isr(void)//minute\second為兩個最大為99的整數
 {
 TCNT2=0xb2;
 minisecond++;
 if (minisecond<100)//計算總時間
	  	;
	else
	 {
		 minisecond=0;
		 
		 if (second<60)second++;
		 else  
		    {
			   second=0;
			   minute++;
			   if(minute==100)
			      minute=0;
	     }
		 }

  miao=second;
  fen=minute;
} 
///////////////計時中斷函數/////////////////////////////////////////

//call this routine to initialize all peripherals
void init_devices(void)
{
 //stop errant interrupts until set up
 CLI(); //disable all interrupts
 port_init();

 MCUCR = 0x00;
 GICR  = 0x00;
 TIMSK = 0x00; //timer interrupt sources
 SEI(); //re-enable interrupts
 TIMSK|=0x40;//開始計時
 //all peripherals are now initialized
}
void delay_us(unsigned int  time)
{//微秒級延時程序     
 do
 {
  time--;
 }	
  while (time>1);
}	

void delay_ms(unsigned int time)
{//毫秒級延時程序
 while(time!=0)
   {		
    delay_us(1000);
      time--;
   }
 }  
 void delay_s(unsigned int time)
{//毫秒級延時程序
 while(time!=0)
   {		
    delay_ms(1000);
      time--;
   }
 }  
 void run3()
{
   while(1)
   { 
      if((Read_PD2==1)&&(Read_PD3==1))
      {
         PORTD&=~0x80;
         PORTC&=0x00;
         runback();
	  }
      else if((Read_PD2!=1)&&(Read_PD3==1))
      {
         PORTD&=~0x80;
	     PORTC|=0x80;
	     runback();
        // PORTD&=0x00;
         PORTC&=0x00;
      }
      else if((Read_PD2==1)&&(Read_PD3!=1))
      { 
      // PORTD|=0x80;
	   PORTC&=0x00;
	   runback();
      // PORTD&=0x00;
       PORTC&=0x00;
       }
       else 
       {      
          PORTD&=0x00;
          PORTC&=0x00;
       }
    }
  
}

void run2()
{
   while(1)
   { 
     /* if((Read_PD2==1)&&(Read_PD3==1))
      {
         //PORTD&=0x00;
        // PORTC&=0x00;
        
		 PORTD&=~0x80;
         PORTC&=~0x80;
		 TIMSK&=~0x40;
		 second=0;
		 TIMSK|=0x40;//開始計時
		 PORTD|=0x40; //亮燈
		 while (second<2)
		 {
		    PORTD&=~0x80;
            PORTC&=~0x80;
		 }
		 PORTD&=~0x40;  //關燈
	     //run3();
	  }
      else */if((Read_PD2!=1)&&(Read_PD3==1))
      {
		 PORTD&=~0x80;
	     PORTC|=0x80;
	     qianjin2();
         PORTD&=~0x80;
         PORTC&=~0x80;
      }
      else if((Read_PD2==1)&&(Read_PD3!=1))
      { 
         PORTD|=0x80;
	     PORTC&=~0x80;
	     qianjin2();
         PORTD&=~0x80;
         PORTC&=~0x80;
      }
      else if((Read_PD2!=1)&&(Read_PD3!=1))
      {
         qianjin2();
      }
	  else
	  {
	   //PORTD|=0x40;
	  } ;
   }
}

void runback()
{
      PORTC|=0x01;   //調速
	  delay_ms(1);
	  PORTC&=0x00;
	  delay_ms(2); 
 }
 
void banalance()
{ 
   TIMSK&=~0x40;	
   while(1)
   {
      if((Read_PD0==1)&&(Read_PD1==1))
      {
         PORTC&=0x00;
	     second=0;
		 TIMSK|=0x40;//開始計時
		 PORTD|= 0x40; //亮燈
		 while (second<2)
		 {
		     //PORTD&=0x00;
             PORTC&=0x00;
		 }
		  PORTD&= ~0x40;  //關燈
		 run2();
	  }
      else if((Read_PD0!=1)&&(Read_PD1==1))//后退    慢
      {
         PORTC|=0x01;   //調速
	     delay_ms(4);
	     PORTC&=0x00;
	     delay_ms(1);
      }
      else if((Read_PD0==1)&&(Read_PD1!=1))//前進
      {
   	   	 PORTC|=0x02;    //調速
         delay_ms(2);
         PORTC&=0x00;
         delay_ms(1);
	  }
      else 
      {     
         PORTC&=0x00;   
      }
   }
}

void banalance1()
{ 
   TIMSK&=~0x40;	
   while(1)
   {
      if((Read_PD0==1)&&(Read_PD1==1))
      { PORTD|= 0x40; //亮燈
         PORTC&=0x00;
	    /* second=0;
		 TIMSK|=0x40;//開始計時
		
		 while (second<2)
		 {
		     //PORTD&=0x00;
             PORTC&=0x00;
		 }
		  PORTD&= ~0x40;  //關燈
		 //run2();*/
	  }
      else if((Read_PD0!=1)&&(Read_PD1==1))//后退    慢  亮燈
      { PORTD&= ~0x40; 
         PORTC|=0x01;   //調速
	     delay_us(15);
	     PORTC&=0x00;
	     delay_us(3);
      }
      else if((Read_PD0==1)&&(Read_PD1!=1))//前進
      { PORTD&= ~0x40; 
   	   	 PORTC|=0x02;    //調速
         delay_ms(2);
         PORTC&=0x00;
         delay_ms(1);
	  }
      else 
      {   PORTD&= ~0x40;    
         PORTC&=0x00;   
      }
   }
}
void qianjin1(unsigned i) //上坡
{ 
    unsigned int j;
    for(j=0;j<i;j++)
    {
	   PORTC|=0x02; //走
       delay_ms(2);  //可調
       PORTC&=0x00; //停
	   delay_ms(1);//可調
    }
}
 void qianjin2()//下坡
 { 
 PORTC|=0x02;
   delay_ms(2);
   PORTC&=0x00;
	delay_ms(1);
 }
 
 
 void main()
{
   time_inite();
   init_devices();
   while(1)
   {//run2();
      qianjin1(80);
    banalance1();
	 
   }
}

/*
  if((Read_PD0==1)&&(Read_PD1==1))
   {
      PORTC&=0x00;
    		  
		
	 }

   else if((Read_PD0!=1)&&(Read_PD1==1))//后退
   {
      PORTC|=0x01;
	  delay_ms(7);
	PORTC&=0x00;
	delay_ms(1);
   }
   else if((Read_PD0==1)&&(Read_PD1!=1))//前進
   { 
  //PORTD|=0x80;  //前行右拐
   PORTC|=0x02;
   delay_ms(2);
   PORTC&=0x00;
	delay_ms(2);
	
	//PORTD&=0x00;
	
   }
   else 
   {
        
   PORTC&=0x00;
	   
   }
   
  if((Read_PD2==1)&&(Read_PD3==1))
   {
       PORTD&=0x00;
   PORTC&=0x00;
      
	 }

   else if((Read_PD2!=1)&&(Read_PD3==1))
   {
      PORTD&=0x00;
	PORTC|=0x80;
   }
   else if((Read_PD2==1)&&(Read_PD3!=1))
   { 
   PORTD|=0x80;
	   PORTC&=0x00;
     
   }
   else 
   {
          PORTD&=0x00;
   PORTC&=0x00;
	   
   }
}   */