//ICC-AVR application builder : 2007-10-22 17:14:30
// Target : M16
// Crystal: 4.0000Mhz

#include <iom16v.h>
#include <macros.h>
int value[6];                             //記錄各傳感器信號
int result=0;
unsigned char admux[]={0x00,0x01,0x02,0x03,0x04,0x05};
unsigned char adi=0,k0=2;              //記憶路況
void port_init(void)
{
 PORTA = 0x00;
 DDRA  = 0x00;
 PORTB = 0x00;
 DDRB  = 0x0c;
 DDRD|=0x80;
 PORTD=0x00;
}

//TIMER0 initialize - prescale:64
// WGM: PWM Phase correct
// desired value: 120Hz
// actual value: 122.549Hz (2.1%)
void timer0_init(void)
{
 TCCR0 = 0x00; //stop
 TCNT0 = 0x01; //set count
 OCR0  = 110;  //set compare
 TCCR0 = 0x63; //start timer
}

void timer2_init(void)
{
 TCCR2 = 0x00; //stop
 ASSR  = 0x00; //set async mode
 TCNT2 = 0x01; //setup
 OCR2  = 45;
 TCCR2 = 0x64; //start
}


//ADC initialize
// Conversion time: 104uS
void adc_init(void)
{
 ADCSR = 0x00; //disable adc
 ADMUX = 0x00; //select adc input 0
 ACSR  = 0x80;
 ADCSR = 0xCD;
}

#pragma interrupt_handler adc_isr:15
void adc_isr(void)
{
  value[adi]=ADCL;            //Read 8 low bits first (important)
  value[adi]|=(int)ADCH << 8; //read 2 high bits and shift into top byte
  adi++;
  if(adi==6)
	adi=0;
  ADMUX=admux[adi];
  ADCSR |=(1<<ADSC);
}

//call this routine to initialize all peripherals
void init_devices(void)
{
 //stop errant interrupts until set up
 CLI(); //disable all interrupts
 port_init();
 adc_init();
 timer2_init();
 MCUCR = 0x00;
 GICR  = 0x00;
 TIMSK = 0x00; //timer interrupt sources
 SEI(); //re-enable interrupts
 //all peripherals are now initialized
}
void delay(unsigned char n)
    {
	   unsigned short int j;
	   while(n--)
	      {
		     j=5000;
		     while(--j);
		  }
    }
void contrl(unsigned char num)
{
    while(1)
	   { 
		  unsigned char i,k;
		  k=50;
		  for(i=0;i<6;i++)
		     {
			     if(value[i]>result)
					    k=i;
		     }
		  if(k==50)                         //判斷是否沖出跑道還是在直線上
		      {
			     if(k0==2||k0==3)
				     k=50;
				 else if(k0==0||k0==5||k0==60)
				     k=60;
			  } 
		  switch(k)
	        {
		         case 0:OCR0=70;OCR2=37;break;
			     case 1:OCR0=90;OCR2=39;break;
			     case 2:OCR0=100;OCR2=42;break;
			     case 3:OCR0=100;OCR2=48;break;
				 case 4:OCR0=90;OCR2=51;break;
				 case 5:OCR0=70;OCR2=53;break;
			     case 50:OCR0=num;OCR2=45;break;
				 case 60:OCR0=num;break;
			     default:break;
	        }
			k0=k;
        }
}
void main(void)
{
    char p=0;
	unsigned char speed;
    init_devices();
	result+=400;
	while(p==0)
	  {
		 p=PINB&0x13; 
      }
	timer0_init();
	switch(p)
	  {
	      case 0x01:speed=110;break;
		  case 0x02:speed=120;break;
		  case 0x10:speed=130;break;
      }
	contrl(speed);
}