//中斷方式發(fā)送PWM脈沖，負(fù)脈沖，變化范圍為1MS~2MS。INT0為教練接口輸入負(fù)脈沖,INT1為教練接口2，輸入正脈沖后自動翻轉(zhuǎn)，
//外部中斷接口打開上拉。隔離脈沖為500US
//有一個教練允許開關(guān)，打開后進入死循環(huán)，并允許外部中斷，前提條件是有信號，用定時器0進行信號有無判斷
//定時器1采用比較匹配方式觸發(fā)中斷進行信號發(fā)送


#include <iom8v.h>
#include <macros.h>

#define Uchar unsigned char
#define Uint unsigned int


#define nop() asm("nop")
#define _nop_() asm("nop")



#define PB PORTB
#define PC PORTC
#define PD PORTD
 
#define IN0 PIND&0x04
#define IN1 PIND&0x08

#define LEDH PB|=0x01
#define LEDL PB&=~0x01

#define BUTTON1 PINB&0x02
#define BUTTON2 PINB&0x04
#define BUTTON3 PINB&0x08
#define BUTTON4 PINB&0x10
#define BUTTON5 PINB&0x20

#define OUTH PD|=0x80
#define OUTL PD&=~0x80

#define LOW_TIME 400
#define SWH_time 900
#define SWL_time 100

Uint ch_time[9]={1000,1000,1000,1000,1000,1000,1000,1000,1000};//輸出用
Uint time[9];//輸出緩存
Uchar ch_counter=0;//通道計數(shù),用來與數(shù)據(jù)采集同步
Uchar input=0;//信號輸入有無標(biāo)志
Uchar train=0;//訓(xùn)練開始表示，防止切換時發(fā)生抖舵

void port_init(void)
{
 PORTB = 0x3E;
 DDRB  = 0x01;
 PORTC = 0x00; //m103 output only
 DDRC  = 0x00;
 PORTD = 0x0C;
 DDRD  = 0x80;
}

//c輸入

//TIMER0 initialize - prescale:1024
// desired value: 1Hz
// actual value: Out of range
void timer0_init(void)
{
 TCCR0 = 0x00; //stop
 TCNT0 = 0x00 /*INVALID SETTING*/; //set count
 //TCCR0 = 0x05; //start timer
}

#pragma interrupt_handler timer0_ovf_isr:10
void timer0_ovf_isr(void)
{
 input=0;
 train=0;
}

//TIMER1 initialize - prescale:8
// WGM: 0) Normal, TOP=0xFFFF
// desired value: 1Hz
// actual value: Out of range
void timer1_init(void)
{
 TCCR1B = 0x00; //stop
 TCNT1H = 0x00 /*INVALID SETTING*/; //setup
 TCNT1L = 0x00 /*INVALID SETTING*/;
 OCR1AH = 0x00 /*INVALID SETTING*/;
 OCR1AL = 0x00 /*INVALID SETTING*/;
 OCR1BH = 0x00 /*INVALID SETTING*/;
 OCR1BL = 0x00 /*INVALID SETTING*/;
 ICR1H  = 0x00 /*INVALID SETTING*/;
 ICR1L  = 0x00 /*INVALID SETTING*/;
 TCCR1A = 0x00;
 TCCR1B = 0x02; //start Timer
}

#pragma interrupt_handler timer1_compa_isr:7
void timer1_compa_isr(void)
{
 //compare occured TCNT1=OCR1A//本函數(shù)來自4Vf改裝系統(tǒng)，有部分改變
 static Uchar output_static=1;//輸出狀態(tài)，0代表即將輸出一個低電平，1代表即將輸出一個高電平
                           //第一次發(fā)信號先發(fā)一個低電平
 	
Uchar counter;//普通計數(shù)器用來拷貝數(shù)據(jù)

					   
output_static=!output_static;
  
switch(output_static)
{
case 0:OUTH;
       TCNT1=0;//定時器清零
	   OCR1A=LOW_TIME;
	   if(ch_counter==9)ch_counter=0;//計數(shù)清零同步放行
break;

case 1:OUTL;
       TCNT1=0;//定時器清零
	   OCR1A=ch_time[ch_counter];  
	        if(ch_counter==8)//最后一個高電平是同步電平
	   {
	      for(counter=0;counter<=8;counter++)
	      {
	      ch_time[counter]=time[counter]+600;
		  
	      }
	   }
	   ch_counter++;
}// switch(output_static)

}//void timer1_compa_isr(void)



//ADC initialize
// Conversion time: 104uS
void adc_init(void)
{
 ADCSR = 0x00; //disable adc
 ADMUX = 0x00; //select adc input 0
 ACSR  = 0x80;
 ADCSR = 0x86;
}

//Watchdog initialize
// prescale: 32K 
void watchdog_init(void)
{
 WDR(); //this prevents a timout on enabling
 WDTCR = 0x18;
 WDTCR = 0x09; //WATCHDOG ENABLED - dont forget to issue WDRs
 
}



//call this routine to initialize all peripherals
void init_devices(void)
{
 //stop errant interrupts until set up
 CLI(); //disable all interrupts
 
 port_init();
 timer0_init();
 timer1_init();
 adc_init();
 OSCCAL=0xb3;
 watchdog_init();
 MCUCR = 0x05;
 //GICR//中斷開關(guān)應(yīng)在MAIN中用開關(guān)和信號有無控制
 GICR  = 0x00;
 TIMSK = 0x11; //timer interrupt sources
 SEI(); //re-enable interrupts
 //all peripherals are now initialized
}



#pragma interrupt_handler int0_isr:2
void int0_isr(void)
{
 //external interupt on INT0 負(fù)輸入
 TCNT0 = 0x00 ;//有信號
 input=1;
 if(train)//先不忙發(fā)送
 switch(IN0)
 {
 case 0:
 OUTL;
 break;
 case 0x04:
 OUTH;
 }
}

#pragma interrupt_handler int1_isr:3
void int1_isr(void)
{
 //external interupt on INT1 正輸入自動反向
 TCNT0 = 0x00 ;//有信號
 input=1;
 if(train)//先不忙發(fā)送
  switch(IN1)
 {
 case 0:
 OUTH;
 break;
 case 0x08:
 OUTL;
 }
 
}



void Putchar (Uchar c)
{
while(!(UCSRA&(1<<UDRE)));
UDR=c;
}


Uint ReadADC (Uchar channel)
{
Uint int1,int2;
ADMUX&=~0x1F;
ADMUX|=channel;
ADCSRA|=0x40;
while(~ADCSRA&0x10){}
ADCSRA|=0x10;
int2=ADCL;
int1=ADCH;
int1<<=8;
return (int1+int2);
}


main()
{

Uint batt;//電量
Uint temp[4];//濾波用
Uint youmen ;//油門緩存
Uchar counter ;//采集計數(shù)
Uchar safe=1,safedelay=0;//油門保護
Uchar warning_frequency;//警告頻率
Uchar warning_counter=0;
Uchar ledonof=0;
Uchar battcheck=1;//檢測電量許可
Uchar checken=200;//等待電壓穩(wěn)定

init_devices();


while(1)
{


for(counter=0;counter<=3;counter++)
{
temp[counter]=ReadADC (counter);
if((temp[counter]>time[counter]+1)||(temp[counter]<time[counter]-1))time[counter]=temp[counter];

}

batt=ReadADC (4);

if(BUTTON1)time[4]=SWL_time;else time[4]=SWH_time;
if(BUTTON2)time[5]=SWL_time;else time[5]=SWH_time;
if(BUTTON3)time[6]=SWL_time;else time[6]=SWH_time;
if(BUTTON4)time[7]=SWL_time;else time[7]=SWH_time;

time[8]=12000-time[0]-time[1]-time[2]-time[3]-time[4]-time[5]-time[6]-time[7];

WDR();

if(safe)
{
youmen=time[2];
time[2]=0;
if(safedelay>3)
 {
  if(youmen<50)safe=0;
 }
else safedelay++;
}


if(!(BUTTON5))
{
TCCR0 = 0x05; //start timer//開始判斷有無信號
GICR  = 0xC0;//外中斷開
  if (input)
  {
  TCCR1B = 0x00;//原來的信號發(fā)送關(guān)閉
  train=1;//開始訓(xùn)練
  ch_counter=0;//等待放行
  }
  else
  {
  TCCR1B = 0x02;
  train=0;//退出時關(guān)閉訓(xùn)練
   ////原來的信號發(fā)送打開
  }
}//if(!(BUTTON5))
else
{
GICR  = 0x00;//外中斷關(guān)
TCCR0 = 0x00;
TCNT0 = 0x00;
train=0;
input=0;
TCCR1B = 0x02;
}

////////////////////////////

if(checken==0)
{
if(battcheck)
{
if(batt<450) //進入報警狀態(tài)
{
  if(batt>393) //進入頻閃狀態(tài)
{
warning_frequency=batt-390;
warning_counter++;
if(warning_counter>=warning_frequency)
{
warning_counter=0;
ledonof=!ledonof;
if(ledonof)LEDH;
else LEDL;
}
}
 else {LEDH;battcheck=0; }//進入長亮狀態(tài),不允許電壓回升

}

else LEDL;  //關(guān)閉
}
}//if(checken==0)
else checken--;


////////////////////////////

while(ch_counter);

}//while(1)

}