/*----------------------------------------------------------------------------*/
#include "uart.h"
#include "timer.h"
#define FPSIZE 2
#include "utils_float.h"
#define _LCD_4BIT_INTERFACE_
/** DB4-DB7 => P0 (UPPER NIBBLE) */
/** E => P0.2 : NEEDS -ve EDGE */
/** R/W => P0.1 : 0=WR 1=RD */
/** RS => P0.0 : 0=CMD 1=DAT */
#include "textlcd.h"
/*----------------------------------------------------------------------------*/
/**
 * Testing IR module and HC-SR04 ultrasonic sensor module
 * - display on both uart and lcd
**/
/*----------------------------------------------------------------------------*/
MY1SBIT(IRMOD,PIN10);
MY1SBIT(TRIG,PIN16);
MY1SBIT(ECHO,PIN17);
/*----------------------------------------------------------------------------*/
MY1SBIT(TEST_IR,PIN14);
MY1SBIT(TEST_HC,PIN15);
/*----------------------------------------------------------------------------*/
#define FLAG_IR 0x01
#define FLAG_HC 0x02
/*----------------------------------------------------------------------------*/
void main(void) {
	unsigned char wait;
	unsigned int tval,loop, flag;
	float fval, dist;
	char buff[16];
	uart_init();
	uart_puts("\r\nTESTING NMK322 STUFFS\r\n");
	lcd_init();
	lcd_goto_line1();
	lcd_puts("TESTKIT 4 NMK322");
	timer_init();
	flag = 0;
	while (1) {
		if (TEST_IR==0) {
			if ((flag&FLAG_IR)==0) {
				lcd_goto_line1();
				lcd_puts("TEST 4 IR MODULE");
				uart_puts("\r\nTESTING IR MODULE\r\n");
				flag = FLAG_IR;
			}
			lcd_goto_line2();
			lcd_puts("                ");
			lcd_goto_line2();
			lcd_puts("Waiting... ");
			uart_puts("\r\nWaiting... ");
			while (IRMOD); // outputs logic low when obstacle detected
			lcd_puts("|*");
			uart_puts("|*");
			while (!IRMOD);
			lcd_puts("|");
			uart_puts("|\r\n");
			for (loop=65000;loop;loop--);
		}
		if (TEST_HC==0) {
			if ((flag&FLAG_HC)==0) {
				lcd_goto_line1();
				lcd_puts("TEST HC-SR04 MOD");
				uart_puts("\r\nTESTING HC-SR04 MODULE\r\n");
				flag = FLAG_HC;
			}
			lcd_goto_line2();
			lcd_puts("                ");
			lcd_goto_line2();
			timer_prep(0);
			TRIG = 1;
			for (wait=10;wait;wait--); // arounf 10us?
			TRIG = 0;
			while (!ECHO); timer_exec();
			while (ECHO); timer_stop();
			tval = ((unsigned int)TH0<<8)|TL0;
			fval = (float)tval * 1.085; // in us
			dist = fval / 58.0; // in cm
			lcd_puts("Dist:");
			uart_puts("-- Distance=");
			float2str(buff,dist);
			lcd_puts(buff);
			lcd_puts("cm");
			uart_puts(buff);
			uart_puts(" cm\r\n");
			for (loop=65000;loop;loop--);
		}
	}
}
/*----------------------------------------------------------------------------*/