#include <pic.h>
#include "lcd.h"
#include <stdlib.h>
#include "delay.h"


#define	BN			RA0		// Winding A
#define	AN			RA2		// Winding A/
#define	A			RA3		// Winding B
#define	B			RA1		// Winding B/

#define	CL			RB0		// Close push button
#define	OP			RB1		// Open push button
#define	CI			RB2		// Close indicator led
#define	OI			RB3		// Open indicator led

#define	CLS			RB6		// Close limit switch
#define	OLS			RB7		// Open limit switch


__CONFIG(WDTDIS  & XT & PWRTEN) ;

int time2;
int blink;
unsigned char ch;
unsigned char pos;
unsigned char speed;
bit OPF;
bit CLF;


//------ interrupts handling -------------------------------------

void interrupt tc_int(void)
		{			
		if(T0IF)							// Timer0 interrupt
			{	
				T0IF=0;					// clear interrupt bit				
				if(time2>0) --time2;
				//TMR0=0x00;					// Adjust TMR0 overrun to 256*0,2e-6*8= 0,4096ms				
			}	
		}		
//----------------------------------------------------------------

void Read(void);
void initialize(void);
void Open(void);
void Close(void);
void Openstepping(void);
void Closestepping(void);
void Indicate(unsigned char ch);
void Positionindication(unsigned char pos );
void Toggle(void);


#define t1 22	//  timer 0 12 x 0.4096 ms = 0,4915ms

	time2=t1;
void main(void)
{	
	initialize();		
	while(1)	
	{
	if (time2==0)Read();

	if((OPF==1)&&(OLS==0))
		{
		pos=0;
		Positionindication (pos);
		}
	if((CLF==1)&&(CLS==0))
		{
		pos=1;
		Positionindication (pos);
		}
	if (OPF==1) Openstepping();	
	if (CLF==1) Closestepping();

	A=0;
	B=0;
	AN=0;
	BN=0;
	}	
}



void Openstepping()
{	
	OPF=0;
	CLF=0;
	speed=3;		
while (OLS==1)
	{
	if(CLF==1)
	{
	CLF=0;
	break;
	}
	if (time2==0)Read();
	
	ch=0;
	Open();
	Indicate(ch);
	//if(OPF==1)Toggle();
	}	
	OI=0;
}

void Closestepping()
{	
	speed=	3;
while (CLS==1)
	{
	if (OPF==1)
	{
	OPF=0;
	break;
	}
	if (time2==0)Read();	
	ch=1;
	Close();
	Indicate(ch);
	//if(CLF==1)Toggle();
	}	
	CI=0;
}


void Read()
{	
	GIE=0;
	OPF=OP;
	CLF=CL;	
	time2=t1;
	GIE=1;
}		


void Open()
{
GIE=0;
	
// ---FullStep0
A=1;
BN=0;
AN=0;
B=1;
DelayMs(speed);
// ---FullStep1
A=0;
BN=0;
AN=1;
B=1;
DelayMs(speed);
// ---FullStep2
A=0;
BN=1;
AN=1;
B=0;
DelayMs(speed);
// ---FullStep3
A=1;
BN=1;
AN=0;
B=0;
DelayMs(speed);

GIE=1;
}
void Close()
{
GIE=0;

// ---FullStep3
A=1;
BN=1;
AN=0;
B=0;
DelayMs(speed);
// ---FullStep2
A=0;
BN=1;
AN=1;
B=0;
DelayMs(speed);
// ---FullStep1
A=0;
BN=0;
AN=1;
B=1;
DelayMs(speed);
// ---FullStep0
A=1;
BN=0;
AN=0;
B=1;
DelayMs(speed);

GIE=1;
}
void Indicate(unsigned char c)
{	
	if((c==1)&&(blink==0))
		CI^=1;
	if((c==0)&&(blink==0))
		OI^=1;
if(blink<50)
	blink++;
else
blink=0;
}

void Positionindication(unsigned char pos)
{	
if(pos==1)
	{
	CI=1;
	DelayMs(200);
	DelayMs(200);
	CI=0;
	}
if(pos==0)
	{
	OI=1;
	DelayMs(200);
	DelayMs(200);
	OI=0;
	}
}

void Toggle()
{
GIE=0;
OPF=0;
CLF=0;
if (speed==3) speed=5;
else
if (speed==5) speed=3;
GIE=1;
}


void initialize()
{	
		TRISA=0b00000;					// RA0-RA4 output 				
		TRISB=0b11110011;				// RB 0-1 & 4-7 are inputs, RB2-3 outputs	
		
		GIE=1;						// enable interrupts	
		INTE=0;
		RBIE=0;
		EEIE=0;
		T0CS = 0;						// Timer increments on instruction clock
		T0IE = 1;						// Enable interrupt on TMR0 overflow
		
		PSA=0;						// Assign Prescaler to Timer0
		PS0=0;						// Prescaler bits (1:8)
		PS1=1;
		PS2=0;
		RBPU=1;						// Weak RB pull-up
}