/*******************************************************
This program was created by the
CodeWizardAVR V3.12 Advanced
Automatic Program Generator
 Copyright 1998-2014 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project : 
Version : 
Date    : 27.10.2015
Author  : 
Company : 
Comments: 


Chip type               : ATmega8
Program type            : Application
AVR Core Clock frequency: 8,000000 MHz
Memory model            : Small
External RAM size       : 0
Data Stack size         : 256
*******************************************************/

#include <mega8.h>
#include <delay.h>

float u = 0.01;
float e0 = 320.0, e1 = 0.001;
float Kp = 19, Ti = 180, Td = 25;
float e = 0.001;
float integral = 0.001;
float dif = 0.001;
int SP;
const float dt = 0.201;

int i=0,p=0;                                   
bit n=1;

eeprom unsigned char ust_eep;

int izmer,izmer_1,time,time_1;
unsigned char razr,nomer,nomer_1,nomer_2,nomer_3,w,ust;

// Timer1 output compare A interrupt service routine
interrupt [TIM1_COMPA] void timer1_compa_isr(void)
{     
      izmer=izmer_1;
      e0 = e1;
      e1 = e;
      integral += ((1.0/Ti)*e1*dt);
      if(integral>1023){integral=1023;}
      //if(integral<0){integral=-1023;}  
      dif = Td*(e1 - e0)/dt;
      u = (Kp*e1) + integral + dif;
      
      if(u>680){u=680;}
      if(u<0){u=0;}

}

// Timer2    2,784 ms
interrupt [TIM2_COMP] void timer2_comp_isr(void)
{

time_1=u;
razr++;
          nomer_1=izmer/100;
          nomer_2=(izmer-nomer_1*100)/10;
          nomer_3=izmer-nomer_1*100-nomer_2*10;

       //  
   switch(razr)
        {
        case 1:{nomer=nomer_3,PORTB.5=0,PORTB.3=1;break;}
        case 2:{nomer=nomer_2,PORTB.3=0,PORTB.4=1;break;}
        case 3:{nomer=nomer_1,PORTB.4=0,PORTB.5=1;break;}
        }

       //     
   switch(nomer)
        {
         case 0:{PORTC.1=1,PORTC.2=1,PORTC.3=1,PORTC.4=0,PORTC.5=1,PORTD.0=1,PORTD.1=1; break;}
         case 1:{PORTC.1=0,PORTC.2=0,PORTC.3=1,PORTC.4=0,PORTC.5=0,PORTD.0=0,PORTD.1=1; break;}
         case 2:{PORTC.1=1,PORTC.2=1,PORTC.3=0,PORTC.4=1,PORTC.5=1,PORTD.0=0,PORTD.1=1; break;}
         case 3:{PORTC.1=0,PORTC.2=1,PORTC.3=1,PORTC.4=1,PORTC.5=1,PORTD.0=0,PORTD.1=1; break;}
         case 4:{PORTC.1=0,PORTC.2=0,PORTC.3=1,PORTC.4=1,PORTC.5=0,PORTD.0=1,PORTD.1=1; break;}
         case 5:{PORTC.1=0,PORTC.2=1,PORTC.3=1,PORTC.4=1,PORTC.5=1,PORTD.0=1,PORTD.1=0; break;}
         case 6:{PORTC.1=1,PORTC.2=1,PORTC.3=1,PORTC.4=1,PORTC.5=1,PORTD.0=1,PORTD.1=0; break;}
         case 7:{PORTC.1=0,PORTC.2=0,PORTC.3=1,PORTC.4=0,PORTC.5=1,PORTD.0=0,PORTD.1=1; break;}
         case 8:{PORTC.1=1,PORTC.2=1,PORTC.3=1,PORTC.4=1,PORTC.5=1,PORTD.0=1,PORTD.1=1; break;}
         case 9:{PORTC.1=0,PORTC.2=1,PORTC.3=1,PORTC.4=1,PORTC.5=1,PORTD.0=1,PORTD.1=1; break;}
        }
      
       //    
       if(razr>=3)
         {
          razr=0;
         }
       if(w==1)
         {
          time++;
          if(time>=3000)
          {
           time=0;
          }
         }
        //      
      if((0<i)&!w)
      {
       if(n==1)
       {p=370-i,n=0;}
       i--;
       PORTC.0=1;  
      }
      else
      {
       if(p<=0)
       {
       i=time_1*31/86;
       n=1;
       }
       p--;
       PORTC.0=0;
      }   
         

}

#define FIRST_ADC_INPUT 6
#define LAST_ADC_INPUT 6
unsigned int adc_data[LAST_ADC_INPUT-FIRST_ADC_INPUT+1];
// Voltage Reference: AVCC pin
#define ADC_VREF_TYPE ((0<<REFS1) | (1<<REFS0) | (0<<ADLAR))

// ADC interrupt service routine
// with auto input scanning
interrupt [ADC_INT] void adc_isr(void)
{
static unsigned char input_index=0;
// Read the AD conversion result
adc_data[input_index]=ADCW;
// Select next ADC input
if (++input_index > (LAST_ADC_INPUT-FIRST_ADC_INPUT))
   input_index=0;
ADMUX=(FIRST_ADC_INPUT | ADC_VREF_TYPE)+input_index;
// Delay needed for the stabilization of the ADC input voltage
delay_us(10);
// Start the AD conversion
ADCSRA|=(1<<ADSC);
}

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port B initialization
// Function: Bit7=In Bit6=In Bit5=Out Bit4=Out Bit3=Out Bit2=In Bit1=In Bit0=In 
DDRB=(0<<DDB7) | (0<<DDB6) | (1<<DDB5) | (1<<DDB4) | (1<<DDB3) | (0<<DDB2) | (0<<DDB1) | (0<<DDB0);
// State: Bit7=T Bit6=T Bit5=0 Bit4=0 Bit3=0 Bit2=T Bit1=T Bit0=T 
PORTB=(0<<PORTB7) | (0<<PORTB6) | (0<<PORTB5) | (0<<PORTB4) | (0<<PORTB3) | (0<<PORTB2) | (0<<PORTB1) | (0<<PORTB0);

// Port C initialization
// Function: Bit6=In Bit5=Out Bit4=Out Bit3=Out Bit2=Out Bit1=Out Bit0=Out 
DDRC=(0<<DDC6) | (1<<DDC5) | (1<<DDC4) | (1<<DDC3) | (1<<DDC2) | (1<<DDC1) | (1<<DDC0);
// State: Bit6=T Bit5=0 Bit4=0 Bit3=0 Bit2=0 Bit1=0 Bit0=0 
PORTC=(0<<PORTC6) | (0<<PORTC5) | (0<<PORTC4) | (0<<PORTC3) | (0<<PORTC2) | (0<<PORTC1) | (0<<PORTC0);

// Port D initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=Out Bit0=Out 
DDRD=(0<<DDD7) | (0<<DDD6) | (0<<DDD5) | (0<<DDD4) | (0<<DDD3) | (0<<DDD2) | (1<<DDD1) | (1<<DDD0);
// State: Bit7=T Bit6=P Bit5=P Bit4=T Bit3=T Bit2=T Bit1=0 Bit0=0 
PORTD=(0<<PORTD7) | (1<<PORTD6) | (1<<PORTD5) | (0<<PORTD4) | (0<<PORTD3) | (0<<PORTD2) | (0<<PORTD1) | (0<<PORTD0);

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
TCCR0=(0<<CS02) | (0<<CS01) | (0<<CS00);
TCNT0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 7,813 kHz
// Mode: CTC top=OCR1A
// OC1A output: Disconnected
// OC1B output: Disconnected
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer Period: 0,20006 s
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: On
// Compare B Match Interrupt: Off
TCCR1A=(0<<COM1A1) | (0<<COM1A0) | (0<<COM1B1) | (0<<COM1B0) | (0<<WGM11) | (0<<WGM10);
TCCR1B=(0<<ICNC1) | (0<<ICES1) | (0<<WGM13) | (1<<WGM12) | (1<<CS12) | (0<<CS11) | (1<<CS10);
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x06;
OCR1AL=0x1A;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 31,250 kHz
// Mode: CTC top=OCR2A
// OC2 output: Disconnected
// Timer Period: 2,784 ms
ASSR=0<<AS2;
TCCR2=(0<<PWM2) | (0<<COM21) | (0<<COM20) | (1<<CTC2) | (1<<CS22) | (1<<CS21) | (0<<CS20);
TCNT2=0x00;
OCR2=0x56;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=(1<<OCIE2) | (0<<TOIE2) | (0<<TICIE1) | (1<<OCIE1A) | (0<<OCIE1B) | (0<<TOIE1) | (0<<TOIE0);

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
MCUCR=(0<<ISC11) | (0<<ISC10) | (0<<ISC01) | (0<<ISC00);

// USART initialization
// USART disabled
UCSRB=(0<<RXCIE) | (0<<TXCIE) | (0<<UDRIE) | (0<<RXEN) | (0<<TXEN) | (0<<UCSZ2) | (0<<RXB8) | (0<<TXB8);

// Analog Comparator initialization
// Analog Comparator: Off
// The Analog Comparator's positive input is
// connected to the AIN0 pin
// The Analog Comparator's negative input is
// connected to the AIN1 pin
ACSR=(1<<ACD) | (0<<ACBG) | (0<<ACO) | (0<<ACI) | (0<<ACIE) | (0<<ACIC) | (0<<ACIS1) | (0<<ACIS0);

// ADC initialization
// ADC Clock frequency: 125,000 kHz
// ADC Voltage Reference: AVCC pin
ADMUX=FIRST_ADC_INPUT | ADC_VREF_TYPE;
ADCSRA=(1<<ADEN) | (1<<ADSC) | (0<<ADFR) | (0<<ADIF) | (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1) | (0<<ADPS0);
SFIOR=(0<<ACME);

// SPI initialization
// SPI disabled
SPCR=(0<<SPIE) | (0<<SPE) | (0<<DORD) | (0<<MSTR) | (0<<CPOL) | (0<<CPHA) | (0<<SPR1) | (0<<SPR0);

// TWI initialization
// TWI disabled
TWCR=(0<<TWEA) | (0<<TWSTA) | (0<<TWSTO) | (0<<TWEN) | (0<<TWIE);

// Global enable interrupts
#asm("sei")

PORTC.0=0;
izmer_1=ust_eep;
delay_ms(2000);

while (1)
      {   
         
          izmer_1=(adc_data[0]*31/63);
          SP=ust_eep*63/31;
          e = SP - (float)adc_data[0];
          
          if(!PIND.5|!PIND.6)
          {
           ust=ust_eep;
           w=1;
           izmer_1=555;
           delay_ms(500);
             while(w==1)
            {
            izmer_1=ust;
              if(PIND.5==0)
              {
               ust--;
               time=0;
               delay_ms(200);
              }

              if(PIND.6==0)
              {
               ust++;
               time=0;
               delay_ms(200);
              }
               time++;
               delay_ms(100);
               if(time>=2800)
              {w=0,ust_eep=ust,time=0;}
            }
          }

      }
          
         

      
}
