/**
 * sonar.osc
 * This shows how to use the OOPic with a hacked out Polaroid
 * SONAR unit like I show on my web pages.  It requires 3.0.4
 * compiler.
 * PWR = I/O 27
 * INIT= I/O 28
 * ECHO= I/O 29
 */

//Timing constants

Final ms10 = 12500;

//SONAR values
oWord sEnd = new oWord;
oWord rslt = new oWord;

oDio1 PWR = New oDio1;
oDio1 INIT = New oDio1;
oDio1 ECHO = New oDio1;
oGate doTimer = New oGate(2);
oTimer timer = New oTimer;

//serial LCD values used
oSerial LCD = new oSerial;
oNibble i = New oNibble;
oByte mTemp1 = new oByte;
oBit bTemp = new oBit;
oWord wTemp = new oWord;

Sub void main(void) {
  LCD.Baud = cv9600;		//9600 baud
  LCD.Mode = 0;			//asynchronous
  LCD.Operate = cvTrue;		//turn it on  

  sendCmd(12);
  sendCmd(2);
/*
 * Sound takes about 148us to travel 1 inch out and
 * back.  Each tic of the timer (div 8) is 1.6us
 * therefore tics*1.6/148 = distance away in inches.
 * or 148/1.6 = 92.5, so tics/93 = inches distance.
 */
  LCD.String = "SONAR Tests.";
  printf;
  OOPic.delay = 200;
  setSonar;
  do {
    rslt = doSonar;
    printWord(rslt);
    LCD.String = " = ";
    printWord(rslt/93);
    LCD.String = " in";
    printf;
    OOPic.delay = 50;
  } while (1 == 1);
}

Sub void setSonar(void) {
  timer.PreScale = 3;

  PWR.IOLine = 27;
  PWR.Direction = cvOutput;
  INIT.IOLine = 28;
  INIT.Direction = cvOutput;
  ECHO.IOLine = 29;
  ECHO.Direction = cvInput;
  INIT.Value = cvLow;			//reset INIT
  PWR.Value = cvHigh;

  doTimer.Input1.Link(INIT.NonZero);
  doTimer.InvertIn1 = cvTrue;
  doTimer.Input2.Link(ECHO.Value);
  doTimer.InvertOut = cvTrue;
  doTimer.Output.Link(timer.Operate);
  doTimer.Operate = cvTrue;

  //First pull PWR low then wait 5-10ms
  //Now set INIT = 1, this feeds timer gate in 1
  //which starts the timer because ECHO is low
  //When ECHO goes high this disables the gate 
  //output which stops the timer. 
}

Function oWord doSonar() {
  // Take SONAR reading
  PWR.Value = cvLow;			//turn power on
  //OOPic.delay=1;
  timer.Value = 0;
  INIT.Value = cvHigh;

  do {} while (ECHO == 0);		//wait until done
  sEnd = timer.Value;

  INIT.Value = cvLow;
  PWR.Value = cvHigh;			//turn power off
  return sEnd;
}

Sub void sendCmd(oByte d) {
  //send commands out
  LCD.Value = 16;			//LCD command  
  LCD.Value = d;
}

Sub void printf(void) {
  //Send a character
  LCD.Value = 13;
  LCD.Value = 10;
}

Sub void printWord(oWord wt) {
  //Print out a word, byte, nibble or bit value
  bTemp = 0;
  mTemp1 = 0;

  for (wTemp = 1;wTemp < 20000;wTemp*=10) {
    mTemp1 = wt/(10000/wTemp);
    if ((mTemp1 > 0) | (bTemp == 1) | (wTemp==10000)){
      wt = wt - mTemp1 * (10000/wTemp);
      bTemp = 1;
      LCD.Value = mTemp1 + 48;
    }
  }
}