//   2008.01.06 M.Fujinawa
//
//   CCS PIC コンパイラー用 赤外線２チャンネル受信機
//
//   GP0,GP1:エルロンマグネットアクチュエーターPWM出力
//   GP2:スロットルPWM出力
//   GP3;赤外線受光素子入力(Futaba専用)
//
#include "10F200.H"
#FUSES NOWDT                    //No Watch Dog Timer
#FUSES NOPROTECT                //Code not protected from reading
#FUSES NOMCLR                   //Master Clear pin used FOR I/O
#use delay(clock=4000000)

#byte  TMR0 = 1//TIMER0 address
#byte  GPIO = 6//IO address

#define AILE   2
#define ELEV   3
#define THRO   4
#define RUDD   5

#define PWMCNT   20
#define OFFSET   29

char  rp1,rp2;
char chsel;
char Tmrl;
char rpwm;
char flag;
char cnt;
char gp;

void main(void)
{
   // 初期設定
   set_tris_b(0x08);
   setup_timer_0 (DISABLE_PULLUPS|RTCC_INTERNAL|RTCC_DIV_1);

   GPIO = 0;      // ゼロで初期化

   rp1 = 0;
   rp2 = 0;
   chsel = 0;
   Tmrl = 0;
   rpwm = 0;
   flag = 0;
   cnt = 0;
   gp = 0;

   TMR0 = 0;

   while(TRUE) {
      while(TMR0 & 0x80);
      TMR0 =  (256 - 30);
//-->赤外線入力
      if(flag & 0x02) {
         if((GPIO & 0x08) == 0)  {   //赤外線がHi から Loへ 
            flag &= 0xfd;
            if(flag & 1) {      //ｷﾞｬｯﾌﾟ検出
               chsel = 2;
               flag &= 0xfe;
               Tmrl = 0;
               goto SKIP;
            }
            if(Tmrl >(OFFSET+PWMCNT+6) || Tmrl < (OFFSET-5)) {
               chsel = (RUDD+1);
            }
            Tmrl -= OFFSET;
            if(Tmrl & 0x80) {      //マイナス
               Tmrl = 0;
            }
            if(chsel == AILE) {   //エルロン
               rp2 = Tmrl-(PWMCNT/2);
               gp &= 0xfe;
               gp &= 0xfd;
               if(rp2 & 0x80) {
                  rp2 = (PWMCNT/2);
                  rp2 -= Tmrl;
                  if(rp2 > 1) {
                     gp |= 0x01;
                  }
               }else if(rp2 > 1) {
                  gp |= 0x02;
               }
               rp2 <<= 1;
               if(rp2 < rpwm) {
                  GPIO &= 0xfe;
                  GPIO &= 0xfd;
               }
               chsel++;
               cnt = 0;
            }else if(chsel == ELEV) {   //エレベーター
               chsel++;
               cnt = 0;
            }else if(chsel == THRO) {      //スロットル
               rp1 = Tmrl;
               gp &= 0xfb;
               if(rp1) {
                  gp |= 0x04;
               }
               if(rp1 < rpwm) {
                  GPIO &= 0xfb;
               }
               chsel++;
               cnt = 0;
            }else if(chsel == RUDD) {   //ラダー
               chsel++;
               cnt = 0;
            }
            Tmrl = 0;
         }else {
            if(Tmrl == 114) {   //4mmsec経過
               flag |= 1;   //ｷﾞｬｯﾌﾟ検出
               Tmrl = 0;
               cnt++;
               if(cnt & 0x20) {   //32ｶｳﾝﾄ
                  cnt = 0;
                  if(rp1) {
                     if(--rp1 == 0) {
                        gp = 0;
                     }
                  }
               }
            }
         }
      }else if(GPIO & 0x08) {   //赤外線がLo から Hiへ
         flag |= 2;
      }
//<--
SKIP:
//-->PWM 出力
      if(rpwm == 0) {
         GPIO = gp;
      
      }else {
         if(rp1 == rpwm) {
            GPIO &= 0xfb;
         }
         if(rp2 == rpwm) {
            GPIO &= 0xfd;
            GPIO &= 0xfe;
         }
      }
      rpwm++;
      if(rpwm == PWMCNT) {
         rpwm= 0;
      }
//<--
      Tmrl++;
   }
}