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-- Title: Test program for GP2D02 IR ranger
-- Author: Sebastien Lelong, Copyright (c) 2008-2009, all rights reserved.
-- Adapted-by:
-- Compiler: >=2.4k
-- Revision: $Revision$
--
-- This file is part of jallib (http://jallib.googlecode.com)
-- Released under the BSD license (http://www.opensource.org/licenses/bsd-license.php)
--
-- Description: this sample show how to use GP2D02 IR ranger library
-- It regularly gets distance measures, and print them back to serial.
-- It also uses a led to "show" the distance. This LED is connected to a PWM output.
-- it will be more or less bright according to the distance between the ranger
-- and an object.
-- --
--


;@jallib section chipdef
-- chip setup
include 16f88

;--
-- We'll use internal oscillator. It work @ 8MHz
pragma target clock     8_000_000
pragma target OSC       INTOSC_NOCLKOUT
-- Specify no postscaler, ie. really runs @8MHz
OSCCON_IRCF = 0b_111
pragma target WDT          disabled       -- no watchdog
pragma target LVP          disabled       -- no low-voltage programming
pragma target CCP1MUX      pin_B0         -- ccp1 pin on B0
pragma        bootloader   long_start     -- for TinyBootloader

enable_digital_io()

;@jallib section ccp
-- ccp setup: since CCP1 is multiplexed, we need to define
-- alias pointing to the active CCP1 pin
alias pin_ccp1_direction is pin_ccp1_rb0_direction
-- Configure PWM
pin_ccp1_direction = output
include pwm_hardware
pwm_max_resolution(1)
pwm1_on()

;@jallib section serial
const serial_hw_baudrate = 57_600
include serial_hardware
serial_hw_init()

;@jallib section gp2d02
alias gp2d02_vin is pin_a4
alias gp2d02_vout is pin_a6
alias gp2d02_vin_direction is pin_a4_direction
alias gp2d02_vout_direction is pin_a6_direction
include ir_ranger_gp2d02
-- set pin direction (careful: "vin" is the GP2D02 pin's name,
-- it's an input for GP2D02, but an output for PIC !)
gp2d02_vin_direction = output
gp2d02_vout_direction = input

var byte measure
forever loop
   -- read distance from ranger num. 0
   measure = gp2d02_read_pins(gp2d02_vin,gp2d02_vout)
   -- results via serial
   serial_hw_write(measure)
   -- now blink more or less
   pwm1_set_dutycycle(measure)
end loop