#include "msp430x14x.h"
#define left result[0]
#define right result[1]
#define key_zuo      (P4IN & 0x10)
#define key_you      (P4IN & 0x20)
#define uchar unsigned char 
uchar i_1,i_2;
unsigned char sd=0;
unsigned char ct=0;
unsigned char tf=0;
unsigned char sf=1;
unsigned char zf=0;
unsigned char reset=0;
unsigned char adc_flag=0;
unsigned int tt=0;
unsigned int a,b,c,d;
unsigned int ctx,cty;
int x,y,xt,yt;
unsigned int results[4];
unsigned char  F_Rotation[4]={0x03,0x06,0x0c,0x09};//正转表格0x01,0x02,0x04,0x08
unsigned char  B_Rotation[4]={0x09,0x0c,0x06,0x03};//反转表格
void delay(unsigned int z)
{
 while(z)
 {z--;}
}
void zuozhuan()
{
  uchar i;
  for(i=0;i<4;i++)
  {
    for(i_1=0;i_1<4;i_1++)
    {
    P4OUT =B_Rotation[i_1];
    delay(16000);
    }
  }
}


void youzhuan()
{
  uchar i;
  for(i=0;i<4;i++)
  {
    for(i_1=0;i_1<4;i_1++)
    {
    P4OUT =F_Rotation[i_1];
    delay(26000);
    }
  }
}
int abs(int x)//取绝对值函数
{
  int y;
  if(x>=0)
  {
    y=x;
  }
  else
  {
    y=-x;
  }
  return y;
}


void delayms(unsigned int z)
{
  unsigned int x,y;
   for(x=0;x<z;x++)
   { 
     for(y=0;y<1000;y++);
   }
}


void init_timerA()
{
  TACTL|=TASSEL1+TACLR+ID0+ID1;
  TACTL|=MC0+TAIE;//中断使能&停止模式
  TACCR0=2999;
}

void init_clk()
{
  unsigned char i;
  BCSCTL1&=~XT2OFF;
  BCSCTL2|=SELM1+SELS;
  do
  {
    IFG1 &= ~OFIFG;
    for(i=0;i<100;i++)
      delay(1);
  }
  while((IFG1 & OFIFG) != 0);
  IFG1&=~OFIFG;
}
void init_adc()
{
  P6SEL |= 0x0f;
  ADC12CTL0=ADC12ON+MSC+SHT0_2;
  ADC12CTL1=SHP+CONSEQ_1;
  ADC12MCTL0=0x00;
  ADC12MCTL1=0x01;
  ADC12MCTL2=0x02;
  ADC12MCTL3=0x83;
  ADC12IE=0x08;
  ADC12CTL0 |= ENC; 
}
void zuobiao()      //实时坐标,亮度显示
{  
    zf=0;
}
void aim()                  //初始对准程序
{
  //unsigned char i,k;
  init_timerA();
  sf=1;
  adc_flag=1;
  tf=1;
  _EINT(); 
  if(zf)
    {
      zf=0;
      zuobiao();
    }
  sf=0;
  adc_flag=0;
  tf=0;
}
void move()                       //电机运动控制
{
 // unsigned char k;
  TACTL&=~MC0;
  //k='n';
  if(sd==1)
  {
   // k=keyscan();
    //switch(k)
    while(1)
    {
     // if() yt=y+1;
      //case '8':yt=y-1;break;
      if(key_zuo!=0x10) xt=x+1;
      if(key_you!=0x20)  xt=x-1;
    }
  }
 // if(yt<0)
 // {
 //   yt=0;
 // }
  if(xt<0)
  {
    xt=0;
  }
  //yt=yt%90;
  xt=xt%180;
  if(sf==0)
  {
   if(x>xt)
   {
     zuozhuan();
     ctx--;
     x=ctx/24;
   }
   if(x<xt)
   {
     youzhuan();
     ctx++;
     x=ctx/24;
   }
  // if(y>yt)
  // {
 //    P4OUT&=~(diry);
 //    P4OUT^=clky; 
  //   cty--;
  //   y=cty/24;
 //  }
 //  if(y<yt)
 //  {
 //    P4OUT|=diry;
 //    P4OUT^=clky; 
 //    cty++;
 //    y=cty/24;
 //  }
  }
  TACTL|=MC0;
}

void track()                   //寻光
{
 // int dx,dy;
  int dx;
 /* dy=a-b;
  if(dy>=0)
  {
    yt=y+1;
    if(yt==90)
    {yt=y-1;}
    yt=yt%90;
  }
  else
  {
    yt=y-1;
    if(yt<0)
    { yt=0;}
    yt=yt%90; 
  }*/
 dx=a-b;
  if(dx>=0)
  {
    xt=x+1;
    if(xt==180)
    {xt=x-1;}
    xt=xt%180;
  }
  else
  {
    xt=x-1;
    if(xt<0)
    { xt=0;}
    xt=xt%180; 
  }
 // if((abs(dx)<100)&&(abs(dy)<100))
    if((abs(dx)<100))
  {
    sf=1;
  }
  if((abs(dx)>200))
  {
    sf=0;
  }
}
void main()
{
  // Stop watchdog timer to prevent time out reset
  WDTCTL = WDTPW + WDTHOLD;
  init_clk();
  delayms(1000);
  P4DIR=0xff;
  init_adc();
  aim(); 
  while(1)
  {if(reset)
     reset=0;

   if(zf)
     zf=0;
  }
  
}
#pragma vector=TIMERA1_VECTOR
__interrupt void Timer_A(void)
{
  switch(TAIV)
  {
  case 2:break;
  case 4:break;
  case 10:
          _EINT(); 
          tt++;
          if(tt==200)
          {zf=1;tt=0;}
          if(tf)
          {  
            TACTL&=~MC0;
           while(ct<10)
           {
            while(adc_flag==1)
            {
             ADC12CTL0 |= ADC12SC;
             adc_flag=0;
            }
           } 
              ct=0;
              a=results[0]/10;
              results[0]=0;
              b=results[1]/10;
              results[1]=0;
              c=results[2]/10;
              results[2]=0;
              d=results[3]/10; 
              results[3]=0;
              track();
              TACTL|=MC0;
          }
          move();
          break;
  default:break;
  }
}
#pragma vector=ADC_VECTOR
__interrupt void ADC12ISR()
{
  results[0]+=ADC12MEM0;
  results[1]+=ADC12MEM1;
  results[2]+=ADC12MEM2;
  results[3]+=ADC12MEM3;
  ct++;
  adc_flag=1;
}