/*
	Code to interface to teh PIC UART

	2004 justin_sane 
	huntjas2@msu.edu
*/


#define l_bank 0			// ID for the left servo bank
#define r_bank 1			// Same for right side


/* for some reason, the on board uart fails when the servos move */

/* Set the serial port to  9600 8N1 */
/*void setup_serial(void)
{
	RCSTA = 0x80; // serial enabled
    TXSTA = 0x24; // transmitt enable, high speed
	SPBRG = 25;   // divisor for 9600 baud
}*/
/* end of setup serial */


/* sends a byte to the serial port */
/*void send_serial(unsigned char byte)
{
	while ((TXSTA & 0x02) == 0);	// wait until buffer is empty
	TXREG  = byte;					// set the transmit byte
}*/
/* end of send byte */

/* delay for 9600 baud */
void serial_delay(void)
{
	unsigned r = 17;
	while(--r);
}
/* end of serial dealy */


/* sends a byte to the serial port */
// data is 9600 8N1
void send_serial(unsigned char byte)
{
	char count = 9;  // loop will actually cycle eght times

    // send start bit
    serial_out = 0;
    serial_delay();

	while (--count)
	{
		serial_out = (byte & 0x01) == 1; // grab next bit

		serial_delay();
       
		byte >>= 1; // shit next bit over
	}

    // send stop bit
    serial_out = 1;

    // send two stop bits
    serial_delay();
    serial_delay();

}
/* end of send byte */


unsigned get_dig(unsigned *num)
{
	unsigned tmp = *num % 10;
	*num /= 10;
	return(tmp);
}


/* send the numerical value of a byte, in decimal */
void send_num(unsigned d)
{
	unsigned dig1 = get_dig(&d);
	unsigned dig2 = get_dig(&d);
	unsigned dig3 = get_dig(&d);

	// send 100's place
	if (dig3 > 0)
		send_serial(dig3 + '0');
	else
		send_serial(' ');

	// send tens place
	if (dig2 > 0 || dig3 > 0)
		send_serial(dig2 + '0');
	else
		send_serial(' ');

	// end ones place
	send_serial(dig1 + '0');
}
/* end of send_num */



/* sends a byte as hex */
void send_hex(unsigned char d)
{
    // send highst nibble
    unsigned char r = d >> 4;

    if (r > 9)
        send_serial(r - 10 + 'A');
    else
        send_serial(r + '0');

    // send lowest nibble
    r = d & 0x0f;

    if (r > 9)
        send_serial(r - 10 + 'A');
    else
        send_serial(r + '0');
}
/* end of send_hex */


/* sends a string */
void send_string(const char *s)
{
	unsigned index = 0;

	while (s[index])
	{
		send_serial(s[index]);
		index++;
	}
}
/* end of send_string */


/* sends the new line chars */
void new_line( void )
{
	send_serial(0x0d);
	send_serial(0x0a);
}
/* end of new line */

/* sends the space char */
void space(void )
{
	send_serial(' ');
}
/* end of space */


/* sends a byte of data to the servo bank */
void send_byte(int bank, unsigned char byte)
{
	char count = 9;  // loop will actually cycle eght times

	// for (count = 0; count < 8; count++)
	while (--count)
	{
		data_out = (byte & 0x01) == 1; // grab next bit

		if (bank == l_bank)
		{
			l_clock = 1; 
	    	while(l_ready);					// wait for ready low

			l_clock = 0;
			while(!l_ready); 				// wait for ready high
		}else
		{
			r_clock = 1; 
			while(r_ready);					// wait for ready low

			r_clock = 0;
			while(!r_ready); 				// wait for ready high
		}
       
		byte >>= 1; // shit next bit over
	}
}
/* end of send byte */