// RPi3 Rotator X4 with MCP3008
// 03.01.2018. Author: YT2FSG - Goran Stankovic dipl.ing.el.
// email: goranstank@gmail.com, web: http://www.qsl.net/yt2fsg
//
// gcc -Wall -o rotator3x4 rotator3x4.c -l wiringPi
// sudo ./rotator3x4

#define _GNU_SOURCE

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <string.h>
#include <errno.h>

#include <wiringPi.h>
#include <wiringPiSPI.h>

#define	TRUE	            (1==1)
#define	FALSE	            (!TRUE)
#define CHAN_CONFIG_SINGLE  8
#define CHAN_CONFIG_DIFF    0

static int myFd ;

int main(void)
{
    FILE * fp;
	int spiChannel=0;

    if ((myFd = wiringPiSPISetup (spiChannel, 10000)) < 0)
    {
        fprintf (stderr, "Can't open the SPI bus: %s\n", strerror (errno)) ;
        exit (EXIT_FAILURE) ;
    }

	wiringPiSetup () ;
	pinMode (0, OUTPUT) ;	// 17
	pinMode (1, OUTPUT) ;	// 18
	pinMode (2, OUTPUT) ;	// 27
	pinMode (3, OUTPUT) ;	// 22
	pinMode (4, OUTPUT) ;	// 23
	pinMode (5, OUTPUT) ;	// 24
	pinMode (6, OUTPUT) ;	// 25
	pinMode (7, OUTPUT) ;	// 4

    unsigned char buf[] = { 0x01, 0x80, 0x00 }; // Data to send
    int adc1, adc2, adc3, adc4;
    int p1, p2, p3, p4;
    int set=1;		// Start pozicioniranja
    int delta=2;	// min ugao za koji rotator ne reaguje
    int out1=0, out2=0, out3=0, out4=0;
    int ps1=100, ps2=200, ps3=300, ps4=340;
    int tt=4;		// 250ms
    int time1=0, time2=0, time3=0, time4=0;
    int time_max1=60, time_max2=60, time_max3=60, time_max4=60;
    int pmin1=0, pmax1=1023, pmin2=0, pmax2=1023, pmin3=0, pmax3=1023, pmin4=0, pmax4=1023;
    int op1, op2, op3, op4;
    unsigned char cc=0;
    char c;
    char buffer[100];
//    long length;
    int i=0, j=0;
    int buffer2[16];
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    printf("*** RPi3 Rotator for X4 antennas system ***\n");
    printf("by: YT2FSG - Goran Stankovic dipl.ing.el. (goranstank@gmail.com)\n\n");
	printf("Parameters:   Ant1 Ant2 Ant3 Ant4\n");
// Ucitavanje parametara iz file 'time_max'
    if ((fp = fopen("time_max","r")) == NULL)
    {
       printf("file 'time_max' not found! \n");
    }
    else
    {
       while(1)
       {
         c = fgetc(fp);
         if (feof(fp)) { break; }
         if (c==',') { buffer[i] = 0; i = 0;  buffer2[j] = atoi(buffer); j++; }
         else { buffer[i] = c; i++; }
       }
         buffer[i] = 0;
         buffer2[j] = atoi(buffer);

		printf("time_max (sec): %3d %3d %3d %3d \n", buffer2[0], buffer2[1], buffer2[2], buffer2[3]);

        time_max1 = buffer2[0];
        time_max2 = buffer2[1];
        time_max3 = buffer2[2];
        time_max4 = buffer2[3];
    }
    fclose(fp);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Ucitavanje parametara iz file 'calibration'
    i=0; j=0;
    if ((fp = fopen("calibration","r")) == NULL)
    {
       printf("file 'calibration' not found! \n");
    }
    else
    {
       while(1)
       {
         c = fgetc(fp);
         if (feof(fp)) { break; }
         if (c==',') { buffer[i] = 0; i = 0;  buffer2[j] = atoi(buffer); j++; }
         else { buffer[i] = c; i++; }
       }
         buffer[i] = 0;
         buffer2[j] = atoi(buffer);

		printf("cal_min  (   ): %3d %3d %3d %3d \n", buffer2[0], buffer2[2], buffer2[4], buffer2[6]);
		printf("cal_max  (   ): %3d %3d %3d %3d \n", buffer2[1], buffer2[3], buffer2[5], buffer2[7]);

		pmin1 = buffer2[0]; pmax1 = buffer2[1];
		pmin2 = buffer2[2]; pmax2 = buffer2[3];
		pmin3 = buffer2[4]; pmax3 = buffer2[5];
		pmin4 = buffer2[6]; pmax4 = buffer2[7];
     }
    fclose(fp);

//    exit(0);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
  while (1)
  {
    // Citanje pozicije antena - potenciometri (MCP3008)
    delay(50);  // delay 50ms
    // CH0
    buf[0] = 0x01; buf[1] = 0x80; buf[2] = 0x00;
    wiringPiSPIDataRW(spiChannel, buf, 3);
    adc1 = ( (buf[1] & 3 ) << 8 ) + buf[2];

    delay(50);  // delay 50ms
    // CH1
    buf[0] = 0x01; buf[1] = 0x90; buf[2] = 0x00;
    wiringPiSPIDataRW(spiChannel, buf, 3);
    adc2 = ( (buf[1] & 3 ) << 8 ) + buf[2];

    delay(50);  // delay 50ms
    // CH2
    buf[0] = 0x01; buf[1] = 0xA0; buf[2] = 0x00;
    wiringPiSPIDataRW(spiChannel, buf, 3);
    adc3 = ( (buf[1] & 3 ) << 8 ) + buf[2];

    delay(50);  // delay 50ms
    // CH3
    buf[0] = 0x01; buf[1] = 0xB0; buf[2] = 0x00;
    wiringPiSPIDataRW(spiChannel, buf, 3);
    adc4 = ( (buf[1] & 3 ) << 8 ) + buf[2];


// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Calibration
    op1 = pmax1 - pmin1;
	if (op1 < 1 ) { p1 = adc1 * 360 / 1023; }
	else { p1 = (adc1 - pmin1) * 360 / op1; }
    op2 = pmax2 - pmin2;
	if (op2 < 1 ) { p2 = adc2 * 360 / 1023; }
	else { p2 = (adc2 - pmin2) * 360 / op2; }
    op3 = pmax3 - pmin3;
	if (op3 < 1 ) { p3 = adc3 * 360 / 1023; }
	else { p3 = (adc3 - pmin3) * 360 / op3; }
    op4 = pmax4 - pmin4;
	if (op4 < 1 ) { p4 = adc4 * 360 / 1023; }
	else { p4 = (adc4 - pmin4) * 360 / op4; }

//    printf("Position: %d=%d %d=%d %d=%d %d=%d \n", adc1, p1, adc2, p2, adc3, p3, adc4, p4);

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Ucitavanje parametara iz FLASH-DISK file 'pos_set'
    i=0; j=0;
    if ((fp = fopen("/var/www/html/pos_set","r")) == NULL)
    {
       printf("file '/var/www/html/pos_set' not found! \n");
    }
    else
    {
       while(1)
       {
         c = fgetc(fp);
         if (feof(fp)) { break; }
         if (c==',') { buffer[i] = 0; i = 0;  buffer2[j] = atoi(buffer); j++; }
         else { buffer[i] = c; i++; }
       }
         buffer[i] = 0;
         buffer2[j] = atoi(buffer);

//	printf("pos_set : %3d %3d %3d %3d \n", buffer2[0], buffer2[1], buffer2[2], buffer2[3]);

        ps1 = buffer2[0];
        ps2 = buffer2[1];
        ps3 = buffer2[2];
        ps4 = buffer2[3];
    }
    fclose(fp);
//    exit(0);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Ucitavanje parametara iz FLASH-DISK file 'set'
    i=0; j=0;
    if ((fp = fopen("/var/www/html/set","r")) == NULL)
    {
       printf("file '/var/www/html/set' not found! \n");
    }
    else
    {
       while(1)
       {
         c = fgetc(fp);
         if (feof(fp)) { break; }
         buffer[i] = c; i++;
       }
       buffer[1] = 0;
       set = atoi(buffer);
//       printf("set : %d \n", set);
    }
    fclose(fp);

//    exit(0);

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

	// Obrada - pozicioniranje antena na zadatu poziciju

    if (set==1)
    {
      set = 0;
      cc = 8;

	// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    //Upisi '0' u FLASH-DISK file 'set'
    if ((fp = fopen("/var/www/html/set","w")) == NULL)
    {
       printf("file '/var/www/html/set' not open! \n");
    }
    else
    {
       fputc( '0', fp);
    }
    fclose(fp);


      if      (p1 < ps1 - delta) { out1 = 1; }
      else if (p1 > ps1 + delta) { out1 = 2; }
      else { out1 = 0; }

      if      (p2 < ps2 - delta) { out2 = 1; }
      else if (p2 > ps2 + delta) { out2 = 2; }
      else { out2 = 0; }

      if      (p3 < ps3 - delta) { out3 = 1; }
      else if (p3 > ps3 + delta) { out3 = 2; }
      else { out3 = 0; }

      if      (p4 < ps4 - delta) { out4 = 1; }
      else if (p4 > ps4 + delta) { out4 = 2; }
      else { out4 = 0; }
    }
    else
    {
      if ((p1 >= ps1) && (out1==1)) { out1 = 0; }
      if ((p1 <= ps1) && (out1==2)) { out1 = 0; }
      if (out1 !=0)
      {
        time1++;
        if ((time1/tt) > time_max1) { out1 = 0; }
      }

      if ((p2 >= ps2) && (out2==1)) { out2 = 0; }
      if ((p2 <= ps2) && (out2==2)) { out2 = 0; }
      if (out2 !=0)
      {
        time2++;
        if ((time2/tt) > time_max2) { out2 = 0; }
      }

      if ((p3 >= ps3) && (out3==1)) { out3 = 0; }
      if ((p3 <= ps3) && (out3==2)) { out3 = 0; }
      if (out3 !=0)
      {
        time3++;
        if ((time3/tt) > time_max3) { out3 = 0; }
      }

      if ((p4 >= ps4) && (out4==1)) { out4 = 0; }
      if ((p4 <= ps4) && (out4==2)) { out4 = 0; }
      if (out4 !=0)
      {
        time4++;
        if ((time4/tt) > time_max4) { out4 = 0; }
      }
    }

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Postavnjanje izlaza
    if (out1 == 1)
    {
      digitalWrite(0,0);
      digitalWrite(1,1);
    }
    else if (out1 == 2)
    {
      digitalWrite(0,1);
      digitalWrite(1,0);
    }
    else
    {
      time1 = 0;
      digitalWrite(0,0);
      digitalWrite(1,0);
    }

    if (out2 == 1)
    {
      digitalWrite(2,0);
      digitalWrite(3,1);
    }
    else if (out2 == 2)
    {
      digitalWrite(2,1);
      digitalWrite(3,0);
    }
    else
    {
      time2 = 0;
      digitalWrite(2,0);
      digitalWrite(3,0);
    }

    if (out3 == 1)
    {
      digitalWrite(4,0);
      digitalWrite(5,1);
    }
    else if (out3 == 2)
    {
      digitalWrite(4,1);
      digitalWrite(5,0);
    }
    else
    {
      time3 = 0;
      digitalWrite(4,0);
      digitalWrite(5,0);
    }

    if (out4 == 1)
    {
      digitalWrite(6,0);
      digitalWrite(7,1);
    }
    else if (out4 == 2)
    {
      digitalWrite(6,1);
      digitalWrite(7,0);
    }
    else
    {
      time4 = 0;
      digitalWrite(6,0);
      digitalWrite(7,0);
    }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    //Upisi podatke u RAM-DISK file 'position'
    if ((fp = fopen("/var/tmp1/position","w")) == NULL)
    {
       printf("file '/var/tmp1/position' not open! \n");
    }
    else
    {
       fprintf(fp,"%3d,%3d,%3d,%3d\n",p1,p2,p3,p4);
    }
    fclose(fp);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
    printf("%d # A1: %3d=%3d %d-%03d # A2: %3d=%3d %d-%03d # A3: %3d=%3d %d-%03d # A4: %3d=%3d %d-%03d # \n",
			cc,p1,ps1,out1,time1/tt,p2,ps2,out2,time2/tt,p3,ps3,out3,time3/tt,p4,ps4,out4,time4/tt);

    cc++;
    if (cc > (tt-1)) { cc=0; }

    delay(50);  // delay 4*50+50=250ms => tt=4

  }
    close (myFd) ;
    return 0;
}