/* Author: Andrew Wilson
   Date : April 18, 2006
   Purpose:
	This program was written to multiplex output from several sonar units (Maxbotix)
	into one single serial data stream to interface with a PC
*/

#include <18F1320.h>

#define CLOCKRATE 8000000

#define SONAR_1_XMIT PIN_A3 //the output of the sonar
#define SONAR_1_RCV PIN_A2  //the input of the sonar

#define SONAR_2_XMIT PIN_A1 //the output of the sonar
#define SONAR_2_RCV PIN_A0  //the input of the sonar

#fuses INTRC, NOWDT
#use delay(clock=CLOCKRATE)
#use rs232(baud=9600, xmit=PIN_B1, rcv=PIN_B4, stream=PC)


//Software RS-232 Ports
#use rs232(baud=9600, INVERT, BITS = 8, PARITY = N, rcv=SONAR_1_XMIT, stream=sonar1)
#use rs232(baud=9600, INVERT, BITS = 8, PARITY = N, rcv=SONAR_2_XMIT, stream=sonar2)



void main()
{
	char c;
	char reading[10];

	fprintf(PC, "Sonar MUX v.1\n\r");
	fprintf(PC, "Author: Andrew Wilson 5/2006\n\r");
	fprintf(PC, "reconnsworld.com\n\r");

	delay_ms(1000);

	while(1)
	{

		//send signal for read
		//then read, this will block
		//when the value is read, read from the next stream
		//when all sonar units are read from, parse output stream
		//	and print output strings


		//----------beg block code-----------

		output_high(SONAR_1_RCV);

		c = fgetc(sonar1);
		while(c != 'R')
		{
			c = fgetc(sonar1);
		}
		reading[0] = fgetc(sonar1);
		reading[1] = fgetc(sonar1);
		reading[2] = fgetc(sonar1);
		reading[3] = '\0';

		fprintf(PC, "sonar1: %s\n\r", reading);
		output_low(SONAR_1_RCV);

		//----------end block code-----------

		//----------beg block code-----------

		output_high(SONAR_2_RCV);

		c = fgetc(sonar2);
		while(c != 'R')
		{
			c = fgetc(sonar1);
		}
		reading[0] = fgetc(sonar2);
		reading[1] = fgetc(sonar2);
		reading[2] = fgetc(sonar2);
		reading[3] = '\0';

		fprintf(PC, "sonar2: %s\n\r", reading);
		output_low(SONAR_2_RCV);

		//----------end block code-----------



	}

}