'**********************************************************************************
'                    Adjust whitelevel of LDU
'**********************************************************************************
'
'     SCL  (To Atmega 8 / Portd.4 + 10K pullup to +5V)
'     SDA  (To Atmega 8 / Portd.5 + 10K pullup to +5V)
'
'     - Paste code, generated by the blacklevel program into this program
'     - Put LDR on a white surface
'     - Run Terminal program
'     - Wait until error value gets as low as possible (this can take up to 1 min.)
'     - Copy code out of terminal window and paste it into main program
'
'**********************************************************************************


$regfile = "m8def.dat"                                      'Atmega8-declarations
$crystal = 3686400
$baud = 9600

Ddrb = &B00000001

Config Sda = Portd.5
Config Scl = Portd.4
Config I2cdelay = 10

Const Contrast = 35                                         'adjust contrast between surface and line (ca.20...50 20=no contrast 50=high contrast -- this contrastlevel is needed to find out, whether there's a line or not -- if there's no line, an alert will occur)

Dim I As Byte                                               'i...k = general purpose variables
Dim J As Byte
Dim K As Byte
Dim L As Byte
Dim Error As Byte

Dim Ldr(16) As Integer                                      'ldr contains the value of the light dependant resistors
Dim Ler(16) As Integer
Dim Lfr(16) As Integer

Do


'**********************************************************************************
' read the values of the 16 sensors via i²c
'**********************************************************************************

    I2cstart                                                'i2c start condition
    I2cwbyte &B10010000                                     'send pcf address (write)
    I2cwbyte &B01000101                                     'send control byte (auto-increment on, internal oscillator on)
    I2cstart                                                'repeated start condition
    I2cwbyte &B10010001                                     'send pcf addressieren (read)
    I2crbyte Ldr(1) , Ack                                   'read value of adc0 & acknowledge
    I2crbyte Ldr(2) , Ack                                   '...
    I2crbyte Ldr(3) , Ack                                   '...
    I2crbyte Ldr(4) , Nack                                  'read value of adc3 / don't acknowledge
    I2cstop

    I2cstart                                                'i2c start condition
    I2cwbyte &B10010010                                     'send pcf address (write)
    I2cwbyte &B01000101                                     'send control byte (auto-increment on, internal oscillator on)
    I2cstart                                                'repeated start condition
    I2cwbyte &B10010011                                     'send pcf addressieren (read)
    I2crbyte Ldr(5) , Ack                                   'read value of adc0 & acknowledge
    I2crbyte Ldr(6) , Ack                                   '...
    I2crbyte Ldr(7) , Ack                                   '...
    I2crbyte Ldr(8) , Nack                                  'read value of adc3 / don't acknowledge
    I2cstop

    I2cstart                                                'i2c start condition
    I2cwbyte &B10010100                                     'send pcf address (write)
    I2cwbyte &B01000101                                     'send control byte (auto-increment on, internal oscillator on)
    I2cstart                                                'repeated start condition
    I2cwbyte &B10010101                                     'send pcf addressieren (read)
    I2crbyte Ldr(9) , Ack                                   'read value of adc0 & acknowledge
    I2crbyte Ldr(10) , Ack                                  '...
    I2crbyte Ldr(11) , Ack                                  '...
    I2crbyte Ldr(12) , Nack                                 'read value of adc3 / don't acknowledge
    I2cstop

    I2cstart                                                'i2c start condition
    I2cwbyte &B10010110                                     'send pcf address (write)
    I2cwbyte &B01000101                                     'send control byte (auto-increment on, internal oscillator on)
    I2cstart                                                'repeated start condition
    I2cwbyte &B10010111                                     'send pcf addressieren (read)
    I2crbyte Ldr(13) , Ack                                  'read value of adc0 & acknowledge
    I2crbyte Ldr(14) , Ack                                  '...
    I2crbyte Ldr(15) , Ack                                  '...
    I2crbyte Ldr(16) , Nack                                 'read value of adc3 / don't acknowledge
    I2cstop                                                 'i2c stop condition


'**********************************************************************************
' paste code out of LDU_adjust_black here:
'**********************************************************************************

Ldr( 1) = Ldr( 1) -38
Ldr( 2) = Ldr( 2) -37
Ldr( 3) = Ldr( 3) -37
Ldr( 4) = Ldr( 4) -43

Ldr( 5) = Ldr( 5) -40
Ldr( 6) = Ldr( 6) -40
Ldr( 7) = Ldr( 7) -48
Ldr( 8) = Ldr( 8) -36

Ldr( 9) = Ldr( 9) -42
Ldr(10) = Ldr(10) -40
Ldr(11) = Ldr(11) -39
Ldr(12) = Ldr(12) -41

Ldr(13) = Ldr(13) -33
Ldr(14) = Ldr(14) -33
Ldr(15) = Ldr(15) -28
Ldr(16) = Ldr(16) -22





'**********************************************************************************
' end pasted code out of LDU_adjust_black
'**********************************************************************************


Waitms 1000

Print Chr(12)

Error = 0

For I = 1 To 16                                             'clear screen

If Lfr(i) <> Ler(i) Then Error = Error + 1

Lfr(i) = Ler(i)
Ler(i) = Ldr(i) + Ler(i)
Ler(i) = Ler(i) / 2

If I > 9 Then
Print "Ldr(" ; I ; ") = Ldr(" ; I ; ") / " ; Ler(i)
Else
Print "Ldr( " ; I ; ") = Ldr( " ; I ; ") / " ; Ler(i)
End If

J = I Mod 4
If J = 0 Then Print ""

Next I

Print "' *** error = " ; Error

Loop

End