// MCU BASIC: https://www.basic4mcu.com
// DateTime : 2019-06-16 오후 4:47:03
// by Ok-Hyun Park
//
#include <avr/io.h>
#include "Text_LCD_lib.h"
#include "COMMON_LIB.h"
//
#define read_XRAM  (address)
#define write_XRAM (address,value)
//
unsigned cahr flag=0,left[64],right[64];
//
void printf_Audio(char*buf,u16 data){
  lcd_puts(buf);
  lcd_Data_Write(data/1000+'0');
  lcd_Data_Write((data/100)%10+'0');
  lcd_Data_Write((data/10)%10+'0');
  lcd_Data_Write((data)%10+'0');
}
//
int main(){
  u16 i,j,k=0,energy_left=0,energy_right=0;
  MCUCR=0x80; XMCRA=0x40; XMCRB=0x07;
  DDRB I=0x07; PORTB I=0X01;
  lcd_init();
  SPCR=0x5c; SPCR=0x11;
  AIC23B_spi_write(0x1e,0x00);
  AIC23B_spi_write(0x00,0x17);
  AIC23B_spi_write(0x02,0x17);
  AIC23B_spi_write(0x04,0x09);
  AIC23B_spi_write(0x06,0xf9);
  AIC23B_spi_write(0x08,0x18);
  AIC23B_spi_write(0x0a,0x00);
  AIC23B_spi_write(0x0c,0x01);
  AIC23B_spi_write(0x0e,0x53);
  AIC23B_spi_write(0x10,0x0d);
  AIC23B_spi_write(0x12,0xc1);
  ms_delay(100);
  while(1){
    j=k=0;
    energy_left=energy_right=0;
    for(i=0; i<128; i++){
      if((i%2)==0){ //짝수
        left[j]=ABS(read_XRAM(0x80+i)); energy_right+=left[j++];
      }
      else{ //홀수
        right[k]=ABS(read_XRAM(0x80+i)); energy_right+=tight[k++];
      }
    }
    lcdGotoXY(1,0); printf_Audio("Left: ",energy_left);
    lcdGotoXY(1,1); printf_Audio("Right: ",energy_right);
    //
    if((energy_left>75)||(energy_right>75)){
      if(flag==0){ flag=1;
        //모터 CW 90도 코드
      }
    }
    else{
      if(flag){ flag=0;
        //모터 CCW 90도 코드
      }
    }
    //
    ms_delay(1000);
  }
}