/**
 * OBD2 Reader
 * Avraham Aisenberg, Mike Andromalos
 * Spring 2009- ECE 4760
 * Assistance from Bruce Land and Ruibing Wang	
 */
/******************************************************************************************/
/* Includes */
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <string.h>
#include <stdio.h>
#include "lcd_lib.h"
#include <math.h>

/* Global/System Constants */
#define TRUE	1
#define FALSE	0

#define sbi(data,bit)			(data |= (1<<bit))	// Set Bit
#define cbi(data,bit) 			(data &= ~(1<<bit))	// Clear Bit
#define gbi(data,bit)			(data & (1<<bit))	// Get Bit
#define tbi(data,bit)			(data ^= (1<<bit))	// Toggle Bit

//State Machine States
#define St_Initial 1
#define St_Trans_EchoOff 2
#define St_Rec_EchoOff 3
#define St_Trans_Reset 4
#define St_Rec_Reset 5
#define St_Print_Menu 6
#define St_Print_Gauges_Eng 7
#define St_Trans_Speed 8
#define St_Rec_Speed 9
#define St_Trans_Rpm 10
#define St_Rec_Rpm 11
#define St_Trans_Volt 12
#define St_Rec_Volt 13
#define St_Trans_Mpg 14
#define St_Rec_Mpg 15
#define St_Print_Units 16
#define St_Print_Time_Trials 17
#define St_Print_Gauges_Metric 18
#define St_Print_Engine_Codes 19
#define St_Print_Disclaimer 20
#define St_Print_Timer60 21
#define St_Print_Timer_Mile 22
#define St_Print_About 23
#define St_Trans_Vin 24
#define St_Rec_Vin 25
#define St_Trans_SN 26
#define St_Rec_SN 27
#define St_Trans_Clear 28
#define St_Rec_Clear 29
#define St_Trans_Engine_Temp 30
#define St_Rec_Engine_Temp 31
#define St_Codes_Cleared 32
#define St_Codes_Not_Cleared 33
#define St_Trans_Check_Engine 34
#define St_Rec_Check_Engine 35
#define St_Print_Check_Engine 36

//State machine state names for debounce
#define Release 1 
#define DebouncePress 2
#define StillPressed 3
#define DebounceRelease 4

//Conversion Macros
//Data conversion macros
#define rpm_convert(a,b)			floor(((256*(a))+(b))/4); 
#define airflowrate_convert(a,b)	((256*(a))+(b))/100;
#define mpg_convert(a,b)			(710.733*(a))/(b);
#define speed_convert(a)			floor((a)*(0.621371192));
#define temp_convert(a)				floor(((a)*(1.8))+32);


//Buttons
//Button
#define Up	14   //Green- Up
#define Down 13  //Yellow- Down
#define Left 11  //Orange- Left
#define Right 7  //Brown- Right

	
/* Global Variables */
uint8_t mcu_state;
uint8_t rx_buffer[128];
uint8_t rx_buffer_index;
uint8_t lcd_buffer[17];	// LCD display buffer
enum {MCU_STATE_IDLE, MCU_STATE_TX};
uint8_t error_buffer[40];

//Meassages
uint8_t Reset[4] = "ATZ\r";
uint8_t EchoOff[5] = "ATE0\r";
uint8_t Speed[6] = "010D1\r";
uint8_t Rpm[6] = "010C1\r";
uint8_t Volt[5] = "ATRV\r";
uint8_t Maf[6] = "01101\r";
uint8_t Info[4] = "ATI\r";
uint8_t Serial[5] = "AT@2\r";
uint8_t Vin[6] = "09025\r";
uint8_t Clear[3] = "04\r";
uint8_t EngineTemp[6] = "01051\r";
uint8_t Check[3] = "03\r";

/* Prototype Functions */
void init_mcu(void);
void init_uart0_rxtx(void); 
void uart0_send_byte_array(uint8_t *data, uint8_t length);
void uart0_send_byte(uint8_t data);
void uart0_parse_rx(uint8_t rx_data);
void init_lcd(void); 
void initialize(void); 
void state_machine(void);  
void debounce_machine(void);      

//State Machine Marker
int state;  

//Car data
int mph, rpm, mpg;
int kph, kpl;
int temp_rpm1, temp_rpm2;
int maf, temp_maf1, temp_maf2;
int mile_speed, mile_time;
int time60;
int temperature;
int error1, error2, error3, error4, error5, error6, error7;

//Debounce State Machine Variables
unsigned char maybe, PushState;
unsigned char button_pressed, button_mask;

//Menu Surfing Flags
unsigned char menu_cursor;
unsigned char menu;
unsigned char metric_flag; //0 - English, 1 - Metric SI

unsigned char sn;
unsigned char serial_buffer[14];
unsigned char about_flag;

//Time Keeping
volatile unsigned int milliseconds;		// 0-60 timer
volatile unsigned int seconds;
unsigned int milli_temp;
unsigned char trial_flag;
unsigned char timeOn;
volatile char button_timer;

/******************************************************************************************/
//timer 0 overflow ISR
ISR (TIMER0_COMPA_vect){
   if(timeOn == 1){
	milliseconds++;
		if(milliseconds%1000 == 0){
			seconds = seconds + 1;
			milliseconds = 0;
			}
	}
	if (button_timer != 0)
		button_timer--;
}

/******************************************************************************************/
/**
 * UART transmission function for byte arrays
 *
 * Can be used to transmitt strings
 * Length terminated (versus null terminated)
 */
void uart0_send_byte_array(uint8_t *data, uint8_t length) {
	for (uint8_t i=0; i<length; i++) {
		while ( !( UCSR0A & (1<<UDRE0)) );	// Wait for empty buffer
		UDR0 = *data++;						// Put data into buffer, sends the data 
	}
}

//Parsing function based on current state
void uart0_parse_rx(uint8_t rx_data) {

	if (state == St_Rec_EchoOff){
		if (rx_data == 0x3E) {
			rx_buffer_index = 0;
			state = St_Trans_Reset;
		}
		else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
	}
	else if (state == St_Rec_Speed){
		if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;
					trial_flag = 0;
					timeOn = 0;
					milliseconds = 0;
					seconds = 0;

					LCDGotoXY(0,0);
					LCDsendChar(7);

					kph = 0;
					mph = 0;
					rpm = 0;
					mpg = 0;
				}
		if (rx_data == 0x3E) {
			sscanf(rx_buffer,"%*s %*s %X",&kph);
			LCDGotoXY(6,0);
			if (menu == 8) {
				mph = speed_convert(kph);
				if ((mph > 0) && (trial_flag == 0)){
					LCDGotoXY(0,2);
					sprintf(lcd_buffer, "TO BEGIN: SLOW TO 0");
					LCDstring(lcd_buffer, strlen(lcd_buffer));
					state = St_Trans_Speed;
				}
				else if ((mph == 0) && (trial_flag == 0)){
					LCDGotoXY(0,1);
					if(mph <10)
						sprintf(lcd_buffer, "MPH:   %d", mph);
					else if ((mph >= 10) && (mph < 100))
						sprintf(lcd_buffer, "MPH:  %d", mph);
					else 
						sprintf(lcd_buffer, "MPH: %d", mph);
					LCDstring(lcd_buffer, strlen(lcd_buffer));

					LCDGotoXY(0,2);
					sprintf(lcd_buffer,"PROCEED  WHEN  READY");
					LCDstring(lcd_buffer, strlen(lcd_buffer));
					trial_flag = 1;
				}
				else if ((mph > 0) && (trial_flag == 1) && (timeOn == 0)) {
					timeOn = 1;
				}
				else if ((mph >= 0) && (timeOn == 1)){
					if(mph < 60 && seconds <60){
						LCDGotoXY(0,1);
						if(mph <10)
							sprintf(lcd_buffer, "MPH:   %d", mph);
						else if ((mph >= 10) && (mph < 100))
							sprintf(lcd_buffer, "MPH:  %d", mph);
						else 
							sprintf(lcd_buffer, "MPH: %d", mph);
						LCDstring(lcd_buffer, strlen(lcd_buffer));
						LCDGotoXY(0,2);
						if(seconds < 10){
							if(milliseconds<10){
								sprintf(lcd_buffer, "Time:  %u.00%u seconds",seconds,milliseconds);}
							else if(milliseconds<100){
								sprintf(lcd_buffer, "Time:  %u.0%u seconds",seconds,milliseconds);}
							else{
								sprintf(lcd_buffer, "Time:  %u.%u seconds",seconds,milliseconds);}
						}
						else {
							if(milliseconds<10){
								sprintf(lcd_buffer, "Time: %u.00%u seconds",seconds,milliseconds);}
							else if(milliseconds<100){
								sprintf(lcd_buffer, "Time: %u.0%u seconds",seconds,milliseconds);}
							else{
								sprintf(lcd_buffer, "Time: %u.%u seconds",seconds,milliseconds);}
						}
						LCDstring(lcd_buffer, strlen(lcd_buffer));
					}
					else if ((mph >= 60) || (seconds >= 60)){
						timeOn = 0;
						LCDGotoXY(0,2);
						if(seconds < 10){
							if(milliseconds<10){
								sprintf(lcd_buffer, "Time:  %u.00%u seconds",seconds,milliseconds);}
							else if(milliseconds<100){
								sprintf(lcd_buffer, "Time:  %u.0%u seconds",seconds,milliseconds);}
							else{
								sprintf(lcd_buffer, "Time:  %u.%u seconds",seconds,milliseconds);}
						}
						else {
							if(milliseconds<10){
								sprintf(lcd_buffer, "Time: %u.00%u seconds",seconds,milliseconds);}
							else if(milliseconds<100){
								sprintf(lcd_buffer, "Time: %u.0%u seconds",seconds,milliseconds);}
							else{
								sprintf(lcd_buffer, "Time: %u.%u seconds",seconds,milliseconds);}
						}
						LCDstring(lcd_buffer, strlen(lcd_buffer));
						LCDGotoXY(0,1);
						if(mph <10)
							sprintf(lcd_buffer, "MPH:   %d", mph);
						else if ((mph >= 10) && (mph < 100))
							sprintf(lcd_buffer, "MPH:  %d", mph);
						else 
							sprintf(lcd_buffer, "MPH: %d", mph);
						LCDstring(lcd_buffer, strlen(lcd_buffer));
						trial_flag = 3;
					}
				}
				rx_buffer_index = 0;
				state = St_Print_Timer60;
			}
			else if(metric_flag == 0){
				mph = speed_convert(kph);	
				if(mph <10)
					sprintf(lcd_buffer, "  %d", mph);
				else if ((mph >= 10) && (mph < 100))
					sprintf(lcd_buffer, " %d", mph);
				else 
					sprintf(lcd_buffer, " %d", mph);
				LCDstring(lcd_buffer, strlen(lcd_buffer));
				state = St_Trans_Rpm;
				if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;
					LCDGotoXY(0,0);
					LCDsendChar(7);
					mph = 0;
					rpm = 0;
					mpg = 0;
				}
			}
			else if(metric_flag == 1){	
				if(kph <10)
					sprintf(lcd_buffer, "  %d", kph);
				else if ((kph >= 10) && (kph < 100))
					sprintf(lcd_buffer, " %d", kph);
				else 
					sprintf(lcd_buffer, " %d", kph);
				LCDstring(lcd_buffer, strlen(lcd_buffer));
				state = St_Trans_Rpm;
				if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;

					LCDGotoXY(0,0);
					LCDsendChar(7);

					mph = 0;
					rpm = 0;
					mpg = 0;
				}
			}
			rx_buffer_index = 0;			
		}
		else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
	}
	else if (state == St_Rec_Rpm){
		if (rx_data == 0x3E) {
			sscanf(rx_buffer,"%*s %*s %X %X",&temp_rpm1,&temp_rpm2);
			rpm = rpm_convert(temp_rpm1,temp_rpm2);
			LCDGotoXY(16,0);
			if(rpm<1000)
				sprintf(lcd_buffer, " %d", rpm);
			else
				sprintf(lcd_buffer, "%d", rpm);

			LCDstring(lcd_buffer, strlen(lcd_buffer)); 
			rx_buffer_index = 0;
			state = St_Trans_Volt;
			if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;
					LCDGotoXY(0,0);
					LCDsendChar(7);
					mph = 0;
					rpm = 0;
					mpg = 0;
				}
		}
		else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
	}
	else if (state == St_Rec_Mpg){
		if (rx_data == 0x3E) {
			sscanf(rx_buffer,"%*s %*s %X %X",&temp_maf1,&temp_maf2);
			maf = airflowrate_convert(temp_maf1,temp_maf2);
			mpg = mpg_convert(mph,maf);
			LCDGotoXY(16,1);
			sprintf(lcd_buffer, "%2.1f", mpg);
			LCDstring(lcd_buffer, strlen(lcd_buffer));
			rx_buffer_index = 0;
			state = St_Trans_Speed;
		}
		else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
	}
	else if (state == St_Rec_Volt){
		if (rx_data == 0x3E){
			rx_buffer_index = 0;
			state = St_Trans_Engine_Temp;
			if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;
					LCDGotoXY(0,0);
					LCDsendChar(7);
					mph = 0;
					rpm = 0;
					mpg = 0;
				}
		}
		if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
		if (rx_data == 0x56) {
			LCDGotoXY(5,1);
			sprintf(lcd_buffer, "%c%c%c%c", rx_buffer[0],rx_buffer[1],rx_buffer[2],rx_buffer[3]);
			LCDstring(lcd_buffer, strlen(lcd_buffer));
		}
	}
	else if (state == St_Rec_Reset){
		if (rx_data == 0x3E) {
			LCDGotoXY(5,3);
			sprintf(lcd_buffer, "%s", rx_buffer);
			LCDstring(lcd_buffer, strlen(lcd_buffer));
			rx_buffer_index = 0;
			PORTB = 0xFF;
			state = St_Print_Menu;
			_delay_ms(1000);
			LCDclr();
			LCDGotoXY(0,0);
			LCDsendChar(7);
		}
		else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
			}
		}
	else if (state == St_Rec_SN){
		if (about_flag == 1){
			LCDGotoXY(5,2);
			LCDstring(serial_buffer, strlen(serial_buffer));
			state = St_Print_About;
		}
		else if(about_flag == 0){
			if (rx_data == 0x3E) {
				menu_cursor = 2;
				LCDGotoXY(5,2);
				sprintf(serial_buffer, "%c%c%c%c%c%c%c%c%c%c%c%c", rx_buffer[0],rx_buffer[1],rx_buffer[2],rx_buffer[3],rx_buffer[4],rx_buffer[5],rx_buffer[6],rx_buffer[7],rx_buffer[8],rx_buffer[9],rx_buffer[10],rx_buffer[11]);
				LCDstring(serial_buffer, strlen(serial_buffer));
				rx_buffer_index = 0;
				about_flag = 1;
				state = St_Print_About;
			}
			else if (rx_data >= 0x20 && rx_data <= 0x5F) {
				rx_buffer[rx_buffer_index++] = rx_data;
			}
		}
	}
	else if (state == St_Rec_Clear){
		if (rx_data == 0x3E) {
			if (rx_buffer[0] == 0x34)
				state = St_Codes_Cleared;
			else
				state = St_Codes_Not_Cleared;
			LCDclr();	
			rx_buffer_index = 0;
		}
		else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
	}
	else if(state == St_Rec_Engine_Temp){
		if (rx_data == 0x3E) {
			sscanf(rx_buffer,"%*s %*s %X",&temperature);
			rx_buffer_index = 0;
			if(metric_flag == 0){
				temperature = temp_convert(temperature - 40);
			}
			else
				temperature = temperature - 40;
			LCDGotoXY(15 ,1);
			if (temperature <= 10)
				sprintf(lcd_buffer,"%d",temperature);
			else if (temperature<0 && temperature>10)
				sprintf(lcd_buffer," %d", temperature);
			else if((temperature >= 0) && (temperature <10))
				sprintf(lcd_buffer, "  %d", (temperature));
			else if ((temperature >= 10) && (temperature < 100))
				sprintf(lcd_buffer, " %d", temperature);
			else 
				sprintf(lcd_buffer, "%d", temperature);

			LCDstring(lcd_buffer, strlen(lcd_buffer));
			state = St_Trans_Speed;
		}
		else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
	}
	else if(state == St_Rec_Check_Engine){
	if (rx_data == 0x3E){
		sscanf(rx_buffer,"%X %X %X %X %X %X %X",&error1, &error2, &error3, &error4, &error5, &error6, &error7);
		if (error1 = 0x43){
			state = St_Print_Check_Engine;
		}
		else {
		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"********************");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	
	
		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"*     NO CODES     *");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	
		
		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"*     DETECTED     *");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	
		
		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"********************");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		
		
		_delay_ms(1000);
		state = St_Print_Menu;
		LCDclr();	
		menu = 1;
		menu_cursor = 1;
		LCDGotoXY(0,0);
		LCDsendChar(7);
		}
		rx_buffer_index = 0;
	}
	else if (rx_data >= 0x20 && rx_data <= 0x5F) {
			rx_buffer[rx_buffer_index++] = rx_data;
		}
	}
}

/******************************************************************************************/
/**
 * Main program
 */
int main(void) {
	initialize();
	// Main program loop
	while(1) {
		if ((button_timer == 0) && (PINA != 15)){
			button_pressed = PINA;
			button_timer = 0;
			}
		else 
			button_pressed = 15;
		state_machine();
	}
}
/******************************************************************************************/
void initialize(void){
	rx_buffer_index = 0;
	DDRD = 0xFF;
	PORTD = 0xFF;

	//init pushbuttonsf
	DDRA = 0xF0;
	PushState = Release;

	init_uart0_rxtx();		// Initialize UART TX
	init_lcd();

	state = St_Initial;
	mph = 0;
	rpm = 0;
	mpg = 0;
	kph = 0;
	kpl = 0;
	temp_rpm1 = 0;
	temp_rpm2 = 0;
	maf = 0;
	temperature = 0;
	milli_temp = 0;
	seconds = 0;
	about_flag = 0;

	menu = 1;
	menu_cursor = 1;
	button_pressed = 0;
	metric_flag = 0;
	trial_flag = 0;
	timeOn = 0;
	button_timer = 0;

	// set up timer 0     
  	OCR0A = 249;	   			// clear after 250 counts
  	TIMSK0 = (1<<OCIE0A) ;	//turn on timer 0 cmp-match ISR 

  	// turn on timer 0 clear on match
  	TCCR0A = (1<<WGM01) ;
  	// timer 0 prescalar to 64 
  	TCCR0B = 3 ;	

	sei();
}
/******************************************************************************************/
void state_machine(void){

	switch(state){
		case St_Initial:
		LCDGotoXY(6,0);
		sprintf(lcd_buffer,"OBD2 LCD");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(4,1);
		sprintf(lcd_buffer,"AMA64, MAA66");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(3,2);
		sprintf(lcd_buffer,"Copyright 2009");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	

		_delay_ms(2000);
		state = St_Trans_EchoOff;

	break;

	case St_Trans_EchoOff:
		uart0_send_byte_array(EchoOff,5);
		_delay_ms(500);
		state = St_Rec_EchoOff;

	break;

	case St_Rec_EchoOff:
		if(UCSR0A & (1<<RXC0)) {	
			uart0_parse_rx(UDR0);
		}

	break;

	case St_Trans_Reset:
		uart0_send_byte_array(Info,4);
		state = St_Rec_Reset;

	break;

	case St_Rec_Reset:
		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}

	break;

	case St_Print_Menu:
		rx_buffer_index = 0;
		kph = 0;
		mph = 0;
		trial_flag = 0;
		timeOn = 0;
		milliseconds = 0;
		seconds = 0;
		
		if(button_pressed == Up){
			if(menu_cursor == 1){
				LCDGotoXY(19,1);
				LCDsendChar(6);
				menu_cursor = 5;
				LCDGotoXY(0,0);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
			}
			else if(menu_cursor == 2){
				LCDGotoXY(0,0);
				LCDsendChar(7);
				menu_cursor = 1;
				LCDGotoXY(0,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
			else if(menu_cursor == 3){
				LCDGotoXY(0,1);
				LCDsendChar(7);
				menu_cursor = 2;
				LCDGotoXY(0,2);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
			else if(menu_cursor == 4){
				LCDGotoXY(0,2);
				LCDsendChar(7);
				menu_cursor = 3;
				LCDGotoXY(19,0);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
			else if(menu_cursor == 5){
				LCDGotoXY(19,0);
				LCDsendChar(6);
				menu_cursor = 4;
				LCDGotoXY(19,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
		}
		else if(button_pressed == Down){
			if(menu_cursor == 1){
				LCDGotoXY(0,1);
				LCDsendChar(7);
				menu_cursor = 2;
				LCDGotoXY(0,0);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
			}
			else if(menu_cursor == 2){
				LCDGotoXY(0,2);
				LCDsendChar(7);
				menu_cursor = 3;
				LCDGotoXY(0,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
			else if(menu_cursor == 3){
				LCDGotoXY(19,0);
				LCDsendChar(6);
				menu_cursor = 4;
				LCDGotoXY(0,2);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
			else if(menu_cursor == 4){
				LCDGotoXY(19,1);
				LCDsendChar(6);
				menu_cursor = 5;
				LCDGotoXY(19,0);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
			else if(menu_cursor == 5){
				LCDGotoXY(0,0);
				LCDsendChar(7);
				menu_cursor = 1;
				LCDGotoXY(19,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
		}
		LCDGotoXY(1,0);
		sprintf(lcd_buffer,"GAUGES      TRIALS");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(1,1);
		sprintf(lcd_buffer,"DIAGNOSTICS  UNITS");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(1,2);
		sprintf(lcd_buffer,"ABOUT");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	

		LCDGotoXY(15,3);
		sprintf(lcd_buffer,"ENTER");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

		if(button_pressed == Right){
			if(menu_cursor == 1){
				if(metric_flag == 0){
					state = St_Print_Gauges_Eng;
					menu = 2;
				}
				else if (metric_flag == 1){
					state = St_Print_Gauges_Metric;
					menu  = 7;
				}
				menu_cursor = 1;
				LCDclr();	
			}
			else if(menu_cursor == 2){
				state = St_Print_Engine_Codes;
				menu = 3;
				menu_cursor = 1;
				LCDclr();	
				LCDGotoXY(0,1);
				LCDsendChar(7);
			}
			else if(menu_cursor == 3){
				state = St_Print_About;
				menu = 4;
				menu_cursor = 1;
				LCDclr();
			}
			else if(menu_cursor == 4){
				state = St_Print_Time_Trials;
				menu = 5;
				menu_cursor = 1;
				LCDclr();
				LCDGotoXY(0,1);
				LCDsendChar(7);
			}
			else if(menu_cursor == 5){
				LCDclr();
				state = St_Print_Units;	
				menu = 6;
				menu_cursor = 1;
				LCDGotoXY(0,1);
				LCDsendChar(7);
			}
		}
	break;

	case St_Print_Gauges_Eng:

		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"MPH       RPM");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(0,1);
		sprintf(lcd_buffer,"VOLT      TEMP");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(18,1);
		sprintf(lcd_buffer,"ßF");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));			

		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"MENU");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

		state = St_Trans_Speed;
	break;

	case St_Trans_Speed:
		uart0_send_byte_array(Speed,6);
		state = St_Rec_Speed;
	break;

	case St_Rec_Speed:
		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}
	break;

	case St_Trans_Rpm:
		if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;

					LCDGotoXY(0,0);
					LCDsendChar(7);

					mph = 0;
					rpm = 0;
					mpg = 0;
				}		

		uart0_send_byte_array(Rpm,6);
		state = St_Rec_Rpm;

	break;

	case St_Rec_Rpm:
		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}
	break;

	case St_Trans_Volt:
		if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;

					LCDGotoXY(0,0);
					LCDsendChar(7);

					mph = 0;
					rpm = 0;
					mpg = 0;
				}		

		uart0_send_byte_array(Volt,5);
		state = St_Rec_Volt;
	break;

	case St_Rec_Volt:
		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}
	break;

	case St_Trans_Mpg:
		uart0_send_byte_array(Volt,5);
		state = St_Rec_Mpg;
	break;

	case St_Rec_Mpg:
		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}
	break;

	case St_Print_Units:

		LCDGotoXY(3,0);
		sprintf(lcd_buffer,"UNIT SELECTION");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(1,1);
		sprintf(lcd_buffer,"ENGLISH     METRIC");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		if(metric_flag == 0){
			LCDGotoXY(0,2);
			sprintf(lcd_buffer,"Current:     English");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));
		}
		else if(metric_flag == 1){
			LCDGotoXY(0,2);
			sprintf(lcd_buffer,"Current:      Metric");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));
		}		
		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"MENU          SELECT");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

		if(button_pressed == Up){
			if(menu_cursor == 1){
					LCDGotoXY(19,1);
					LCDsendChar(6);
					menu_cursor = 2;
					LCDGotoXY(0,1);
					sprintf(lcd_buffer," ");	
		        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
				}
				else if(menu_cursor == 2){
					LCDGotoXY(0,1);
					LCDsendChar(7);
					menu_cursor = 1;
					LCDGotoXY(19,1);
					sprintf(lcd_buffer," ");	
		        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
				}
		}
		else if(button_pressed == Down){
			if(menu_cursor == 1){
				LCDGotoXY(19,1);
				LCDsendChar(6);
				menu_cursor = 2;
				LCDGotoXY(0,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
			}
			else if(menu_cursor == 2){
				LCDGotoXY(0,1);
				LCDsendChar(7);
				menu_cursor = 1;
				LCDGotoXY(19,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
		}
		else if(button_pressed == Left){
			state = St_Print_Menu;
			LCDclr();
			LCDGotoXY(0,0);
			LCDsendChar(7);	
			menu = 1;
			menu_cursor = 1;
		}

		else if(button_pressed == Right){
			if(menu_cursor == 1)
				metric_flag = 0;
			else if (menu_cursor == 2)
				metric_flag = 1;
		}
	break;

	case St_Print_Time_Trials:

		if(button_pressed == Up){
			if(menu_cursor == 1){
				LCDGotoXY(19,1);
				LCDsendChar(6);
				menu_cursor = 2;
				LCDGotoXY(0,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
			}
			else if(menu_cursor == 2){
				LCDGotoXY(0,1);
				LCDsendChar(7);
				menu_cursor = 1;
				LCDGotoXY(19,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
		}
		else if(button_pressed == Down){
			if(menu_cursor == 1){
				LCDGotoXY(19,1);
				LCDsendChar(6);
				menu_cursor = 2;
				LCDGotoXY(0,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
			}
			else if(menu_cursor == 2){
				LCDGotoXY(0,1);
				LCDsendChar(7);
				menu_cursor = 1;
				LCDGotoXY(19,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
		}
		LCDGotoXY(4,0);
		sprintf(lcd_buffer,"Timed Trials");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(1,1);
		sprintf(lcd_buffer,"0-60 mph            ");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"MENU           BEGIN");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

		if(button_pressed == Left){
			state = St_Print_Menu;
			LCDclr();	
			menu = 1;
			menu_cursor = 1;

			LCDGotoXY(0,0);
			LCDsendChar(7);
		}
		else if(button_pressed == Right){
			if(menu_cursor == 1){
				state = St_Print_Timer60;
				menu = 8;
				LCDclr();
			}
			else if(menu_cursor == 2){
				state = St_Print_Timer_Mile;
				LCDclr();
			}
		}
	break;

	case St_Print_Gauges_Metric:

		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"KPH       RPM");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(0,1);
		sprintf(lcd_buffer,"VOLT      TEMP");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(18,1);
		sprintf(lcd_buffer,"ßC");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));			

		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"MENU");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

		if(button_pressed == Left){
			state = St_Print_Menu;
			LCDclr();	
			menu = 1;
			menu_cursor = 1;
			LCDGotoXY(0,0);
			LCDsendChar(7);
			kph = 0;
			rpm = 0;
		}
		state = St_Trans_Speed;
	break;

	case St_Print_Engine_Codes:

		if(button_pressed == Up){
			if(menu_cursor == 1){
				LCDGotoXY(19,1);
				LCDsendChar(6);
				menu_cursor = 2;
				LCDGotoXY(0,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
			}

			else if(menu_cursor == 2){
				LCDGotoXY(0,1);
				LCDsendChar(7);
				menu_cursor = 1;
				LCDGotoXY(19,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
		}

		else if(button_pressed == Down){
			if(menu_cursor == 1){
				LCDGotoXY(19,1);
				LCDsendChar(6);
				menu_cursor = 2;
				LCDGotoXY(0,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));		
			}

			else if(menu_cursor == 2){
				LCDGotoXY(0,1);
				LCDsendChar(7);
				menu_cursor = 1;
				LCDGotoXY(19,1);
				sprintf(lcd_buffer," ");	
	        	LCDstring(lcd_buffer, strlen(lcd_buffer));	
			}
		}
		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"    ENGINE CODES");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(1,1);
		sprintf(lcd_buffer,"CHECK        CLEAR");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"MENU           ENTER");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

		if(button_pressed == Left){
			state = St_Print_Menu;
			LCDclr();
			LCDGotoXY(0,0);
			LCDsendChar(7);	
			menu = 1;
			menu_cursor = 1;
		}
	
		else if(button_pressed == Right){
			if(menu_cursor == 1){
				state = St_Trans_Check_Engine;
				LCDclr();
			}
			else if (menu_cursor == 2){
				state = St_Print_Disclaimer;
				LCDclr();
			}
		}		
	break;

	case St_Print_Disclaimer:

		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"-----DISCLAIMER-----");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		

		LCDGotoXY(3,1);
		sprintf(lcd_buffer,"HAS THE ENGINE");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	
		
		LCDGotoXY(3,2);
		sprintf(lcd_buffer,"BEEN REPAIRED?");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	

		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"YES               NO");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

		if(button_pressed == Left){
			state = St_Trans_Clear;
		}
		else if (button_pressed == Right){
			state = St_Print_Engine_Codes;
			LCDclr();
			LCDGotoXY(0,1);
			LCDsendChar(7);
			menu = 1;
			menu_cursor = 1;
		}
	break;

	case St_Print_Timer60:

		if(trial_flag == 3){
			state = St_Print_Timer60;
			LCDGotoXY(0,0);
			sprintf(lcd_buffer,"-TEST RUN COMPLETED-");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));	

			LCDGotoXY(0,3);
			sprintf(lcd_buffer,"MENU               ");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));
		}
		else{
			state = St_Trans_Speed;
			LCDGotoXY(0,0);
			sprintf(lcd_buffer,"--0 to 60 MPH TIME--");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));		

			LCDGotoXY(0,3);
			sprintf(lcd_buffer,"MENU               ");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));
		}
		if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;
					trial_flag = 0;
					timeOn = 0;
					milliseconds = 0;
					seconds = 0;

					LCDGotoXY(0,0);
					LCDsendChar(7);

					mph = 0;
					kph = 0;
				}
	break;
	
	case St_Print_Timer_Mile:

		LCDGotoXY(3,0);
		sprintf(lcd_buffer,"1/4 MILE TRIAL");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(2,1);
		sprintf(lcd_buffer,"%i seconds",mile_time);	
		LCDstring(lcd_buffer, strlen(lcd_buffer));		
		
		LCDGotoXY(3,2);
		sprintf(lcd_buffer,"%i MPH", mile_speed);	
		LCDstring(lcd_buffer, strlen(lcd_buffer));	

		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"MENU            STOP");	
		LCDstring(lcd_buffer, strlen(lcd_buffer));

	break;

	case St_Print_About:
		rx_buffer_index = 0;
		if(menu_cursor == 1){
			LCDGotoXY(5,0);
			sprintf(lcd_buffer,"ID NUMBERS");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));
		
			LCDGotoXY(0,2);
			sprintf(lcd_buffer,"S/N: ");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));	

			LCDGotoXY(0,3);
			sprintf(lcd_buffer,"MENU            ");	
			LCDstring(lcd_buffer, strlen(lcd_buffer));
			state = St_Trans_SN;
		}

		else if (menu_cursor == 2)
			St_Print_About;
		if(button_pressed == Left){
			state = St_Print_Menu;
			menu = 1;
			menu_cursor = 1;
			LCDclr();
			LCDGotoXY(0,0);
			LCDsendChar(7);
		}
	break;

	case St_Trans_SN:
		rx_buffer_index = 0;
		uart0_send_byte_array(Serial,5);
		state = St_Rec_SN;

	break;
	
	case St_Rec_SN:
		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}
	break;

	case St_Trans_Clear:
		uart0_send_byte_array(Clear,3);
		state = St_Rec_Clear;
	break;

	case St_Rec_Clear:
		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}		
	break;

	case St_Trans_Engine_Temp:
			if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;

					LCDGotoXY(0,0);
					LCDsendChar(7);

					mph = 0;
					rpm = 0;
					mpg = 0;
				}

			uart0_send_byte_array(EngineTemp,6);
			state = St_Rec_Engine_Temp;

	break;

	case St_Rec_Engine_Temp:
			
			if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}		

	break;
	
	case St_Codes_Cleared:
	
		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"********************");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,1);
		sprintf(lcd_buffer,"*    CODE CLEAR    *");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,2);
		sprintf(lcd_buffer,"*    SUCCESSFUL    *");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"********************");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		_delay_ms(500);
		
		state = St_Print_Menu;
		LCDclr();
		LCDGotoXY(0,0);
		LCDsendChar(7);
		menu = 1;
		menu_cursor = 1;
	
	break;
	
	case St_Codes_Not_Cleared:
	
		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"********************");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,1);
		sprintf(lcd_buffer,"*    CODE CLEAR    *");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,2);
		sprintf(lcd_buffer,"%X", rx_buffer);
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"********************");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		_delay_ms(500);
	
		state = St_Print_Menu;
		LCDclr();
		LCDGotoXY(0,0);
		LCDsendChar(7);
		menu = 1;
		menu_cursor = 1;
	
	break;

	case St_Trans_Check_Engine:

		uart0_send_byte_array(Check,3);
		state = St_Rec_Check_Engine;		

	break;

	case St_Rec_Check_Engine:

		if(UCSR0A & (1<<RXC0)) {
			uart0_parse_rx(UDR0);
		}		

	break;

	case St_Print_Check_Engine:

		LCDGotoXY(0,0);
		sprintf(lcd_buffer,"    Engine Codes    ");  
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,1);
		sprintf(lcd_buffer,"    %X%X %X%X %X%X    ",error1,error2,error3,error4,error5,error6,error7); 
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		LCDGotoXY(0,3);
		sprintf(lcd_buffer,"MENU");
		LCDstring(lcd_buffer, strlen(lcd_buffer));
		
		if(button_pressed == Left){
					state = St_Print_Menu;
					LCDclr();	
					menu = 1;
					menu_cursor = 1;

					LCDGotoXY(0,0);
					LCDsendChar(7);
				}	
	break;
	}
}

void init_lcd(void) {
	LCDinit();	//initialize the display
	LCDcursorOFF();
	LCDclr();				//clear the display
}

/******************************************************************************************/
/**
 * Initialize UART RX
 */
void init_uart0_rxtx(void){
	UBRR0L = 25;		// 38400 Baud Rate for 16 MHz Clock

	UCSR0A = 0b00000000;// 7 - UART RX complete flag
						// 6 - UART TX complete flag
						// 5 - UART DRE flag
						// 4 - Frame error flag
						// 3 - Data overrun flag
						// 2 - Parity error flag
						// 1 - Double UART speed mode
						// 0 - Multi processor communication mode

	UCSR0B = 0b00011000; // 7 - RX Complete Interrupt Enable
						// 6 - TX Complete Interrupt Enable
						// 5 - UART DRE Interrupt Enable
						// 4 - Enable receiver
						// 3 - Enable transmitter
						// 2 - Character size
						// 1:0 - Ninth data bit

	UCSR0C = 0b00000110;// 7:6 - UART Mode Select
						//		00 - Asynchronous UART
						//		01 - Synchronous UART
						//		10 - Reserved
						//		11 - Master SPI
						// 5:4 - Parity mode
						//		00 - Disabled
						//		01 - Reserved
						//		10 - Enabled, Even
						//		11 - Enabled, Odd
						// 3 - Select stop bit length
						//		0 - 1-bit
						//		1 - 2-bit
						// 2:1 - Character size, with UCSRB.2
						//		000 - 5 bit
						//		001 - 6 bit
						//		010 - 7 bit
						//		011 - 8 bit
						//		100 - Reserved
						//		101 - Reserved
						//		110 - Reserved
						//		111 - 9 bit
						// 0 - Select clock polarity
						//		0 - Rising XCK edge
						//		1 - Falling XCK edge 						
}