/* Raw IR decoder sketch!
 
 This sketch/program uses the Arduno and a PNA4602 to 
 decode IR received. This can be used to make a IR receiver
 (by looking for a particular code)
 or transmitter (by pulsing an IR LED at ~38KHz for the
 durations detected 
 
 Code is public domain, check out www.ladyada.net and adafruit.com
 for more tutorials! 
 */
 
// We need to use the 'raw' pin reading methods
// because timing is very important here and the digitalRead()
// procedure is slower!
//uint8_t IRpin = 2;
// Digital pin #2 is the same as Pin D2 see
// http://arduino.cc/en/Hacking/PinMapping168 for the 'raw' pin mapping
#define IRpin_PIN      PIND
#define IRpin          2
 
// the maximum pulse we'll listen for - 65 milliseconds is a long time
#define MAXPULSE 200
 
// what our timing resolution should be, larger is better
// as its more 'precise' - but too large and you wont get
// accurate timing
#define RESOLUTION 10
 
// we will store up to 100 pulse pairs (this is -a lot-)
uint16_t pulses[100][2];  // pair is high and low pulse 
uint8_t currentpulse = 0; // index for pulses we're storing
 
void setup(void) {
  Serial.begin(9600);
  Serial.println("Ready to decode IR!");
}
 
void loop(void) {
  uint16_t highpulse, lowpulse;  // temporary storage timing
  highpulse = lowpulse = 0; // start out with no pulse length
 
 
//  while (digitalRead(IRpin)) { // this is too slow!
    while (IRpin_PIN & (1 << IRpin)) {
     // pin is still HIGH
 
     // count off another few microseconds
     highpulse++;
     delayMicroseconds(RESOLUTION);
 
     // If the pulse is too long, we 'timed out' - either nothing
     // was received or the code is finished, so print what
     // we've grabbed so far, and then reset
     if ((highpulse >= MAXPULSE) && (currentpulse != 0)) {
 
      remoteControl();
     // printpulses();
 
       currentpulse=0;
       return;
     }
  }
  // we didn't time out so lets stash the reading
  pulses[currentpulse][0] = highpulse;
 
  // same as above
  while (! (IRpin_PIN & _BV(IRpin))) {
     // pin is still LOW
     lowpulse++;
     delayMicroseconds(RESOLUTION);
     if ((lowpulse >= MAXPULSE)  && (currentpulse != 0)) {
 
       currentpulse=0;
       return;
     }
  }
  pulses[currentpulse][1] = lowpulse;
 
  // we read one high-low pulse successfully, continue!
  currentpulse++;
}
 
 
void remoteControl(void) {
 
  int heightH = 0;
  int leftRight = 0;
  int forwardBack = 0;
 
  unsigned long aaa=0;
  unsigned int bits[currentpulse];
  for (uint8_t i = 0; i < currentpulse; i++) {
    /*250 - 370
230 - 350
590 - 320
640 - 330
640 - 370
210 – 370
….
1403F7A45
So, the header is a 2000 ms on, 2000ms off, the 0 a 300/300 pair and the 1 a 300/600 pair pulse.*/
    if (pulses[i][0] < 1000){
      if ((pulses[i][0] - pulses[i][1])>200){
      bits[currentpulse-i] = 0;
    }else{
      bits[currentpulse-i] = 1;
    }
    }
 
    }
   int ik=8;
   for(int i = 16 ; i > 8 ; i--) {
     ik--;
     if (bits[i]==1){
       heightH = heightH + pow(2,ik);
     }
         // Serial.print(bits[i]);
   }
 
   ik=8;
   for(int i = 32 ; i > 24 ; i--) {
     ik--;
     if (bits[i]==1){
       leftRight = leftRight + pow(2,ik);
     }
         // Serial.print(bits[i]);
   }
 
   ik=8;
   for(int i = 24 ; i > 16 ; i--) {
     ik--;
     if (bits[i]==1){
       forwardBack = forwardBack + pow(2,ik);
     }
         //Serial.print(bits[i]);
   }
 
 
   Serial.print("height: "); 
   Serial.print((int)heightH);
   Serial.print("    left/right: ");
   Serial.print((int)leftRight);
   Serial.print("    forw/back: ");
   Serial.print((int)forwardBack);
  Serial.println();
}
 
void printpulses(void) {
  String asd = "";
  unsigned long aaa=0;
 
 
 
  for (uint8_t i = 0; i < currentpulse; i++) {
    /*250 - 370
230 - 350
590 - 320
640 - 330
640 - 370
210 – 370
….
1403F7A45
So, the header is a 2000 ms on, 2000ms off, the 0 a 300/300 pair and the 1 a 300/600 pair pulse.*/
    if (pulses[i][0] < 1000){
      if ((pulses[i][0] - pulses[i][1])>400){
      asd = asd + 0;
 
    }else{
      asd = asd + 1;
    }
 
    Serial.print(pulses[i][0] * RESOLUTION, DEC);
   Serial.print(" usec, ");
    Serial.print(pulses[i][1] * RESOLUTION, DEC);
    Serial.println(" usec");
    //asd = asd + "," + pulses[i][1];
  }
  }
 
  Serial.println(asd);
 
}