// Oscillator
#define Fcy ((7370000*16)/4) // = 29.52MHz

//  UART
//  PLL* | 115200    | 56700    | 38400    | 19200    | 9600    | 4800    | 2400    | 1200
//  -----+-----------+----------+----------+----------+---------+---------+---------+--------
//  1    | 0         | 1.03     | 2        | 5        | 11      | 22.99   | 46.98   | 94.96
//  4    | 3         | 7.12     | 11       | 22.99    | 46.98   | 94.96   | 190.93  | 382.85
//  8    | 7         | 15.25    | 22.99    | 46.98    | 94.96   | 190.93  | 382.85  | 766.71
//  16   | 14.99     | 31.5     | 46.98    | 94.96    | 190.93  | 382.85  | 766.71  | 1534.42
//  -----+-----------+----------+----------+----------+---------+---------+---------+--------
//  Baud | 115156.25 | 57578.13 | 38385.42 | 19192.71 | 9596.35 | 4798.18 | 2399.09 | 1199.54
//  -----+-----------+----------+----------+----------+---------+---------+---------+--------
#ifdef PLL1
  #define BAUDRATE_115200  0 // (Clock / (16 * 115200)) - 1
  #define BAUDRATE_56700   1
  #define BAUDRATE_38400   2
  #define BAUDRATE_19200   5
  #define BAUDRATE_9600   11
  #define BAUDRATE_4800   23
  #define BAUDRATE_2400   47
  #define BAUDRATE_1200   95
#endif
#ifdef PLL4
  #define BAUDRATE_115200  3 // (Clock / (16 * 115200)) - 1
  #define BAUDRATE_56700   7
  #define BAUDRATE_38400  11
  #define BAUDRATE_19200  23
  #define BAUDRATE_9600   47
  #define BAUDRATE_4800   95
  #define BAUDRATE_2400  191
  #define BAUDRATE_1200  383
#endif
#ifdef PLL8
  #define BAUDRATE_115200  7 // (Clock / (16 * 115200)) - 1
  #define BAUDRATE_56700  15
  #define BAUDRATE_38400  23
  #define BAUDRATE_19200  47
  #define BAUDRATE_9600   95
  #define BAUDRATE_4800  191
  #define BAUDRATE_2400  383
  #define BAUDRATE_1200  767
#endif
#ifdef PLL16
  #define BAUDRATE_115200 15 // (Clock / (16 * 115200)) - 1
  #define BAUDRATE_56700  32
  #define BAUDRATE_38400  47
  #define BAUDRATE_19200  95
  #define BAUDRATE_9600  191
  #define BAUDRATE_4800  383
  #define BAUDRATE_2400  767
  #define BAUDRATE_1200 1534
#endif

// ADC
#define  LINE_RR ADCBUF0
#define  LINE_R  ADCBUF1
#define  LINE_M  ADCBUF2
#define  LINE_L  ADCBUF3
#define  LINE_LL ADCBUF4

// Servos
// Pulses per time cycle with 29.52MHz clock... use these numbers to set
// the SERVO_MIN, SERVO_MID, and SERVO_MAX
//
// Master Clock = 7.37MHz, PLL*1
//  div | tick(us)| 1ms    | 1.5ms   | 2ms    | 16ms   | 20ms
//  ----+---------+--------+---------+--------+--------+---------
//  256 | 138.942 | 7.2    | 10.8    | 14.39  | 115.16 | 143.95
//  64  | 34.735  | 28.79  | 43.18   | 57.58  | 460.63 | 575.78
//  8   | 4.342   | 230.31 | 345.47  | 460.63 | 3685   | 4606.25 **
//  1   | 0.543   | 1842.5 | 2763.75 | 3685   | 29480  | 36850
//
// Master Clock = 7.37MHz, PLL*4
//  div | tick(us)| 1ms    | 1.5ms   | 2ms    | 16ms   | 20ms
//  ----+---------+--------+---------+--------+--------+---------
//  256 | 34.735  | 28.79  | 43.18   | 57.58  | 460.63 | 575.78
//  64  | 8.684   | 115.16 | 172.73  | 230.31 | 1842.5 | 2303.13
//  8   | 1.085   | 921.25 | 1381.88 | 1842.5 | 14740  | 18425 **
//  1   | 0.136   | 7370   | 11055   | 14740  | 117920 | 147400
//
// Master Clock = 7.37MHz, PLL*8
//  div | tick(us)| 1ms    | 1.5ms   | 2ms    | 16ms   | 20ms
//  ----+---------+--------+---------+--------+--------+---------
//  256 | 17.368  | 57.58  | 86.37   | 115.16 | 921.25 | 1151.56
//  64  | 4.342   | 230.31 | 345.47  | 460.63 | 3685   | 4606.25
//  8   | 0.543   | 1842.5 | 2763.75 | 3685   | 29480  | 36850 **
//  1   | 0.068   | 14740  | 22110   | 29480  | 235840 | 294800
//
// Master Clock = 7.37MHz, PLL*16
//  div | tick(us)| 1ms    | 1.5ms   | 2ms    | 16ms   | 20ms
//  ----+---------+--------+---------+--------+--------+---------
//  256 | 8.684   | 115.16 | 172.73  | 230.31 | 1842.5 | 2303.13
//  64  | 2.171   | 460.63 | 690.94  | 921.25 | 7370   | 9212.5
//  8   | 0.271   | 3685   | 5527.5  | 7370   | 58960  | 73700 **
//  1   | 0.034   | 29480  | 44220   | 58960  | 471680 | 589600
#ifdef PLL1
  #define SERVO_RATE 3685 // timer 3 div 8 - pulses to reach 16ms
  #define  SERVO_MIN (SERVO_RATE-230) // 1.0 ms pulse
  #define  SERVO_MID (SERVO_RATE-345) // 1.5 ms pulse
  #define  SERVO_MAX (SERVO_RATE-461) // 2.0 ms pulse
#endif
#ifdef PLL4
  #define SERVO_RATE 59040 // timer 3 div 8 - pulses to reach 16ms
  #define  SERVO_MIN (SERVO_RATE-921)  // 1.0 ms pulse - 58119
  #define  SERVO_MID (SERVO_RATE-1382) // 1.5 ms pulse - 57658
  #define  SERVO_MAX (SERVO_RATE-1843) // 2.0 ms pulse - 57197
#endif
#ifdef PLL8
  #define SERVO_RATE 59040 // timer 3 div 8 - pulses to reach 16ms
  #define  SERVO_MIN (SERVO_RATE-1843) // 1.0 ms pulse
  #define  SERVO_MID (SERVO_RATE-2764) // 1.5 ms pulse
  #define  SERVO_MAX (SERVO_RATE-3685) // 2.0 ms pulse
#endif
#ifdef PLL16
  #define SERVO_RATE 59040 // timer 3 div 8 - pulses to reach 16ms
  #define  SERVO_MIN (SERVO_RATE-3685) // 1.0 ms pulse
  #define  SERVO_MID (SERVO_RATE-5528) // 1.5 ms pulse
  #define  SERVO_MAX (SERVO_RATE-7370) // 2.0 ms pulse
#endif

// PLL1              
// div |  1 us  |  1kHz  |  2kHz  |  5kHz  |  10kHz | 20kHz
// ----+--------+--------+--------+--------+--------+-------
// 256 | 138.94 |   7.2  |    3.6 |   1.44 |   0.72 |  0.36
// 64  |  34.74 |  28.79 |  14.39 |   5.76 |   2.88 |  1.44
// 8   |   4.34 | 230.31 | 115.16 |  46.06 |  23.03 | 11.52 **
// 1   |   0.54 | 1842.5 | 921.25 |  368.5 | 184.25 | 92.13
//               
// PLL4              
// div |  1 us  |  1kHz  |  2kHz  |  5kHz  |  10kHz | 20kHz
// ----+--------+--------+--------+--------+--------+-------
// 256 |  34.74 |  28.79 |  14.39 |   5.76 |   2.88 |  1.44
// 64  |   8.68 | 115.16 |  57.58 |  23.03 |  11.52 |  5.76
// 8   |   1.09 | 921.25 | 460.63 | 184.25 |  92.13 | 46.06 **
// 1   |   0.14 | 7370   | 3685   | 1474   |  737   | 368.5
//               
// PLL8              
// div |  1 us  |  1kHz  |  2kHz  |  5kHz  |  10kHz | 20kHz
// ----+--------+--------+--------+--------+--------+-------
// 256 |  17.37 |  57.58 | 28.79  |  11.52 |   5.76 | 2.88
// 64  |   4.34 | 230.31 | 115.16 |  46.06 |  23.03 | 11.52
// 8   |   0.54 | 1842.5 | 921.25 |  368.5 | 184.25 | 92.13 **
// 1   |   0.07 | 14740  | 7370   |  2948  | 1474   | 737
//               
// PLL16              
// div |  1 us  |  1kHz  |  2kHz  |  5kHz  |  10kHz | 20kHz
// ----+--------+--------+--------+--------+--------+-------
// 256 |   8.68 | 115.16 |  57.58 |  23.03 |  11.52 | 5.76
// 64  |   2.17 | 460.63 | 230.31 |  92.13 |  46.06 | 23.03
// 8   |   0.27 |  3685  | 1842.5 |  737   | 368.5  | 184.25 **
// 1   |   0.03 | 29480  | 14740  |  5896  | 2948   | 1474

#ifdef PLL1
  #define PWM_RATE 230 // timer 3 div 8 - pulses to reach 1ms
#endif
#ifdef PLL4
  #define PWM_RATE 921 // timer 3 div 8 - pulses to reach 1ms
#endif
#ifdef PLL8
  #define PWM_RATE 1842 // timer 3 div 8 - pulses to reach 1ms
#endif
#ifdef PLL16
  #define PWM_RATE 3685 // timer 3 div 8 - pulses to reach 1ms
#endif
#define PWM_STOP PWM_RATE/2
#define PWM_FAST PWM_RATE-1
#define PWM_MEDIUM ((PWM_RATE/3)*2)
#define PWM_SLOW ((PWM_RATE/3)*1)

// motor controls
enum {LEFT, RIGHT, FORWARD, REVERSE, STOP};
enum {SERVO, HBRIDGE};