//	*************************************
//	*Etienne Cantin						*
//	*Prog Pololu PWM					*
//	*Version 1 Rev 2					*
//	*20 Mars 2017						*
//	*************************************
#define FOSC 20000000                      // Clock Speed
#define BAUD 115200
#define MYUBRR FOSC/16/BAUD -1
#define F_CPU 8000000UL // 20MHZ ext Clock Pololu, Maximum atMega328P

#include "avr/io.h"
#include <util/delay.h>
#include "avr\interrupt.h"
#include "ctype.h"
//#include "fonctcom.h"
#include <stdlib.h>
#include <stdio.h>
#include <time.h>
#include <unistd.h>
#include "util/delay.h"
//#include <>
#include <util/setbaud.h>


//*********************************Déclarations PWM Pololu***********************************
void delay (uint16_t ms);
void PwmPololu(uint8_t select,double vitessePourc);



unsigned char setBit(unsigned char port, unsigned char bitNo);
unsigned char clearBit(unsigned char port, unsigned char bitNo);

//*********************************Déclarations COMM Série***************************************
uint8_t dataIN;
uint8_t test;
uint8_t tempoRX;
uint8_t dir;
unsigned char car;
char bufStr[40];

void comInit();
uint8_t rxChar(void);
void txChar(uint8_t sendChar);
const char* rxString(void);
void txString(char *str);

int main (void)
{
	DDRB = 0x6F;
	DDRD = 0x04;
	DDRC|= (1<<5); // set PC5 as output

	comInit();

	while (1)
	{
			//sei();
			//delay(500);
			//test= rxChar();
			//txChar('a');
			/*if(test && 0x80)
			dir=1;
			else dir=0;
			test = test & 0x7F;*/
			//PwmPololu(0,5);
			//txChar(0);
			
			sprintf(bufStr,"%s","test");
			txString(bufStr);
			//PwmPololu(1,100);
			//txChar(rxChar());
			delay(1000);
			
			for(int i=0;i<100;i++)
			{
				//PwmPololu(0,i);
				//delay(2);
			}
	}

	return 0;
}

unsigned char setBit(unsigned char port, unsigned char bitNo)
{
	 port = port | (1<<bitNo);
	 return port;
}

unsigned char clearBit(unsigned char port, unsigned char bitNo)
{
	port = port &~ (1<<bitNo);
	return port;
}

void comInit()
{
    UBRR0H = (MYUBRR >> 8);
    UBRR0L = MYUBRR;
    //UCSR0A = (1<<U2X0 );
    UCSR0B |= (1 << RXEN0) | (1 << TXEN0);      // Enable receiver and transmitter
	//UCSR0B |= (1 << RXCIE0)| (1 << TXCIE0);		// Enable receiver/Transmitter interrupt
    UCSR0C |= (1 << UCSZ01) | (1 << UCSZ00)| (0<<UPM00);    // Set :1 start bit, 8 data, 1 stop
}

ISR (USART_RX_vect)
{
	car = UDR0;                       // Read data from the RX buffer
	UDR0 = car;                       // Write the data to the TX buffer
}

uint8_t rxChar()
{
while ( !(UCSR0A & (1 << RXC0)) );  // Wait until data is received
if(UCSR0A &(1<<UPE0))				// if data has no parity = Cancel data
	dataIN=0;
else
	dataIN = UDR0;                    // Read the data from the RX buffer
	
return dataIN;
}

void txChar(uint8_t sendChar )
{
	while ( !(UCSR0A & (1 << UDRE0)) ); // Wait until buffer is empty
		UDR0 = (unsigned char)sendChar; // Send the data to the TX buffer
}

void txString(char *str)
{
	while (*str != 0x00)
	{
		txChar(*str);
		++str;
	}
}

const char* rxString(void)
{
	static char rxstr[20];
	static char* temp;
	temp = rxstr;

	while((*temp = rxChar()) != '\n')
	{
		++temp;
	}

	return rxstr;
}


//***********************************Fonctions PWM Pololu*************************
void PwmPololu(uint8_t select,double vitessePourc)
{
	if(!select)
	{
	vitessePourc = (vitessePourc/75)*6; //ajustement vitesse pour que 0-6ms = 0-100% (+25%)
	//if(vitessePourc<1 && vitessePourc>0)
		//vitessePourc += 1;	//Gain pour valeur trop petite
		PORTB = setBit(PORTB, 3);
		//PORTD = setBit(PORTD, 3);
		//PORTD = setBit(PORTD, 5);
		PORTD = setBit(PORTD, 6);
		delay(vitessePourc);
			
		PORTB = clearBit(PORTB, 3);
		PORTD = clearBit(PORTD, 3);
		PORTD = clearBit(PORTD, 5);
		PORTD = clearBit(PORTD, 6);
		_delay_us(6000);			//0-6ms = 0-100%
	}
	else if (select==1)
	{
			vitessePourc = (vitessePourc/50)*25;
			//PORTB = setBit(PORTB, 3);
			PORTD = setBit(PORTD, 3);
			PORTD = setBit(PORTD, 5);
			//PORTD = setBit(PORTD, 6);
			delay(vitessePourc);
			
			PORTB = clearBit(PORTB, 3);
			PORTD = clearBit(PORTD, 3);
			PORTD = clearBit(PORTD, 5);
			PORTD = clearBit(PORTD, 6);
			_delay_ms(50);
	}
}

void delay (uint16_t ms)
{
	while(ms > 0)
	{
		ms--;
		_delay_us(990);
	}
}