#include <avr/io.h>
#include <stdint.h>

#include <avr/signal.h>
#include <avr/interrupt.h>

uint16_t servo_currentcount;

uint16_t rec_count_servo_1;
uint16_t rec_servo_1;

uint8_t w1;
uint8_t w2;


SIGNAL (SIG_OUTPUT_COMPARE0)
{
	
	//Servo 1 Senden
	servo_currentcount += 1;
	if (servo_currentcount > 786)
	{
		servo_currentcount = 0;
	}

	//if (servo_currentcount < 59)
	if (servo_currentcount < rec_servo_1)
	{
		if (!(PORTC = 0b00000001))
		{
			PORTC = 0b00000001;
		}
	}
	else
	{
		if (!(PORTC = 0b00000000))
		{
			PORTC = 0b00000000;
		}
	}

	//Empfänger Kanal 1 auswerten
	if (PINA & 1)
	{
		rec_count_servo_1 +=1;
	}
	else
	{
		if ((rec_count_servo_1 > 0))
		{
				rec_servo_1 = rec_count_servo_1;
		}
		rec_count_servo_1 = 0;
	}

}


int main(void)
{

	//Status LED Einschalten
	DDRD = 0b10000000;
	PORTD = 0b10000000;

	for (w1=0;w1<255;w1+=1)
	{
		for (w2=0;w2<255;w2+=1);
	}


	//PORTC = Servoausgang
	DDRC = 0xFF;
	//PORTA = Empfängereingang
	DDRA = 0x00;

	//TIMER********************************
	TCCR0 = 0b00000010; 	//Prescaler definieren (auf 1/8 clock)
	TCCR0 |= (1 << WGM01);	//Output Compare einschalten (CTC-Modus)
	OCR0  = 10;			
	
	TIMSK = (1 << OCIE0);	//Output compare interrupt aktivieren
	sei();					//Global interrupts on
	//*************************************

	while(1)
	{
		//PORTC = PINA;
		if (rec_servo_1 == 59)
		{
			PORTD = 0b10000000;
		}
		else
		{
			PORTD = 0b00000000;
		}

	}
}