#include <avr/io.h>
#include <avr/interrupt.h>
//#include <avr/delay.h>
#include <stdlib.h>
//#include "servo.h"
#include "usart.h"
#define OUTDDR DDRC 
#define OUTPORT PORTC
#define P_GREEN 2
#define P_GREEN_ 3
#define P_RED 0
#define P_RED_ 1
#define P_BLUE 4
#define P_BLUE_ 5
#define MAX 70

//int i =0;
int color[3],color_[3],count[3],color_num=0;
unsigned short get_seed(void);
void set(color_num);
int d2i(double d);
int main(void){
	TCCR0 = 0x01;	//prescaller =1
//	TIMSK=0x01;//0x65;	//timer0 and timer2 interupt enable
	//TIMSK |= (1 << TOIE0);
	TIMSK |= (1 << TOIE1);
	//TIMSK |= (1 << TOIE2);
		
	TCCR2=0x01;
	TCCR1B=0x01;
	
	ASSR=0x00;	//Asynchronous Status Register ­ ASSR     don't know
	
	TCNT2=70;
	TCNT0=70;	//preload the timer with 96 to get 10us interrupts
	TCNT1L=70;
	
	OUTDDR=0xff;	//set pin 0,1 at outputport as output
        OUTPORT=0x2a; //set motor-pin and servo-pin to 0
	usart_init0(0x00,0x67);
	sei();
	usart_put0(0xff);
	srand (get_seed());
	for( int i=0 ; i<=2 ; i++ )
	{
	count[i]=rand();
	color[i]=rand();
		if(color[i] > 0x46)
		{
			color[i]=color[i] % 0x46;
		}

	usart_put0(color[i]);
	color_[i]=color[i];
	}
	while(1) {

	};
}
int d2i(double d)
{
  return d<0?d-.5:d+.5;
}

unsigned short get_seed(void)
{
   unsigned short seed = 0;
   unsigned short *p = (unsigned short*) (RAMEND+1);
   extern unsigned short __heap_start;
    
   while (p >= &__heap_start + 1)
      seed ^= * (--p);
    
   return seed;
}
void set(color_num){
	
	if( count[color_num] == 0 )
	{
		if( color_[color_num]==color[color_num] )
		{
			color[color_num]=rand();
			if( color[color_num] > 0x46 )
			{
			color[color_num]=color[color_num] % 0x46;
			color[color_num]=color[color_num]+20;
			}
	}	
		if( color_[color_num] > color[color_num]  )
		{
			color_[color_num]--;
		}else{
			color_[color_num]++;
		}
		usart_put0(color_[color_num]);
		count[color_num]=rand();
	}

count[color_num]--;
}
int up[3];
SIGNAL(TIMER0_OVF_vect){	//timer0 interrupt
	TCNT0=70;//color_[0];		//preload timer
	set(0);
		if( up[0]==0 )
		{
			up[0]=1;
			OUTPORT |= (1 << P_RED);
			OUTPORT &= ~(1 << P_RED_);
		}
		else
		{
			up[0]=0;
			OUTPORT |= (1 << P_RED_);
			OUTPORT &= ~(1 << P_RED);
		}
}
SIGNAL(TIMER2_OVF_vect){	//timer0 interrupt
	TCNT2=70;//color_[1];		//preload timer
	set(1);
		if( up[1]==0 )
		{
			up[1]=1;
			OUTPORT |= (1 << P_GREEN);
			OUTPORT &= ~(1 << P_GREEN_);
		}
		else
		{
			up[1]=0;
			OUTPORT |= (1 << P_GREEN_);
			OUTPORT &= ~(1 << P_GREEN);
		}
}
SIGNAL(TIMER1_OVF_vect){	//timer0 interrupt
	TCNT1H=0xff;
	TCNT1L=70;//color_[2];		//preload timer
	set(2);
		if( up[2]==0 )
		{
			up[2]=1;
			OUTPORT |= (1 << P_BLUE);
			OUTPORT &= ~(1 << P_BLUE_);
		}
		else
		{
			up[2]=0;
			OUTPORT |= (1 << P_BLUE_);
			OUTPORT &= ~(1 << P_BLUE);
		}
}