#include <avr/io.h>
#include <avr/interrupt.h>
#include <inttypes.h>




void Port_Initial(void);				//Ports konfigurieren
void Timer1_Initial(void);				//Timer1 Initialisieren 
void Timer1_Start(void);				//Timer1 starten bei 5
void Timer1_Stop(void);					//Timer1 stopen
void CompareA_Start(void);				//CompareA von Timer1 aktivieren
void CompareA_Stop(void);				//CompareA von Timer1 stopen
void CompareB_Start(void);				//CompareB von Timer1 aktivieren
void CompareB_Stop(void);				//CompareB von Timer1 stopen
unsigned int Read_ADC(unsigned char adc_input);	//AD-Wandler auslesen

//Globale Variablen
volatile unsigned short intZ_SV;	//Servowert/Position
volatile unsigned short intZ_20;	//Zähler für 20ms Wert;
volatile unsigned short intZ_01;	//Zähler für  1-2ms Wert;
volatile unsigned char  intPWM;		//Wert für 4kHz PWM-Signal
volatile unsigned char  intSeV;		//Wert für Servosignal 1-2ms
volatile unsigned char  intYN;		//Boolean Yes/Now Y/N
volatile unsigned int   intBB;

#define ADC_VREF_TYPE 0xC0


SIGNAL (SIG_OVERFLOW1);	    			//Timerinterrupt von Timer1
SIGNAL (SIG_OUTPUT_COMPARE1A);			//Interrupt Timer1 Compare Match A
SIGNAL (SIG_OUTPUT_COMPARE1B);			//Interrupt Timer1 Compare Match B





int main(void)
{
	typedef unsigned char  BYTE; 
	typedef unsigned short WORD; 	//Wert von Analogwandler Pin A0
	
	unsigned int intADW;
	unsigned int intTmp;
	
	intYN = 'N';
	intZ_01 = 1500;
	intZ_20 = 2100;
	
	ADCSR=0x87;
	Port_Initial();
	Timer1_Initial();
	sei();				//Wichtig Interrupts aktivieren	
	
	PORTB = 0xFF;
	TCNT1 =5; 
	Timer1_Start();
	
	TCCR1A = (1<<COM1A1)|(1<<PWM1A);//|(1<<PWM1B);
	//TCCR1A = (1<<COM1B1)|(1<<COM1B0)|(0<<COM1A1)|(1<<COM1A0)|(1<<FOC1B)|(1<<FOC1A);
	//TCCR1A = (1<<COM1A1)|(1<<COM1A0)|(1<<PWM1A)|(1<<PWM1B)|(1<<FOC1B);
	//TCCR1A = (1<<PWM1A)|(1<<PWM1B);
	//TIFR =(1<<OCF1A)|(1<<OCF1B)|(1<<TOV1)|(1<<TOV0); 
	TIFR =(1<<OCF1A)|(1<<TOV1); 
		
	while (1)
	{

		//AD-Wert auslesen*/
		intADW = Read_ADC(0);
		intADW =333;
		
		intTmp = intADW;
		if (intTmp >1000) intTmp = 1000;
		intTmp= intTmp/4; 
		intSeV = intTmp;
		intPWM = intTmp;
		
		if (intADW>1000) intADW = 1000;
		intZ_SV = intADW + 1000;
	}
}



//Timerinterrupt von Timer1
SIGNAL (SIG_OVERFLOW1)
{
	unsigned char intBB;

	Timer1_Stop();
	
	intZ_20 = intZ_20 - 250;
	if (intZ_20 == 0)
	{
		PORTB = 0xFF;			//Port ein
		intYN = 'N';			//Abfallende Flanke erreicht?
		intZ_20 = 21000;		//Startwert für 20 ms
		intZ_01 = intZ_SV;		//Startwert für 1-2ms
	}
	
	if ((intZ_01<250)&&(intYN =='N'))
	{
		if (intZ_01 == 0)
		{
			intYN ='Y';
			PORTB &= ~(1<<PB0);
		}
		else
		{
			intYN ='Y';
			intBB = intZ_01; 
			OCR1A = intBB;
			intZ_01 = 0;
			CompareA_Start();
		}
	}
	else
	{
		intZ_01 = intZ_01 -250;
	}
	
	TCNT1 = 5; 
	Timer1_Start();
	
	/*intBB = intPWM; 
	OCR1B = intBB;
	PORTB |= (1<<PB2);
	//CompareB_Start();**/
}


unsigned int Read_ADC(unsigned char adc_input)
{
	ADMUX=adc_input|ADC_VREF_TYPE;
	//Start the AD conversion
	ADCSR|=0x40;
	//Wait for the AD conversion to complete
	while ((ADCSR & 0x10)==0);
	ADCSR|=0x10;
	
	return ADCW;
}




//Interrupt Timer1 Compare Match A
SIGNAL (SIG_OUTPUT_COMPARE1A)
{
	PORTB &= ~(1<<PB0);
	CompareA_Stop();
}


//Interrupt Timer1 Compare Match B
SIGNAL (SIG_OUTPUT_COMPARE1B)
{
	PORTB &= ~(1<<PB2);
	CompareB_Stop();
}



//Ports konfigurieren
void Port_Initial(void)	 
{
	DDRA =0xFF;			//PORTA = Eingang
	DDRB =0xFF;			//PORTB = Ausgang 
}  


//Timer1 Initialisieren 
void Timer1_Initial(void)
{
	TIMSK  = (1<<TOIE1);
}



//Timer1 starten bei 5
void Timer1_Start(void)
{
	TCCR1B |= (0<<CS13)|(0<<CS12)|(0<<CS11)|(1<<CS10);		//Teiler 1
	//TCCR1B |= (1<<CS13)|(0<<CS12)|(0<<CS11)|(1<<CS10);		//Teiler 256
	//TCCR1B |= (1<<CS13)|(1<<CS12)|(1<<CS11)|(0<<CS10);		//Teiler 8192
}



//Timer1 stopen
void Timer1_Stop(void)
{
	TCCR1B = 0;
}



//CompareA von Timer1 aktivieren
void CompareA_Start(void)
{
	TIMSK |= (1<<OCIE1A);
}



//CompareA von Timer1 stopen
void CompareA_Stop(void)
{
	TIMSK &= ~ (1<<OCIE1A);			//Bit löschen(demaskieren)
}


//CompareB von Timer1 aktivieren
void CompareB_Start(void)
{
	TIMSK |= (1<<OCIE1B);
}



//CompareB von Timer1 stopen
void CompareB_Stop(void)				
{
	TIMSK &= ~ (1<<OCIE1B);			//Bit löschen(demaskieren)

}