/*
 * Greifautomat.c
 *
 * Created: 11.12.2023 09:35:12
 * Author : jojo1
 */ 

#define F_CPU 11059000UL /* evtl. bereits via Compilerparameter definiert */
#define BAUD 9600UL

#include <avr/io.h>
#include <stdlib.h>
#include <util/delay.h>
#include <inttypes.h>
#include <stdint.h>
#include <util/setbaud.h>
#include <avr/interrupt.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <stdbool.h>

#define UBRR_VAL ((F_CPU+BAUD*8)/(BAUD*16)-1)   // clever runden
#define BAUD_REAL (F_CPU/(16*(UBRR_VAL+1)))     // Reale Baudrate
#define BAUD_ERROR ((BAUD_REAL*1000)/BAUD) // Fehler in Promille, 1000 = kein Fehler.


#define   EEPReadByte(addr)         eeprom_read_byte((uint8_t *)addr)
#define   EEPWriteByte(addr, val)   eeprom_write_byte((uint8_t *)addr, val)
#define   EEPUpdateByte(addr,update)    eeprom_update_byte((uint8_t *)addr,update)

#define   EEPReadWord(addr)         eeprom_read_word((uint16_t *)addr)
#define   EEWriteWord(addr,val)     eeprom_write_word((uint16_t *)addr,val)
#define   EEPUpdateWord(addr,update)    eeprom_update_word((uint16_t *)addr,update)

int default_buffer[10] = {0x7E , 0xFF , 0x06 , 0x00 , 0x00 , 0x00 , 0x00 , 0xEF}; // Default Buffer
int buffer_data[10] = {0x7E , 0xFF , 0x06 , 0x00 , 0x00 , 0x00 , 0x00 , 0xEF}; // Sending Buffer

volatile struct{
	unsigned led:1;
}status;
	
volatile uint8_t milliseconds=0;
volatile uint8_t sekunden=0;

ISR (TIMER1_COMPA_vect){
	
	status.led^=1;
	milliseconds++;
	if(milliseconds==10){if(sekunden>0){sekunden--;}milliseconds=0;}
	
}



void send_buffer(void) {
	int i;
	for( i=0; i< 10; i++){
		
		while (!(UCSRA & (1<<UDRE)))  /* warten bis Senden moeglich */
		{
		}
		
		UDR=buffer_data[i];
		buffer_data[i] = default_buffer[i];
	}
}

// Set Volume And Send it's Serial Command
void set_volume( uint8_t volume ) {
	buffer_data[3] = 0x06;
	buffer_data[6] = volume;
	send_buffer();
}

// Set a Track (1-3000) to Play
void play_track(int track_id) {
	buffer_data[3] = 0x03;
	if(track_id < 256) {
		buffer_data[6] = track_id;
		} else {
		buffer_data[5] = track_id / 256;
		buffer_data[6] = track_id - 256 * buffer_data[6];
	}
	send_buffer();
}

// Set a Track to Play Continuous
void play_current_track_continuous(uint8_t track) {
	buffer_data[3] = 0x08;
	buffer_data[6] = track;  //k_number;
	send_buffer();
}

// Pause Current Playing Track
void pause_current_track() {
	buffer_data[3] = 0x0E;
	send_buffer();
}

int uart_putc(unsigned char c)
{
	while (!(UCSRA & (1<<UDRE)))  /* warten bis Senden moeglich */
	{
	}

	UDR = c;                      /* sende Zeichen */
	return 0;
}

void uart_puts (char *s)
{
	while (*s)
	{   /* so lange *s != '\0' also ungleich dem "String-Endezeichen(Terminator)" */
		uart_putc(*s);
		s++;
	}
}



uint8_t uart_getc(void)
{
	while (!(UCSRA & (1<<RXC)))   // warten bis Zeichen verfuegbar
	;
	return UDR;                   // Zeichen aus UDR an Aufrufer zurueckgeben
}

char SPI_Transmit(char cData){

	SPDR = cData;
	while(!(SPSR & (1<<SPIF)))
	;
	return SPDR;
}



int main(void)
{
	
	//Datenrichtung 1=Ausgang

	DDRA=0b11111111;
	DDRB=0b10111111;
	DDRC=0b00000000; 
	DDRD=0b11100111; 
	DDRE=0b00; 

	//Pull Ups einschalten

	PORTA=0b00000000;
	PORTB=0b01000000;
	PORTC=0b00011111;
	PORTD=0b00001000;
	PORTE=0b11;


//PB0 = Greifer

//PA 0+1 = x Achse
//PA 2+3 = y Achse
//PA 4+5 = z Achse
//PA6 = Enable Motoren
//PA7 = LED
//PC 0...3 = Joystick

	UCSRC &= ~(1<<UMSEL); //Setzt Asynchronen Modus -> Setzt UMSEL00 auf 0
	UCSRC &= ~(1<<UPM0);   //Deaktiviert Parity Bits
	UCSRC &= ~(1<<USBS);   //Setzt Stop Bitanzahl auf 1
	UCSRC = (1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0);  // Asynchron 8N1
	UBRRH = UBRR_VAL >> 8;
	UBRRL = UBRR_VAL & 0xFF;
	
	//UCSRB |= (1<<RXEN);   //Recieve Enable
	//UCSRB |= (1<<TXEN);   //Transmit Enable
	
	// Timer 0 init (8bit)
	//TCCR0 |= (1<<CS02)|(1<<CS00);//|(1<<WGM01); // Prescaler 1024 + //CTC (1<<CS00)|
	//TCCR0 &= ~(1<<COM0)|(1<<COM0A0);
	//OCR0A=0xFF;
	//TIMSK0 |= (1<<TOIE0);//(1<<OCIE0A); //Timer Vector overflow aktivieren

	// Timer 1 (16bit) konfigurieren
	TCCR1B |= (1<<CS10)|(1<<CS11)|(1<<WGM12); // Prescaler 64 + CTC
	OCR1AH=0x38;
	OCR1AL=0x40; // alle 100ms pollen
	TIMSK |= (1<<OCIE1A);

	//SPCR = (1<<SPE) | (1<<MSTR)| (1<<SPR0)| (1<<SPR1);	//SPI Enable
	//SPSR = (1<<SPI2X);
	//SPDR = (1<<SPI2X);
	
	
	sei();
  
  //PORTA |= (1<<PA0);
  //PORTA &= ~(1<<PA1);
  
  PORTA |= (1<<PA6); //ENable Motoren
  _delay_ms(1000);
  
  //PINE0=Klaue oben
  //PINE1=Klaue kann greifen
  
  sekunden=20;
 while((PINE & (1<<PINE0)))  //KLaue unbedingt nach oben fahren
 {
	 PORTA |= (1<<PA5);
	 PORTA &= ~(1<<PA4);
	 
 }
 
 PORTA |= (1<<PA4);
  
    while (1) 
    {
		
		if (status.led==0){PORTA |= (1<<PA7);}else{PORTA &= ~(1<<PA7);}
		//if ( !(PINE & (1<<PINE0))){PORTA |= (1<<PA7);}else{PORTA &= ~(1<<PA7);}
		
			
		if ( !(PINC & (1<<PINC0))){PORTA |= (1<<PA2);PORTA &= ~(1<<PA2);} //vor
		if ( !(PINC & (1<<PINC1))){PORTA |= (1<<PA3);PORTA &= ~(1<<PA3);} //zurück
			
		//if (((PINC & (1<<PINC0)) && (PINC & (1<<PINC1)))){PORTA |= (1<<PA2);PORTA |= (1<<PA3);}
		
		
		if ( !(PINC & (1<<PINC2))){PORTA &= ~(1<<PA1);PORTA |= (1<<PA0);} //rechts
		if ( !(PINC & (1<<PINC3))){PORTA &= ~(1<<PA0);PORTA |= (1<<PA1);} //links
		//if (((PINC & (1<<PINC2)) && (PINC & (1<<PINC3)))){PORTA |= (1<<PA0);PORTA |= (1<<PA1);}
		
		
			
		if ( !(PINC & (1<<PINC4))){}else{} //Button
		
    }
}