//Program for controlling Duty Cycle and motor Voltage
//By: Clayton Campagna, Kevin LaBeau, Sarah Rizzio
//9/22/04

#include <avr/io.h>
#include <avr/signal.h>
#include <avr/interrupt.h>
#include "sio.c"

int AD_convert(int analog_value);
void PWM_setup(void);
void AD_setup(void);
void IO_setup(void);
void IO_update(void);
void CLK_setup();

int count = 0; // a count value to be output on port D
int analog_input=0;


// -------------- PWM Waveform Stuff ----------
void PWM_setup(void){
	//using OCR2
	DDRD = 0xFF; //set as output
	TCCR2 = _BV(WGM21)|_BV(WGM20)|_BV(COM21)|_BV(CS20); //fast PWM
	OCR2 = 0xFF; //100% duty cycle
}

void AD_setup(void){
	ADMUX = 0xC0; // set the input to channel 0
	ADCSRA = 0xE0;// turn on ADC and set to free running
}
int AD_read(){
	return (ADCW >> 2);
}

// -------------- IO Stuff --------------------

void IO_setup(void){
	DDRD = 0xFF; // all of port D is outputs  ***CHANGES***
	AD_setup(); // enable the AD inputs
	PWM_setup(); // setup the PWM outputs
	DDRA = (unsigned char)0; // set port A to inputs


}
void IO_update(void){// This routine will run once per interrupt for updates
	
	OCR2 = count; 			// Controls PWM wave
	outint((analog_input / 100));	// Display the voltage value to the screen
	outln(" ");		
	analog_input = 0;
	
		
	// put feedback control stuff here
	
}

// -------------- Clock/interrupt stuff ---------------------

#define CLK_ms 10// set the updates for every 10ms
unsigned int CNT_timer1; // the delay time
volatile unsigned int CLK_ticks = 0; // the current number of ms
volatile unsigned int CLK_seconds = 0; // the current number of seconds

SIGNAL(SIG_OVERFLOW1){ // The interrupt calls this function
	CLK_ticks += CLK_ms;
	
	analog_input += AD_read();
	
	if(CLK_ticks >= 1000){ // The number of interrupts between output changes
		CLK_ticks = CLK_ticks - 1000;
		CLK_seconds++;
		
		IO_update();
	}
	TCNT1 = CNT_timer1;
}
void CLK_setup(){ // Start the interrupt service routine
	TCCR1A = (0<<COM1A1) | (0<<COM1A0)| (0<<COM1B1) | (0<<COM1B0)
		| (0<<WGM11) | (0<<WGM10) | (0<<FOC1A) | (0<<FOC1B);
	// disable PWM and Compare Output Modes
	TCCR1B = (0<<WGM12) | (0<<WGM13)
		| (0<<ICNC1) | (0<<ICES1)
		| (1<<CS12) | (0<<CS11) | (1<<CS10); // set to clk/1024
	CNT_timer1 = 0xFFFF - CLK_ms * 16; // 16 = 1ms, 160 = 10ms
	TCNT1 = CNT_timer1; // start at the right point
	//SFIOR &= PSR10; // reset the scaling bit
		// use CLK/1024 prescale value
	TIFR&=~(1<<TOV1); // set to use overflow interrupts
	TIMSK = (1<< TOIE1 );// enable TCNT1 overflow
	sei(); // enable interrupts flag
}


// -------------- The main program loop ------------------

int main(){
	int c;
	
	sio_init();
	IO_setup();
	CLK_setup();

	outln("Push h for help");
	
	for(;;){
		while((c = input()) == -1){} // wait for a keypress
		if(c == '+'){ // increment the output on port B
			if(++count > 255) count = 255;
			outln("counter incremented");
		} else if(c == '-'){
			if(--count < 0) count = 0;
			outln("counter decremented");
		} else if(c == 'p'){
			outint(count);
		} else if(c == 'h'){
			outln("HELP: + -> increase, - ->decrease, p -> output count, q -> quit");
		} else if(c == 'q'){
			break;
		}
	}
	sio_cleanup();
	
	return 1;
}