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

int vinkel;
int start;
int end;
int pulslangd;
int valuecollected;
int lowvalue;
int highvalue;
int i;
int allvalues;
int value;
char frandata;
char frandata2;
char xon;


void main(void) {
    
	start = 0;
	DDRA = 0x00;
	DDRB = 0x01;
	DDRC = 0x00;
	ADMUX = 0x00;
	ADCSRA = 0xA6;
	SFIOR = 0x1F;
	
	UBRRL = 0x0C;
	UBRRH = 0x00;
	UCSRA = 0x20;
	UCSRC = 0x86;
	UCSRB = 0x18;
	
	
		
	vinkel = 88;
	end = 0;
	valuecollected = 0;
	lowvalue = 0;
	highvalue = 0;
	allvalues = 0;
	value = 0;
    frandata = 0;
    frandata2 = 0;
    xon = 1;
	
	sei();
	OCR2 = 0x4E;
	TIMSK = 0x80;
	TCCR2 = 0x06;

	
		
	while(1) {
	
		receive();
			
		if(valuecollected == 0 && start == 0x01) {
			
			while(i < 128){
				omvandla();
				allvalues = allvalues + lowvalue + highvalue;
				i++;
			}
			i = 0;
			value = allvalues>>9;
			allvalues = 0;
			sendvalue();
			valuecollected = 1;
				
		}
	}			
}


void SIG_OUTPUT_COMPARE2(void) {

	TCNT2 = 0x00;	
	TCNT0 = 0x00;
	
	pulslangd = 80 + vinkel;
	OCR0 = pulslangd;
	TIMSK = 0x02;
	TCCR0 = 0x02;
	PORTB = 0x01;
		
	sei();
}	


void SIG_OUTPUT_COMPARE0(void) {
	
	PORTB = 0x00;
	TCCR0 = 0x00;
	TIMSK = 0x80;
	
	if(end == 0 && valuecollected == 1) {
			
		vinkel++;
		valuecollected = 0;
		if(vinkel == 176){
			
			end = 1;
			
		}
	} else if(end == 1 && valuecollected == 1){
	
		vinkel--;
		valuecollected = 0;
		if(vinkel == 0){
			
			end = 0;
				
		}
	}

	sei();
	
}

void omvandla(void) {

	ADCSRA = ADCSRA|0X40;
	while(ADCSRA & 0x10 != 0x10) {
		
	}
	lowvalue = ADCL;
	highvalue = ADCH<<8;
	ADCSRA = ADCSRA|0x10;
}

void sendvalue(void) {

	while(xon == 0) {
        
        receive();
      
    }
	
	while(!(UCSRA & (1<<UDRE))) {

	}
	UCSRA = 0x60;
	UDR = vinkel;	
	while(!(UCSRA & (1<<UDRE))) {

	}
	UCSRA = 0x60;
	UDR = value;
    
	
}

void receive(void) {

    if(UCSRA|0x80 == 0x80){
    
        frandata2 = UDR;
        UCSRA = UCSRA|0x20;

        if(frandata2 == 0x11){
    
            xon = 1;
        
        }
        if(frandata2 == 0x13){
        
            xon = 0;
        
        }
    }
    while(start == 0x00){  
        
        if(UCSRA|0x80 == 0x80){
        
            frandata = UDR;
            UCSRA = UCSRA|0x20;
            if(frandata == 0x73){
                
                start = 0x01;
                
            }
        }
    }
    if(start == 0x01){
        
        if(UCSRA|0x80 == 0x80){
            
            frandata = UDR;
            UCSRA = UCSRA|0x20;
            if(frandata == 0x71){
            
                start = 0x00;
            
            }
        }
    }
	
}