/*
 * bil.c
 *
 * Created: 2014-04-10 14:38:25
 *  Author: digpi14
 */ 


#include <avr/io.h>
#include <avr/interrupt.h>
#define FORWARDCOMMAND 'W'
#define LEFTCOMMAND 'A'
#define RIGHTCOMMAND 'D'
#define BACKWARDCOMMAND 'S'
#define FORWARD 0b00011000
#define BACKWARD 0b00000110
#define LEFT 0b00001010
#define RIGHT 0b00010100

void setupPorts(){
	//Sätter 0-1,3 till Output
	DDRA = 0b00001011;
	//PA3 ger etta till strömomgörare
	PORTA = 0b00001001;
	//Sätter 1-4 till Output(In till H-bryggan)
	DDRB = 0b00011110;
	PORTB = 0b00000000;
	
	//Har en Outputpå 0
	DDRC = 0b00000001;
	PORTC = 0b00000001;


}


void Reset(){
	PORTB = 0b00000000;
} 

void Backward(){
	//IN1 & IN3 (Framåt motor 1 & 2)
	PORTB = 0b00000000;
	PORTB = 0b00000110;
}

void Forward(){
	PORTB = 0b00000000;
	PORTB = 0b00011000;
	}

void Left(){
	PORTB = 0b00000000;
	PORTB = 0b00001010;
	
}
void Right(){
	PORTB = 0b00000000;
	PORTB = 0b00010100;
}	

void pressedButtonsHandler(char data){
		switch(data){
			
			  case FORWARDCOMMAND:
					Forward();
					break;
				case LEFTCOMMAND:
					Left();
					break;
				case RIGHTCOMMAND:
					Right();
					break;
				case BACKWARDCOMMAND:
					Backward();
					break;
				default:
					Reset();
					break;
				
			}
}

unsigned char USART_Receive ( void ) {
	while (! (UCSRA & (1<<UDRE))); 
	//while ( !(UCSRA & (1<<RXC)));
	return UDR;
}

int main (void)
{
	char recievedByte;
	setupPorts();
	UCSRB = (1 << RXEN)|(1 << TXEN);   // Sätter på reception 
	UCSRC = (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1); // Sätter frame format till 8
	
	
	UBRRH = 0; 
	UBRRL = 51;
	
	//UCSRB |= (1 << RXCIE);//
	//sei(); // Enable the Global Interrupt Enable flag so that interrupts can be processed 
	 
	while (1) // Loop forever
	{	
		//while ((UCSRA & (1 << RXC)) == 0) {}; // Gör ingenting tills data har tagits emot och kan läsas från UDR
		
		recievedByte = USART_Receive();
		pressedButtonsHandler(recievedByte);
	
		
		//receivedByte = UDR; // Hämtar värdet från UDR till recieved byte
		
		//while ((UCSRA & (1 << UDRE)) == 0) {}; // Gör ingenting innan UDR är redo för att bli skriven till
	    //UDR = 44; 
   }	
}
/*
ISR(USART_RXC_vect)
{
		switch(PINA2){
					case FORWARD:
					
						break;
					case LEFT:
					
						break;
					case RIGHT:
					
						break;
					case BACKWARD:
					
						break;
					case default:
					
						break;
		
		char ReceivedByte;
		ReceivedByte = UDR; // Fetch the received byte value into the variable "ByteReceived"
		UDR = ReceivedByte; // Echo back the received byte back to the computer
}
*/