#include <avr/io.h>

#include <util/delay.h>

#include <avr/interrupt.h>

#include <string.h>

#include <avr/sfr_defs.h> //Loop unril bit it set

#define F_CPU 4000000UL

#define BAUD 9600 //The baudrate that we want to use

#define BAUD_PRESCALLER ((F_CPU)/(BAUD*16UL)-1) //The formula that does all the required maths

// set the CPU clock

//Declaration of our functions probably to now havce to put them in reverse order?!

void USART_init(void);

unsigned char USART_receive(void);

void USART_send(char data);

void USART_putstring(char * StringPtr);

unsigned char * receiveString();

void blink(void);

void USART_Flush(void);

void updateState(void);

void lock(void);

void unlock(void);

void servoInit(void);

void init(void);

char String[] = "BREAK!"; //String[] is in fact an array but when we put the text between the " " symbols the compiler threats it as a String and automatically puts the null termination character in the end of the text

int main(void) {

//register magic move to own funvtion if too complex

DDRC |= _BV(DDC0); //SET PC0 to output

DDRC |= _BV(DDC1); //SET PC1 to output

init(); //Call the initialization code

_delay_ms(100);

while(1) {

updateState();

}

return 0;

}

/**

* Checks and changes state of keyring

*

*/

void updateState(void) {

unsigned char * command = receiveString(); //Recieve command from serial

//command = command[strlen(command)-1] = 0; // STrips last char fro string (line break (\n))

if(!strcmp(command, "LOCK")) {

lock();

USART_putstring("LOCK!!");

} else if (!strcmp(command, "UNLOCK") == 1) {

unlock();

USART_putstring("UNLOCK!!!!");

} else {

USART_putstring("SOMETHING!!!!");

}

}

void lock(void) {

PORTC ^= _BV(PC1);//Turn on power to servo

OCR1A = 190; //position furthest away from gear

_delay_ms(1000);

PORTC ^= _BV(PC1);//Turn on power to servo

}

void unlock(void) {

PORTC ^= _BV(PC1); //Turn on power to servo

OCR1A = 750; //position closets to gear

_delay_ms(2000);

PORTC ^= _BV(PC1); //Turn off power to servo

}

void USART_putstring(char * streng){

for (int i = 0; i < strlen(streng); i++){

USART_send(streng[i]); //send string

PORTC ^= _BV(PC0); //Makes status LED blink

_delay_ms(1);

}

}

void USART_send(char data) {

/* Wait for empty transmit buffer */

while ( !( UCSRA & (1<<UDRE)) );

/* Copy ninth bit to TXB8 */

UCSRB &= ~(1<<TXB8);

if ( data & 0x0100 )

UCSRB |= (1<<TXB8);

/* Put data into buffer, sends the data */

UDR = data;

}

unsigned char * receiveString(){

unsigned char * result;

int i = 0;

while(1) {

unsigned char dataread = USART_receive();

result[i] = dataread;

if(dataread == 10) {

//USART_putstring(String);

break;

}

i ++;

}

result[i] = '\0';

return result;

}

void blink(void) {

_delay_ms(500);

PORTC ^= _BV(PC0); //Makes status LED blink

_delay_ms(500);

PORTC ^= _BV(PC0); //Makes status LED blink

_delay_ms(500);

PORTC ^= _BV(PC0); //Makes status LED blink

}

unsigned char USART_receive() {

/* Wait for data to be received */

loop_until_bit_is_set(UCSRA, RXC);

/* Get and return received data from buffer */

return UDR;

}

void USART_Flush( void )

{

unsigned char dummy;

while ( UCSRA & (1<<RXC) ) dummy = UDR;

}

void init(void) {

servoInit();

USART_init();

}

void USART_init(void) {

/* Set baud rate */

UBRRH = (unsigned char)(BAUD_PRESCALLER>>8);

UBRRL = (unsigned char)BAUD_PRESCALLER;

/* Enable receiver and transmitter */

UCSRB = (1<<RXEN)|(1<<TXEN);

/* not 2x speed !!!NEW!!!! */

UCSRA &= ~_BV(U2X);

/* Set frame format: 8data, 2stop bit */

UCSRC = (1<<URSEL)|(1<<USBS)|(3<<UCSZ0);

}

void servoInit(void) {

/*FOR TIMER1*/

DDRB |= (1 << DDB1); // PB1 as output

TCCR1A |= (1 << COM1A1); // set non-inverting mode

TCCR1A |= (1 << WGM11) | (1 << WGM10); // set 10bit phase corrected PWM Mode

TCCR1B |= (1 << CS11); // set prescaler to 8 and starts PWM

ICR1=500; //fPWM=50Hz

}