#include <avr/io.h>

  #include <util/delay.h>

  #include "serial.h"
  #include <avr/interrupt.h>
  
  #define LED_ON 0x01
  #define LED_OFF 0x02
  #define MOVE_RIGHT 0x04
  #define MOVE_LEFT 0x08
  #define MOVE_STOP 0x10
  
  //*******************************************
  // Init of PWM signal deliverd on pin 9 (PB1)
  //*******************************************
  void init_pwm()

  {

    // initialize
    cli();          // disable global interrupts

    //initialisation pwm sur broche 13 = PB1
    DDRB |= 0x02 ;
    // PD6 is now an output
    TCCR1A = (1 << WGM10) | (1 << COM1A1);
    // set none-inverting mode
    TCCR1B = (1 << WGM12) | (1 << CS10) |(1 << CS12);
    // set prescaler to 8 and starts PWM
    OCR1A= 0xFF ;

    DDRB |= (1 << DDB1)|(1 << DDB2);
    // PB1 and PB2 is now an output

    TCCR1B |= (1 << CS10);
    // START the timer with no prescaler

    sei();

  }
  

  //***********************************************************************
  // Set of functions resulting movement to a servomotor connected on pin 9.
  //***********************************************************************
  void motor_right(){
    OCR1A = 0x80 ;

  }
  

  void motor_left(){
    OCR1A = 0x08 ;

  }
  

  void motor_stop(){
    OCR1A = 0xFF;

  }
  

  //**********************************
  // Functions for the led management
  //**********************************

  void init_led(void){
    //Led must be placed on pin 7 (PD7)
    DDRD  |= 0x80 ;
    PORTD = 0x00 ;

  }

  void led_on(void){
    PORTD |= 0x80 ;

  }
  

  void led_off(void){
    PORTD &= 0x7F ;
  }

  
  int main(void)
  {

    init_led();

    init_serial(9600); //on choisit une vitesse de 9600 bauds pour la transmission série

    uint8_t r ;
    init_pwm();

    while(1)

    {
  	  r = get_serial();
      switch(r){
          case LED_ON:
            led_on();
            send_ack();
            break;
          case LED_OFF:
            led_off();
            send_ack();
            break;
          case MOVE_RIGHT:
            motor_right();
            send_ack();
            break;
          case MOVE_LEFT:
            motor_left();
            send_ack();
            break;
          case MOVE_STOP:
            motor_stop();
            send_ack();
            break;
          }
    }

  return 0;
  }