dupa

#include "at91sam9263.h"

// peripheral B (L_LED)
#define PIOB_OER (volatile unsigned int*) 	0xFFFFF410    // output enable register
#define PIOB_PER (volatile unsigned int*) 	0xFFFFF400    // PIO enable register
#define PIOB_SODR (volatile unsigned int*) 	0xFFFFF430   //set output data register
#define PIOB_CODR (volatile unsigned int*) 	0xFFFFF434   //clear output data register
// peripheral C (BUTTONS and R_LED)
#define PIOC_ODR (volatile unsigned int*) 	0xFFFFF614    //disable output register
#define PIOC_OER (volatile unsigned int*) 	0xFFFFF610    // output enable register
#define PIOC_PER (volatile unsigned int*) 	0xFFFFF600    // PIO enable register
#define PIOC_SODR (volatile unsigned int*) 	0xFFFFF630   //set output data register
#define PIOC_CODR (volatile unsigned int*) 	0xFFFFF634   //clear output data register
#define PIOC_PUER (volatile unsigned int*) 	0xFFFFF664   //enables pull-up register
#define PIOC_PUDR (volatile unsigned int*) 	0xFFFFF660   //disables pull-up resistor
#define PIOC_PDSR (volatile unsigned int*) 	0xFFFFF63C   //pin data status resistor
//clock enable
#define PMC_PCER (volatile unsigned int*) 	0xFFFFFC10



#define PIT_SR (volatile unsigned int*) 	0xFFFFFD34	//status reg
#define PIT_MR (volatile unsigned int*) 	0xFFFFFD30	// mode reg
#define PIT_PIVR (volatile unsigned int*)	0xFFFFFD38	// PIT value reg


// const
#define TRUE				1
#define FALSE				0
#define CYCLES_PER_MILISECOND	6250
#define MILISECONDS_PER_SECONDS 1000


#define LEFT_LED 		(1<<8)	//B peripheral
#define RIGHT_LED 		(1<<29)	//C peripheral
#define LEFT_BUTTON 	(1<<5)	//C peripheral
#define	RIGHT_BUTTON 	(1<<4)	//C peripheral
#define CLOCK			(1<<4)

#define PITEN_ON 		(1<<24)

#define ON_TIME			1
#define OFF_TIME		2

dbgu_print_ascii(const char *a) {}


int button_pressed = FALSE;
int diode_on = FALSE;
int global_interrupt_flag = FALSE;
unsigned int local_counter = 0;

void PIT_delay_IRQ(float seconds);
void toggle_led();
void cfg_output();
void cfg_input();
int isButtonPressed(unsigned int button);
void right_led_turn_on();
void right_led_turn_off();
void left_led_turn_on();
void left_led_turn_off();


void PIT_delay_IRQ(float seconds){ // the lowest possible value is 0.001s (1 milisecond)
	unsigned int PIT_loops = seconds * MILISECONDS_PER_SECONDS;
	AT91C_BASE_PITC->PITC_PIMR = (0x000FFFFFU & CYCLES_PER_MILISECOND); //turn on PITEN MODE

	int i = 0;
	while(TRUE){
		if((*PIT_SR) & (1<<0)){
			*PIT_PIVR; 		// reset
			++i;
			if(i >= PIT_loops){
				break;
			} else if (i == (PIT_loops - 1)){
				//global_interrupt_flag = TRUE;
				//toggle_led();
				AT91C_BASE_PITC->PITC_PIMR = (AT91C_PITC_PITIEN & 0xFFFFFFFFU);
			}
		}
	}
}

void PIT_interrupt_handler(void){
	if(AT91C_BASE_PITC->PITC_PIMR & (AT91C_PITC_PITIEN)){
		toggle_led();
	}
}

void cfg_interrupts(){
	// disabling interrupt command register
	AT91C_BASE_AIC->AIC_IDCR = 1 << AT91C_ID_SYS;
	//configuring pointer for timer interrupt handler
	AT91C_BASE_AIC->AIC_SVR[AT91C_ID_SYS] = (unsigned int) PIT_interrupt_handler;

	//configuring trigger method
	AT91C_BASE_AIC->AIC_SMR[AT91C_ID_SYS] = AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED | AT91C_AIC_PRIOR_HIGHEST;

	//clear interrupt command register for peripherals
	AT91C_BASE_AIC->AIC_ICCR = 1 << AT91C_ID_SYS;

	//enable interrupt command register for peripherals
	AT91C_BASE_AIC->AIC_IECR = 1 << AT91C_ID_SYS;

	//enable PIT timer interrupt
	AT91C_BASE_PITC->PITC_PIMR = AT91C_PITC_PITIEN | AT91C_PITC_PITEN;



}

void task_2(){
	while(TRUE){
	  	left_led_turn_off();
	  	//PIT_delay(OFF_TIME);
      	left_led_turn_on();
		//PIT_delay(ON_TIME);
  	}
}

void task_1(){
	while(TRUE){
		if(is_button_pressed(LEFT_BUTTON)){
			left_led_turn_on();
		} else {
			left_led_turn_off();
		}
	}

}


void main(void) {
  cfg_input();
  cfg_output();
  cfg_interrupts();

  PIT_delay_IRQ(5);
}




void cfg_output(){
  *PIOB_PER = LEFT_LED;
  *PIOB_OER = LEFT_LED;
  *PIOB_SODR = LEFT_LED;

  *PIOC_PER = RIGHT_LED;
  *PIOC_OER = RIGHT_LED;
  right_led_turn_off();
  left_led_turn_off();
}

void cfg_input(){
  *PIOC_PER = LEFT_BUTTON | RIGHT_BUTTON;
  *PIOC_ODR = LEFT_BUTTON | RIGHT_BUTTON;
  *PIOC_PUER = LEFT_BUTTON | RIGHT_BUTTON;
  *PMC_PCER = (CLOCK);
}

void toggle_led() {
  if(diode_on) {
    left_led_turn_off(); //turns diode off by clearing output data register
    diode_on = FALSE;
  } else {
    left_led_turn_on();
    diode_on = TRUE;
  }
}

int is_button_pressed(unsigned int button){
  return (!(button & *PIOC_PDSR)) ? TRUE : FALSE;
}

void delay(int cycles){
  volatile int c = 0;
  while(c < cycles){
    c++;
  }
}

void right_led_turn_on(){
  *PIOC_CODR = RIGHT_LED;
}

void right_led_turn_off(){
  *PIOC_SODR = RIGHT_LED;
}

void left_led_turn_on(){
  *PIOB_CODR = LEFT_LED;
}

void left_led_turn_off(){
  *PIOB_SODR = LEFT_LED;
}