float sensorValue = 0;
float voltageValue = 0;
float temperatura = 0;
int counter = 0;
float mtemp = 0;
float msensor = 0;
float mvoltage = 0;

void init_can(void)
{
  ADCSRA=0;
  delay(50);
  ADCSRA = _BV(ADEN)|_BV(ADSC)|_BV(ADPS2)|_BV(ADPS1)|_BV(ADPS0);
}

uint16_t read_CAN(uint8_t nr_intrare)
{
  ADMUX=nr_intrare;
  delay(50);
  ADMUX |= _BV(REFS0);
  ADCSRA |= _BV(ADSC);
  if(ADCSRA&ADSC)
    return ADC;
}
void command(char LcdCommand)  // Basic function used in giving command
{
  // to LCD   char UpperHalf, LowerHalf;
  char UpperHalf,LowerHalf;
  char rs=0,en=1;
  UpperHalf = LcdCommand & 0xF0;  // upper 4 bits of command
  PORTD &= 0x0F;                  // flushes upper half of PortD to 0, but retains lower half of PortD
  PORTD |= UpperHalf;
  PORTB &= ~(1<<rs);
  PORTB |= (1<<en);
  _delay_ms(10);
  PORTB &= ~(1<<en);
  _delay_ms(10);

  LowerHalf = ((LcdCommand<<4) & 0xF0); //lower 4 bits of command
  PORTD &= 0x0F;                  // flushes upper half of PortD to 0, but retains lower half of PortD
  PORTD |= LowerHalf;
  PORTB &= ~(1<<rs);
  PORTB |= (1<<en);
  _delay_ms(10);
  PORTB &= ~(1<<en);
  _delay_ms(10);
}

void data(char AsciiChar)    // Basic function used in giving data
{                            // to LCD
  char UpperHalf, LowerHalf;
  char rs=0,en=1;
  UpperHalf = AsciiChar & 0xF0; // upper 4 bits of data
  PORTD &= 0x0F;       // flushes upper half of PortD to 0, but retains lower half of PortD
  PORTD |= UpperHalf;
  PORTB |= (1<<rs);
  PORTB |= (1<<en);
  _delay_ms(10);
  PORTB &= ~(1<<en);
  _delay_us(400);
  LowerHalf = ((AsciiChar<<4) & 0xF0); //lower 4 bits of data
  PORTD &= 0x0F;       // flushes upper half of PortD to 0, but retains lower half of PortD
  PORTD |= LowerHalf;
  PORTB |= (1<<rs);
  PORTB |= (1<<en);
  _delay_ms(10);
  PORTB &= ~(1<<en);
  _delay_us(400);
}

void scriere_temperatura(float valoare_temperatura)
{
  int val_tmp=valoare_temperatura*10,c[4],i;
  data('T');data('E');data('M');data('P');data('=');
  for(i=0;i<4;i++)
    c[i]=0;
  i=0;
  while(val_tmp!=0)
  {
    c[i]=val_tmp%10;
    val_tmp=val_tmp/10;
    i++;
  }
  for(i=3;i>=1;i--)
        data(c[i] + '0');
  data(',');
  data(c[0] + '0');
  data('°');
  data('C');
}

void scriere_can(int valoare_can)
{
  int c[4],i;
  for(i=0;i<4;i++)
    c[i]=0;
  i=0;
  while(valoare_can!=0)
  {
    c[i]=valoare_can%10;
    valoare_can=valoare_can/10;
    i++;
  }
  data('N');data('=');
  for(i=3;i>=0;i--)
        data(c[i] + '0');
}

void scriere_tensiune(int valoare_tensiune)
{
  int c[4],i;
  for(i=0;i<4;i++)
    c[i]=0;
  i=0;
  while(valoare_tensiune!=0)
  {
    c[i]=valoare_tensiune%10;
    valoare_tensiune=valoare_tensiune/10;
    i++;
  }
  data('N');data('=');
  for(i=3;i>=0;i--)
        data(c[i] + '0');
  data('m');data('V');
}
void init_display (void)
{
  command(0x28); //4 biti 2 linii
  command(0x0E); //Display -ON; cursor -vizibil;
  command(0x06); //incrementare cursor
  command(0x01); //stergere ecran;
}
void setup()
{
  Serial.begin(9600);
  DDRD=0xF0;
  DDRB=0x03;
  DDRC=B000000;
  init_can();
  init_display();
}

void loop()
{
  sensorValue=read_CAN(0);
  voltageValue = sensorValue*5000/1023;
  temperatura = voltageValue/10;
  Serial.print("Temperatura: ");
  Serial.print(temperatura);
  Serial.print(" Voltaj: ");
  Serial.print(voltageValue);
  Serial.print(" Valoare CAN: ");
  Serial.print(sensorValue);
  Serial.print("\n");
  mtemp = mtemp + temperatura;
  msensor = msensor + sensorValue;
  mvoltage = mvoltage + voltageValue;
  counter++;
  if(counter>=50)
  {
    mtemp=mtemp/counter;
    msensor=msensor/counter;
    mvoltage=mvoltage/counter;
    command(0x80);
    scriere_temperatura(mtemp);
    command(0xC0);
    scriere_can(msensor);
    command(0xC8);
    scriere_tensiune(mvoltage);
    counter=0;
    mtemp=0;
    msensor=0;
    mvoltage=0;
  }
}