// Spider Task 0                          //
// Done by Manu Aatitya R P              //
// Controlling DC motor using Bluetooth  //

#include<avr/io.h>
#include<avr/interrupt.h>

/*
#define F_CPU 16000000
#define USART_BAUDRATE 9600
#define BAUD_PRESCALE (((F_CPU / (USART_BAUDRATE *16UL)))-1)

*/

int ocr_value = 250;

// ISR for usart interrupt routine
ISR(USART_RX_vect)
{
  char RecievedByte;
  RecievedByte = UDR0;
  UDR = RecievedByte;
  switch(RecievedByte)
  {
    case 'U': if(OCR0A <=244)
                  OCR0A +=10;
  }
}

// Set up of Usart Module
void usart_setup()
{
  UCSR0B |= ((1<<RXEN0) | (1<<TXEN0));
  UCSR0C |=((1<<UCSZ01) | (1<<UCSZ00));
  UCSR0A |= 0x00;
  UBRR0L |=0x67;
  UCSR0B |=(1<<RXCIE);
  sei()'
}

void send_usart(unsigned char s)
{
  while(UCSR0A != (UCSR0A | (1<<UDRE0)));
  UDR0 = s;
}

int main()
{
  DDRB |= 0xff;
  usart_setup();
  unsigned char ch;
  while(1)
  {
    while(UCSR0A != (UCSR0A | (1<<RXC0)));
    ch = UDR0;
    if(ch == 'N')
    {
      PORTB |=(1<<PB5);
      PORTB &=(1<<PB4);
      send_usart('N');
      _delay_ms(1000);
    }
    else if (ch == 'F')
    {
      PORTB |=(1<<PB5) |(1<<PB4);
      send_usart('F');
      _delay_ms(1000);
    }

  }
  return 0;
}