#include "mcu_api.h"
#include "mcu_errno.h"

#define OUTPUT 1
#define LED_GPIO 40

#define ON 1
#define OFF 0

#define PWM0 0

#define WAIT_INTERVAL 100

#define PWM_DUTY_LEFT_NS 1000000
#define PWM_DUTY_CENTER_NS 1500000
#define PWM_DUTY_RIGHT_NS 2000000
#define PWM_PERIOD_NS 20000000

void mcu_main()
{
    /* your configuration code starts here */

    char buf[64];
    int len = 0;

    gpio_setup(LED_GPIO, OUTPUT);

    pwm_disable(PWM0);
    while (1)       /* your loop code starts here */
    {
	 len = host_receive((unsigned char*) buf, 64);
         if (len >0) {
             debug_print(DBG_INFO, "received command!\n");

	     int duty_ns = PWM_DUTY_CENTER_NS;

	     if (strncmp(buf, "left", 4) == 0) {
               duty_ns = PWM_DUTY_LEFT_NS;
               debug_print(DBG_INFO, "Left\n");
	     }
	     else if (strncmp(buf, "right", 5) == 0) {
               duty_ns = PWM_DUTY_RIGHT_NS;
               debug_print(DBG_INFO, "Right\n");
	     }
	     else {
               debug_print(DBG_INFO, "Center\n");
	     }

             pwm_configure(PWM0, duty_ns, PWM_PERIOD_NS);
             pwm_enable(PWM0);
	 }

	 gpio_write(LED_GPIO, ON);
         mcu_sleep(WAIT_INTERVAL);
	 gpio_write(LED_GPIO, OFF);
         mcu_sleep(WAIT_INTERVAL);
    }
}