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

// 1-Wire DS18B20 library
#include "1Wire/ds18x20.h"
//  LCD 16x2 library
#include "LCD/lcd44780.h"

//map function
uint32_t map(uint32_t x, uint32_t in_min, uint32_t in_max, uint32_t out_min, uint32_t out_max);
void motor_direction(uint8_t direction); // left = 1, right = 0
void motor_PWM_value(uint8_t duty);  // duty cycle of PWM ( 0-100% )

volatile uint8_t PWM;

uint8_t sensors_counter;
uint8_t subzero, cel, cel_fract_bits; // sign of temperature, total part of measurement, fraction part of measurement

int main()
{
    //TIMER2 settings
    TCCR2 |= (1<<WGM21);    // CTC
    TCCR2 |= (1<<COM21);    // clear on compare match
    TCCR2 |= (1<<CS22);     // prescaler = 64
    TIMSK |= (1<<OCIE2);    // compare match interrupt enable
    OCR2 = 5;

    //PWM, motor pinout settings
    DDRA |= (1<<PA0);       // PWM output
    DDRA |= (1<<PA1);       // direction output
    DDRA |= (1<<PA2);       // direction output

    //LCD settings
    lcd_init();

    //interrupts enable
    sei();

    //variables

    sensors_counter = search_sensors();                 // Amount of sensors ( 1Wire bus )

    for(;;)
    {

        DS18X20_start_meas(DS18X20_POWER_EXTERN, NULL);                                         // Read temperature, normal mode
        _delay_ms(750);                                                                         // Wait for measurement

        if( DS18X20_OK == DS18X20_read_meas(gSensorIDs[0], &subzero, &cel, &cel_fract_bits) )   // Read temperature
        {
            lcd_locate(0,0);
            if( subzero ) lcd_str("-");     // if negative temperature show "-"
            else lcd_str(" ");
            lcd_int(cel);                   // total part of temperature
            lcd_str(".");
            lcd_int(cel_fract_bits);        // fraction part of temperature
            lcd_str(" C");
        }
        else
        {
            lcd_cls();
            lcd_locate(1,0);
            lcd_str("Error");
        }
    }

}

uint32_t map(uint32_t x, uint32_t in_min, uint32_t in_max, uint32_t out_min, uint32_t out_max)
{
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void motor_direction(uint8_t direction)
{
    if(direction)
    {
        PORTA |= (1<<PA1);
        PORTA &= ~(1<<PA2);
    }
    else
    {
        PORTA &= ~(1<<PA1);
        PORTA |= (1<<PA2);
    }
}

void motor_PWM_value(uint8_t duty)
{
    PWM = map(duty, 0, 100, 0, 255);
}

ISR(TIMER2_COMP_vect)
{
    static uint8_t counter; // counter for compare with PWM ( duty cycle )

    if ( counter >= PWM )
    {
        PORTA &= ~(1<<PA0);
    }
    else
    {
        PORTA |= (1<<PA0);
    }

    counter++;
}