/***** Project Header *****/
// Project Name:
// Author:
// Date: 25/10/2016  8:39
// Code auto-generated by systemdesignerjs
//      from www.techideas.co.nz

/***** Hardware defines *****/
//make sure this matches your oscillator setting
#define F_CPU 16000000//crystal

/***** Includes *****/
#include <avr/io.h>
//#include <stdint.h>
#include <util/delay.h>
#include <avr/interrupt.h>
//#include <avr/eeprom.h>
//#include <stdio.h>
//#include <string.h>
//#include <avr/pgmspace.h>

/***** Hardware macros *****/
//Hardware macros for outputs
#define SET_EW_RED   PORTC |= (1<<PC3)
#define CLR_EW_RED   PORTC &= ~(1<<PC3)
#define SET_EW_ORN   PORTC |= (1<<PC4)
#define CLR_EW_ORN   PORTC &= ~(1<<PC4)
#define SET_EW_GRN   PORTC |= (1<<PC5)
#define CLR_EW_GRN   PORTC &= ~(1<<PC5)
#define SET_NS_RED   PORTD |= (1<<PD5)
#define CLR_NS_RED   PORTD &= ~(1<<PD5)
#define SET_NS_ORN   PORTB |= (1<<PB1)
#define CLR_NS_ORN   PORTB &= ~(1<<PB1)
#define SET_NS_GRN   PORTB |= (1<<PB0)
#define CLR_NS_GRN   PORTB &= ~(1<<PB0)
#define SET_EW_DC   PORTC |= (1<<PC0)
#define CLR_EW_DC   PORTC &= ~(1<<PC0)
#define SET_EW_CROSS   PORTC |= (1<<PC1)
#define CLR_EW_CROSS   PORTC &= ~(1<<PC1)
#define SET_NS_DC   PORTD |= (1<<PD7)
#define CLR_NS_DC   PORTD &= ~(1<<PD7)
#define SET_NS_CROSS   PORTD |= (1<<PD6)
#define CLR_NS_CROSS   PORTD &= ~(1<<PD6)
//Hardware macros for inputs
#define SW_PED1_IS_LOW   ~PINB & (1<<PB5)
#define SW_PED1_IS_HIGH   PINB & (1<<PB5)
#define SW_PED2_IS_LOW   ~PINB & (1<<PB4)
#define SW_PED2_IS_HIGH   PINB & (1<<PB4)
#define SW_PED3_IS_LOW   ~PINB & (1<<PB3)
#define SW_PED3_IS_HIGH   PINB & (1<<PB3)
#define SW_PED4_IS_LOW   ~PINB & (1<<PB2)
#define SW_PED4_IS_HIGH   PINB & (1<<PB2)
#define TIMING_TEST_SW_IS_LOW   ~PIND & (1<<PD2)
#define TIMING_TEST_SW_IS_HIGH   PIND & (1<<PD2)
//Hardware macros for ADC inputs

/***** User macros *****/
#define EW_TIME 210
#define NS_TIME 190
#define ALL_RED_TIME 25
#define ORANGE_TIME 16
#define PED_CROSS_TIME 5
#define FLASH_AMOUNT 20
#define FLASH_DELAY 500
#define MS_INCREMENT_AMOUNT 10
#define MS_IN_S 1000

/***** Declare & initialise global variables *****/
//DO YOU KNOW WHY THESE ARE VOLATILE??
volatile uint16_t ms_count = 0;
volatile uint16_t secs = 0;
volatile uint8_t ped_activated = 0;

/***** Interrupt Service Routines *****/
ISR(INT0_vect){ //THIS IS SETUP SO THAT YOU CAN TEST YOUR CODE
    secs = 500;
}
ISR(TIMER0_COMPA_vect) { //called when the timer overflows
    ms_count = ms_count+MS_INCREMENT_AMOUNT;
    if (ms_count == MS_IN_S){
        ms_count = 0;
        secs++;
    }
}

/***** Prototypes for Functions *****/
void poll_ped_sw(); //returns true if any switch is pressed
void ew_go();
void ew_orange();
void ns_go();
void ns_orange();
void all_red();
void peds_cross();
void peds_dont_cross();
void ped_lights_off();
void flash_dont_cross();


/***** Declare state var and constants *****/
#define ST_EW 1
#define ST_NS 2
#define ST_NS_ORANGE 3
#define ST_EW_ORANGE 4
#define ST_PEDS_DONT_CROSS 5
#define ST_PEDS_CROSS 6
#define ST_ALL_RED 7
uint8_t state = ST_EW;

/***** Main function *****/
int main(void) {
    /***** Initial hardware setups go here *****/

    /***** IO Hardware Config *****/
    // Initially make all micro pins outputs
    DDRB = 0xff; //set as outputs
    DDRC = 0xff; //set as outputs
    DDRD = 0xff; //set as outputs
    // make these pins inputs
    DDRB &= ~ (1 << PB5);
    DDRB &= ~ (1 << PB4);
    DDRB &= ~ (1 << PB3);
    DDRB &= ~ (1 << PB2);
    DDRD &= ~ (1 << PD2);
    PORTB |= (1 << PB5); //activate internal pullup R for SW_PED1
    PORTB |= (1 << PB4); //activate internal pullup R for SW_PED2
    PORTB |= (1 << PB3); //activate internal pullup R for SW_PED3
    PORTB |= (1 << PB2); //activate internal pullup R for SW_PED4
    PORTD |= (1 << PD2); //activate internal pullup R for TIMING_TEST_SW

    /***** Main variables go here *****/
    uint8_t last_state = 0;

    /***** Run once code goes here *****/
    EIMSK |= (1 << INT0); // INT0_ENABLE_
    EICRA |= (1 << ISC01); //falling edge
    // Timer Config setup Timer0 - 2mSec
    TCCR0A |= (1 << COM0A1);
    TCCR0A |= (1 << COM0A0);
    TCCR0B |= (1 << CS02);
    TCCR0B |= (1 << CS00);
    TCCR0A |= (1 << WGM01);
    TIMSK0 |= (1 << OCIE0A);
    OCR0A = 155;
    sei();

    /***** Pre-SM Actions *****/
    ew_go();

    /***** Loop code *****/
    while (1) {

        /***** Statemachine *****/

        /****** ST_EW ******/
        while (state == ST_EW) {
            poll_ped_sw();
            if (secs > EW_TIME) {
                state = ST_EW_ORANGE;
                ew_orange();

                secs = 0;
                ms_count = 0;
            }
        }

        /****** ST_NS ******/
        while (state == ST_NS) {
            poll_ped_sw();
            if (secs > EW_TIME) {
                state = ST_NS_ORANGE;
                ew_orage();
                secs = 0;
                ms_count = 0;
            }
        }

        /****** ST_NS_ORANGE ******/
        while (state == ST_NS_ORANGE) {
            poll_ped_sw();
            if (ped_activated && secs > ORANGE_TIME) {
                state = ST_ALL_RED;
                all_red();
                secs = 0;
                ms_count = 0;
                last_state = 0;
            }
            if (!ped_activated && secs > ORANGE_TIME) {
                state = ST_EW;
                ns_go();
                secs = 0;
                ms_count = 0;

                ;
            }
        }

        /****** ST_EW_ORANGE ******/
        while (state == ST_EW_ORANGE) {
            poll_ped_sw();
            if (!ped_activated && secs > ORANGE_TIME) {
                state = ST_NS;
                ns_go();

                secs = 0;
                ms_count = 0;
            }
            if (ped_activated && secs > ORANGE_TIME) {
                state = ST_ALL_RED;
                all_red();
                secs = 0;
                ms_count = 0;
                last_state = 1;
            }
        }

        /****** ST_PEDS_DONT_CROSS ******/
        while (state == ST_PEDS_DONT_CROSS) {
            flash_dont_cross();
            if (last_state == 1) {
                state = ST_NS;
            }
            if (last_state == 0) {
                state = ST_EW;
            }
        }

        /****** ST_PEDS_CROSS ******/
        while (state == ST_PEDS_CROSS) {
            if (secs > PED_CROSS_TIME) {
                state = ST_PEDS_DONT_CROSS;
                secs = 0;
                ms_count = 0;

                ;
            }
        }

        /****** ST_ALL_RED ******/
        while (state == ST_ALL_RED) {
            if (secs > 1) {
                state = ST_PEDS_CROSS;
                peds_cross();
            }
        }

    } //while end
} //main end
/***** Functions *****/
void poll_ped_sw() {
    if (SW_PED3_IS_LOW | SW_PED2_IS_LOW | SW_PED1_IS_LOW | SW_PED4_IS_LOW) {
        ped_activated;
        peds_dont_cross();
    }

}

//IT IS USEFUL TO SETUP THE FULL CONDITIONS FOR EACH VEHICLE LIGHT IN EACH FUNCTION
//THIS WAY WE AVOID ANY CONFUSION ABOUT WHAT LIGHTS SHOULD BE TURNED ON AND OFF
void ew_go() {
    SET_EW_GRN;
    CLR_EW_ORN;
    CLR_EW_RED;
    CLR_NS_GRN;
    CLR_NS_ORN;
    SET_NS_RED;
}
void ew_orange() {
    CLR_EW_GRN;
    SET_EW_ORN;
    CLR_EW_RED;
    CLR_NS_GRN;
    CLR_NS_ORN;
    SET_NS_RED;
}
void ns_go() {
    CLR_EW_GRN;
    CLR_EW_ORN;
    SET_EW_RED;
    SET_NS_GRN;
    CLR_NS_ORN;
    CLR_NS_RED;
}
void ns_orange() {
    CLR_EW_GRN;
    CLR_EW_ORN;
    SET_EW_RED;
    CLR_NS_GRN;
    SET_NS_ORN;
    CLR_NS_RED;
}

//BEFORE THE PED CROSSES THERE IS A BRIEF PERIOD WHEN
//WE WANT TO MAKE SURE THAT ALL RED LIGHTS ARE ON AND GRN & ORANGE ARE ON
void all_red() {
    CLR_EW_GRN;
    CLR_EW_ORN;
    SET_EW_RED;
    SET_EW_DC;
    CLR_EW_CROSS;
    CLR_NS_GRN;
    CLR_NS_ORN;
    SET_NS_RED;
    SET_NS_DC;
    CLR_NS_CROSS;
}
//
void peds_cross() {
    CLR_EW_GRN;
    CLR_EW_ORN;
    SET_EW_RED;
    CLR_EW_DC;
    SET_EW_CROSS;
    CLR_NS_GRN;
    CLR_NS_ORN;
    SET_NS_RED;
    CLR_NS_DC;
    SET_NS_CROSS;

}
void peds_dont_cross() {
    CLR_NS_CROSS;
    CLR_EW_CROSS;
    SET_NS_DC;
    SET_EW_DC;
}
void ped_lights_off() {
    CLR_NS_CROSS;
    CLR_EW_CROSS;
    CLR_NS_DC;
    CLR_EW_DC;
}
void flash_dont_cross() {
    CLR_NS_CROSS;
    CLR_EW_CROSS;
    for (int i = 0; i < FLASH_AMOUNT; i++) {
        CLR_NS_DC;
        CLR_EW_DC;
        while (ms_count < 500) {
            //blocking
        }
        SET_NS_DC;
        SET_EW_DC;
    }
}