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/*
 * ----------------------------------------------------------------------------
 * "THE BEER-WARE LICENSE" (Revision 42):
 * <joerg@FreeBSD.ORG> wrote this file.  As long as you retain this notice you
 * can do whatever you want with this stuff. If we meet some day, and you think
 * this stuff is worth it, you can buy me a beer in return.        Joerg Wunsch
 * ----------------------------------------------------------------------------
 *
 * Simple AVR demonstration.  Controls a LED that can be directly
 * connected from OC1/OC1A to GND.  The brightness of the LED is
 * controlled with the PWM.  After each period of the PWM, the PWM
 * value is either incremented or decremented, that's all.
 *
 * $Id: demo.c,v 1.1 2002/09/30 18:16:07 troth Exp $
 */

#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/signal.h>
#include "a2d.c"

#  define OC1 PB5
#  define DDROC DDRD
#  define OCR OCR1A

volatile uint16_t pwm;
volatile uint16_t freq;
volatile uint8_t direction;


SIGNAL (SIG_OVERFLOW1)
{

	
    //OCR = pwm_min + ((pwm_scope/255)*pwm); /* Note [4] */
	//ICR1=0x1000+(freq*24);
	
	// Pulslängd ca 10ms gav bra respons
	ICR1=10000;
	
	//Försök att använda hela området på vridpot
	//pwm_scope=(936/1024)*pwm;
	//OCR=600+pwm_scope;
	
	// Det som funka bäst
	if(pwm*2<1536) // För att inte ge för lång pulstid till servot
		OCR=600+(pwm*2);
	
	// Försök med 8bit ad, 512*3=1536
	//OCR=600+(pwm*3);
}



void
ioinit (void) 
{
	a2dInit(); // Initierar ADC
	
    
    // Using phase & freq correct pwm, TOP=ICR1, freq scaling = 8
	TCCR1A = _BV (COM1A1);
    TCCR1B = _BV (CS11) | _BV (WGM13);
    /* set PWM value to 0 */
    OCR = 0;
    ICR1 = 0;
    /* enable OC1 and PB2 as output */
    DDRD = _BV (OC1);
    //DDRD= 0xFF;
    timer_enable_int (_BV (TOIE1));

    /* enable interrupts */
    sei ();
}

int
main (void)
{
    ioinit ();

    

    while(1)
	{
		pwm=a2dConvert10bit(0);
		freq=a2dConvert10bit(2);
	}

    return (0);
}