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


#define CPU_FREQ        16000000L       // Assume a CPU frequency of 16Mhz

void init_serial( int speed)
{
/* Set baud rate */
UBRR0 = CPU_FREQ/(((unsigned long int)speed)<<4)-1;

/* Enable transmitter & receiver */
UCSR0B = (1<<TXEN0 | 1<<RXEN0);

/* Set 8 bits character and 1 stop bit */
UCSR0C = (1<<UCSZ01 | 1<<UCSZ00);

/* Set off UART baud doubler */
UCSR0A &= ~(1 << U2X0);
}


void send_serial(unsigned char c)
{
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = c;
}

unsigned char get_serial(void) {
loop_until_bit_is_set(UCSR0A, RXC0);
return UDR0;
}

int main() {

 int lastordre=100;
 int ordre=100 ;
 int i,j,reprise=0;
 int choix_machine = 0 ;
 int etat =0 ;
 
 /*int tab_shift[5][8]={{ 0,0,0,0,0,0,0,1},
 {0,0,0,0,0,0,1,1},
 {0,0,0,0,0,1,0,1},
 {0,0,0,0,1,0,0,1},
 {0,0,0,1,0,0,0,1}};*/

 int tabBSA[5][5]={{0,0,0,0,0},
 {0,0,0,1,0},
 {1,0,1,0,1},
 {0,1,0,0,0},
 {1,0,1,1,0}};
 int tabBSD[5][5]={{1,1,1,1,1},
 {0,0,0,1,0},
 {0,0,1,0,0},
 {0,1,0,0,0},
 {1,0,0,0,0}};

 int tabCSA[5][5]={{0,0,0,0,1},
		    {1,0,0,1,0},
		    {1,0,1,0,1},
		    {1,1,0,0,0},
		    {1,0,0,0,0}};
 int tabCSD[5][5]={{1,1,1,1,1},
		    {0,0,0,1,0},
		    {0,0,1,0,0},
		    {0,1,0,0,0},
		    {1,0,0,0,0}};

 int tabRSA[5][5]={{0,0,0,0,0},
		   {0,0,0,1,1},
		    {0,0,1,0,0},
		    {0,1,0,0,0},
		    {0,1,0,1,0}};
 int tabRSD[5][5]={{1,1,1,1,1},
		    {0,0,0,1,0},
		    {0,0,1,0,0},
		    {0,1,0,0,0},
		    {1,0,0,0,0}};

int tabDSA[5][5]={{0,0,0,0,1},
		    {0,0,0,1,0},
		    {0,0,1,0,1},
		    {0,1,0,0,1},
		    {0,0,0,0,0}};
  int tabDSD[5][5]={{1,1,1,1,0},
		    {0,0,0,1,1},
		    {0,0,1,0,0},
		    {0,1,0,0,0},
		    {1,0,0,0,0}};

  init_serial(9600);

  DDRD=0x00;  // differents capteurs
  DDRF=0xff;  // gestion des lignes matrice avant. ( bas de la led )
  DDRK=0xff;  // gestion des colonnes. ( haut de la led )
  DDRC=0xff;  // gestion des lignes matrice arriere. ( bas de la led )
  DDRA=0xff;  // gestion des relais. ( pin 0/1/2 feu tricolore , pin 3/4 gestion moteur )

  /*                 Programmation Timer pour clignotement 
  TCCR1A = 0;
  TCCR1B = 0;
  TCNT1  = 0;

  OCR1A = 31250;            
  TCCR1B |= (1 << WGM12);   
  TCCR1B |= (1 << CS12);    
  TIMSK1 |= (1 << OCIE1A);  

  sei();
  */

  for(;;)
    {
      if ( (UCSR0A & ( 1 << RXC0)) != 0 )
	ordre = get_serial();
      if (ordre!= lastordre)
	{
	  lastordre = ordre;
	  if ( ordre == 0x00) // base station
	    choix_machine = 0 ; 
	  
	  if ( ordre == 0x01) // cap station 
	    choix_machine = 1 ; 
	  
	  if ( ordre == 0x02) // ring station 
	    choix_machine = 2 ; 

	  if ( ordre == 0x03) // delivery station
	    choix_machine = 3 ; 
	  
	  if ( ordre == 0x04) // arret
	    etat = 0 ; 
	  
	  if ( ordre == 0x05) // clignotement
	    etat = 1  ; 
	  
	  if ( ordre == 0x06) // en marche
	    etat = 2 ; 
	  
	  if ( ordre == 0x07) // occupé 
	    etat = 3 ; 
	  if ( ordre == 0x08)
	    reprise = 1 ;
	}
      
      
      for ( i =0 ; i < 5 ; i++ )
	{
	  PORTF=0xFF;
	  PORTC=0xFF;
	  if ( i == 0)
	    {
	      PORTK &= 0xE0;// gestion des 5 pins face avant et face arrière
	      PORTK |= 0x01;
	    }
	  if ( i == 1)
	    {
	      PORTK &= 0xE0;// gestion des 5 pins face avant et face arrière
	      PORTK |= 0x02;
	    }
	  if ( i == 2)
	    {
	      PORTK &= 0xE0;// gestion des 5 pins face avant et face arrière
	      PORTK |= 0x04;
	    }
	  if ( i == 3)
	    {
	      PORTK &= 0xE0;// gestion des 5 pins face avant et face arrière
	      PORTK |= 0x08;
	    }
	  if ( i == 4)
	    {
	      PORTK &= 0xE0;// gestion des 5 pins face avant et face arrière
	      PORTK |= 0x10;
	    }
	  
	  for ( j = 0 ; j < 5 ; j++ )
	    {
	      
	      if ( choix_machine == 0)
		{
		  if ( tabBSA[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xEF;
			}
		    }
		  else PORTF |= 0x1F;

		  if ( tabBSD[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xEF;
			}
		    }
		  else PORTC |= 0x1F;	  
		}

	      if ( choix_machine == 1)
		{
		  if ( tabCSA[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xEF;
			}
		    }
		  else PORTF |= 0x1F;
		  
		  if ( tabCSD[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xEF;
			}
		    }
		  else PORTC |= 0x1F;
		}

	      if ( choix_machine == 2)
		{
		  if ( tabRSA[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTF |= 0x1F; 
			  PORTF &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTF |= 0x1F; 
			  PORTF &= 0xEF;
			}
		    }
		  else PORTF |= 0x1F;
		  
		  if ( tabRSD[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xEF;
			}
		    }
		  else PORTC |= 0x1F;
		}

	      if ( choix_machine == 3)
		{
		  if ( tabDSA[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTF |= 0x1F; 
			  PORTF &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTF |= 0x1F;
			  PORTF &= 0xEF;
			}
		    }
		  else PORTF |= 0x1F;
		  
		  if ( tabDSD[i][j]==1)
		    {
		      if ( j == 0)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFE;
			}
		      if ( j == 1)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFD;
			}
		      if ( j == 2)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xFB;
			}
		      if ( j == 3)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xF7;
			}
		      if ( j == 4)
			{
			  PORTC |= 0x1F;
			  PORTC &= 0xEF;
			}
		    }
		  else PORTC |= 0x1F;
		}
	    } 
	}    
      
      if ( etat == 0 )
	{
	  PORTA &= 0xE0;  // etteindre le feu et moteur
	}
      
      if ( etat == 1 ) 
	{
	  // ISR(TIMER1_COMPA_vect)          // a modifier
	  {
	    _delay_ms(500);
	    if ( PORTF && 0x06 == 0x06)// faire clignoter le feu 
	      PORTA &= 0xf9;
	    else 
	      PORTA |= 0x06; 
	  }
	}
      if ( etat == 2 ) // à finir
	{
	  PORTA &= 0xFF ;// mettre le feu au vert + gestion des capteurs d'entré ( passe a etat 3 si capteur vrai ) et du tapis si passage à 1
	  PORTA |= 0x01;
	  if ( PORTD && 0x01 == 0x01 )
	    {
	      reprise =0;
	      etat = 3 ;
	      PORTA &= 0xFF;
	      PORTA |= 0x0A;
	    }
	}
      
    }
  
  if ( etat == 3 )  // mettre le feu à l'orange et gestion du capteur au milieu 
    {
      if ( PORTD && 0x02 == 0x02) // on arrete le tapis au milieu
	PORTA &= 0xF7; 
      
      if ( reprise == 0x01 ) // on envoie la reprise
	{
	  reprise = 0 ;
	  PORTA |= 0x08;
	}
      if ( PORTD && 0x04 == 0x04 ) // detection capteur de sortie, revient etat en marche
	etat = 2;
      
      
    }
  return 0 ;
}