#include <mega8535.h>
#include <stdio.h>
#include<delay.h>
#include <math.h> 
//variables globales
//Déclaration des Sorties

#define feux_recul PORTD.0
#define feux_arriere PORTD.1
#define feux_avant PORTD.2
#define cligno_g PORTD.3
#define cligno_d PORTD.4
#define feux_stop PORTB.3
#define feux_route PORTD.7
#define croisement PORTD.6
//Déclaration des Entrées
#define BP_cligno_d PINC.3 //INVERSE
#define BP_cligno_g PINC.2 //INVERSE
#define BP_warning PINC.1 //INVERSE
#define BP_mode PINC.0 // AUTO/MANU
#define BP_feux_route PINC.4 //INVERSE
#define BP_feux_crois PINC.5 //INVERSE
#define BP_eclairage PINC.6 // ON/OFF

#define ADC_VREF_TYPE 0x20 
unsigned char Cligno_D;
unsigned char Cligno_G;
unsigned char Warning; 
float Moyenne=0; 
float luminosite=0;
int N=0, J=0;
int FlagTunnig1;
int FlagTunnig2;

// ADC interrupt service routine

      
// Read the 8 most significant bits
// of the AD conversion result
unsigned char read_adc(unsigned char adc_input)
{
	ADMUX=adc_input|ADC_VREF_TYPE;
	// Start the AD conversion
	ADCSRA|=0x40;
	// Wait for the AD conversion to complete
	while ((ADCSRA & 0x10)==0);
	ADCSRA|=0x10;          	
	return ADCH;
}   

interrupt [TIM1_COMPA] void timer1_compa_isr(void)
{
// Place your code here

   	if(Cligno_D)
	{
       		cligno_d=!cligno_d; 
 	}
 	if(Cligno_G)
	{
       		cligno_g=!cligno_g;
	}    
    
	if(Warning)
	{
		cligno_d=!cligno_d;
		cligno_g=cligno_d;
	} 
	if((Warning==0)&&(Cligno_D==0))
	{
	   	cligno_d=0;
	} 
	if((Warning==0)&&(Cligno_G==0))
	{
	   	cligno_g=0;
	}
	if(FlagTunnig1==1)
	{
	        
	       	if(OCR2  == 255)
		{
			OCR2=0; 
		}
	       	if(OCR0  == 255)
		{
			OCR0=0;
			OCR2=255; 
		}
		if(croisement == 1)
		{
			croisement = 0;
			OCR0=255; 
		}
		if(feux_avant == 1)
		{
			feux_avant = 0;
			croisement  = 1;
		}	
		if(feux_arriere == 1)
		{
			feux_arriere = 0;
			feux_avant  = 1;
		}
		if(feux_recul == 1)
		{
			feux_recul = 0;
			feux_arriere  = 1;
		}
		if((feux_recul == 0)&&(feux_arriere == 0)&&(feux_avant == 0)&&(croisement == 0)&&(OCR0  == 0)&&(OCR0  == 0))
		{
			feux_recul = 1;
			
		}	
	
	}
	if(FlagTunnig2==1)
	{
	        if(OCR2  == 0)
		{
			OCR2=255; 
		}
	       	if(OCR0  == 0)
		{
			OCR0=255;
			OCR2=0; 
		}
		if(croisement == 0)
		{
			croisement = 1;
			OCR0=0; 
		}
		if(feux_avant == 0)
		{
			feux_avant = 1;
			croisement  = 0;
		}	
		if(feux_arriere == 0)
		{
			feux_arriere = 1;
			feux_avant  = 0;
		}
		if(feux_recul == 0)
		{
			feux_recul = 1;
			feux_arriere  = 0;
		}
		if((feux_recul == 1)&&(feux_arriere == 1)&&(feux_avant == 1)&&(croisement == 1)&&(OCR0  == 255)&&(OCR0  == 255))
		{
			feux_recul = 0;
			
		}
	}

}

//variables globales
//Déclaration des Sorties

//Programme principale
void main(void)
{

//Initialisation du port A
PORTA=0x00;
DDRA=0x00;
//Initialisation du port B
PORTB=0x00;
DDRB=0x08;
//Initialisation du port C
PORTC=0x00;
DDRC=0x00;
//Initialisation du port D
PORTD=0x00;
DDRD=0xFF;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 16000,000 kHz
// Mode: Phase correct PWM top=FFh
// OC0 output: Non-Inverted PWM
TCCR0=0x61;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 3,906 kHz
// Mode: CTC top=OCR1A
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
TCCR1A=0x00;
TCCR1B=0x0D;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x0f;
OCR1AL=0x3c;
OCR1BH=0x00;
OCR1BL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 16000,000 kHz
// Mode: Phase correct PWM top=FFh
// OC2 output: Non-Inverted PWM
ASSR=0x00;
TCCR2=0x61;
TCNT2=0x00;
OCR2=0x00;


MCUCR=0x00;
MCUCSR=0x00;

ACSR=0x80;
SFIOR=0x00;  

// ADC initialization
// ADC Clock frequency: 125,000 kHz
// ADC Voltage Reference: AREF pin
// ADC High Speed Mode: Off
// ADC Auto Trigger Source: None
ADMUX=ADC_VREF_TYPE;
ADCSRA=0x87;
SFIOR&=0xEF;


// Global enable interrupts
#asm("sei")

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x10;
#asm("sei")
while (1)
{   

	
    if(BP_eclairage==0) //Mettre ON
    {   
       
        if(BP_warning==0)
        {
        	Cligno_G=0; 
	        Cligno_D=0;
	        Warning=1;
	          
	}
	else
	{
		Warning=0;
	
		if(BP_cligno_g==0)
		{
			Cligno_G=1; 
		}
		else
		{
			Cligno_G=0;
		}
		if(BP_cligno_d==0)
		{
			Cligno_D=1; 
		}
		else
		{
			Cligno_D=0;
		}
	} 
	if(BP_mode) //MODE MANUEL
	{
		if(BP_feux_route==0)
		{
			OCR2=255;
			
		}
		else
		{
			OCR2=0;
		}
		
		if(BP_feux_crois==0)
		{
			croisement =1;
			
		}
		else
		{
			croisement =0;
			
		}
		if((BP_feux_route==0)||(BP_feux_crois==0))
		{
			feux_arriere =1;
		}  
		if((BP_feux_route==1)&&(BP_feux_crois==1))
		{
			feux_arriere =0;
		}
		FlagTunnig1=0;
		FlagTunnig2=0;
	}
	else
	{
		if(BP_feux_route==0)
		{
		     
			FlagTunnig1=1;
		}
		if(BP_feux_crois==0)
		{
			
			FlagTunnig2=1;
		}
		if((BP_feux_route==1)&&(BP_feux_crois==1))
		{
			FlagTunnig1=0;
			FlagTunnig2=0;
			Moyenne=Moyenne+read_adc(3);
			N++;
	       		if(N>=100)
			{	
       		       		OCR0=(Moyenne/100)/2.15;
       		       		Moyenne=0;
       		       		N=0;
       	       		} 
			feux_recul =0;
      			feux_arriere  =0;
			feux_avant =0;
       			croisement =0;
       			luminosite=luminosite+read_adc(2);
       			J++;
       			if(J>=100)
			{       
		    		luminosite=(luminosite/100);
       				OCR2=(((luminosite-70)/2) / (10*exp(-(luminosite-70)/4)+1));
       				luminosite=0;
       				J=0;
       			}	
		}
	
       		
	}
       
       
       
       
    }
    else
    {    
	
	feux_recul =0;
	feux_arriere  =0;
	feux_avant =0;
	cligno_g =0;
	cligno_d =0;
	OCR0=0; 
	OCR2=0;
	croisement =0;
       
    }
}  
}