#include<iom16v.h>
#include<macros.h>
#define uint unsigned int
#define uchar unsigned char

uchar shebei;
uchar caozuo;
uchar class_dianji;
uchar num_dianji;
uchar data[5];

void port_init(void)
{
	DDRB|=BIT(PB3);//一号直流电机PWM输出
	DDRD|=BIT(PD4);//二号直流电机PWM输出
	DDRD|=BIT(PD7);//三号直流电机PWM输出
	DDRB|=0X03;//一号直流电机使能，方向
	DDRC|=0X18;//二号直流电机使能，方向
	DDRC|=0X60;//三号直流电机使能，方向
	PORTA&=0X00;
	PORTB&=0X00;
	PORTC&=0X00;
	PORTD&=0X00;
}

void timer0_init(void)
{
 	TCCR0 = 0x00; //stop
	TCNT0 = 0x83; //set count
	OCR0 = 0xB4; //set compare
	//TCCR0 = 0x02; //start timer
}

void timer1_init(void)
{
 	TCCR1A=0x00; 
	TCCR1B=0x00;//stop
	TCNT1H=0x00; 
	TCNT1L=0x83;//set count
	OCR1AH=0x00;
	OCR1AL=0xB4; //set compare
}

void timer2_init(void)
{
 	TCCR2 = 0x00; //stop
	TCNT2 = 0x83; //set count
	OCR2 = 0xB4; //set compare
	//TCCR0 = 0x02; //start timer
}

void uart_init(void)//中断初始化
{
 	UCSRB=0x00;//禁止接收
	UCSRC=0x86;//8位数据位
	UBRRH=0x00;
	UBRRL=0x33;//波特率9600
	UCSRB=0x90;
	//DDRD&=~BIT(0);
	//SREG|=BIT(7);
}

void init_devices(void)
{
 	//stop errant interrupts until set up
	CLI(); //disable all interrupts
	port_init();
	uart_init();
	timer0_init();
	timer1_init();
	timer2_init();
	MCUCR=0x00;
	GICR=0x00;
	TIMSK=0xD7; //timer interrupt sources 允许定时器0,1,2零匹配和溢出中断
	SEI(); //re-enable interrupts
	//all peripherals are now initialized
}

#pragma interrupt_handler timer0_pipei:20
void timer0_pipei(void)
{
 	//compare occured TCNT0=OCR0
	CLI();
	PORTB|=BIT(PB3);
	SEI();
}

#pragma interrupt_handler timer0_ovf_isr:10
void timer0_ovf_isr(void)
{
 	CLI();
 	TCNT0 = 0x83; //reload counter value
	PORTB&=~BIT(PB3);
	SEI(); 
}

#pragma interrupt_handler timer1_pipei:7
void timer1_pipei(void)
{
 	CLI();
 	PORTD|=BIT(PD4);
	SEI();
}

#pragma interrupt_handler timer1_ovf_isr:9
void timer1_ovf_isr(void)
{
 	CLI();
 	TCNT1H=0x00; 
	TCNT1L=0x83;
	PORTD&=~BIT(PD4);
	SEI();
}

#pragma interrupt_handler timer2_pipei:4
void timer2_pipei(void)
{
 	CLI();
 	PORTD|=BIT(PD7);
	SEI();
}

#pragma interrupt_handler timer2_ovf_isr:5
void timer2_ovf_isr(void)
{
 	CLI();
 	TCNT2 = 0x83; //reload counter value
	PORTB&=~BIT(PD7);
	SEI(); 
}

#pragma interrupt_handler uart_rxc:12
void uart_rxc(void)
{
 	uchar i;
 	SREG&=~BIT(7);
	data[0]=UDR;
	if(data[0]==0x55)
	{
	 	do
		{
		  	while(!(UCSRA&(1<<RXC)));
			i++;
			data[i]=UDR;
			if(i==4)
			break;
		}while(1);
		if((data[3]==0xFF&&data[4]==0xFF))
		datadisposal();
	}
	SREG|=BIT(7);
}

void datadisposal(void)
{
 	shebei=data[1];
	caozuo=data[2];
	act();
}

uchar shibie_dianji(uchar a)//识别电机
{
 	 uchar dianji;
	 a&=0X18;
	 switch(a)
	 {													
	 	case 0X08 :
		dianji=1;break;	
		case 0X10 :
		dianji=2;break;		
	 }
	 return dianji;		  	  		  			  	  					
} 

uchar shibie_dianjihao(uchar b)//识别电机号
{
	uchar dianjihao;
	b&=0X07;
	switch(b)
	{
		case 0X00 :
		dianjihao=1;break;
		case 0X01 :
		dianjihao=2;break;
		case 0X02 :
		dianjihao=3;break;
		case 0X03 :
		dianjihao=4;break;
		case 0X04 :
		dianjihao=5;break;
		case 0X05 :
		dianjihao=6;break;
	}
	return dianjihao;
	
}
	
void fun1_dianji(uchar d)//电机驱动函数
{
	switch (d)
	{
		case 1 :
		{
			if((caozuo&0X40)==0X00)
			{
				PORTB|=BIT(PB1);//brake
					if((d&0X20)==0X20)
					{
						PORTB|=BIT(PB0);//dir正转
					}
					else
					{
						PORTB&=~BIT(PB0);//dir反转
					}
				TCCR0=0x02;
				if((caozuo&0x01)==0)
				OCR0=0xB4;
				else
				OCR0=0xE1;
			}
		}
		case 2 :
		{
			if((caozuo&0X40)==0X00)
			{
				PORTC|=BIT(PC4);//brake
					if((caozuo&0X20)==0X20)
					{
						PORTC|=BIT(PC3);//dir正转
					}
					else
					{
						PORTC&=~BIT(PC3);//dir反转
					}
				TCCR1B=0x02;
				if((caozuo&0x01)==0)
				{OCR1AH=0x00;
				 OCR1AL=0xB4;}
				else
				{OCR1AH=0x00;
				 OCR1AL=0xE1;}
			}
		}
		case 3 :
		{
			if((caozuo&0X40)==0X00)
			{
				PORTC|=BIT(PC6);//brake
					if((caozuo&0X20)==0X20)
					{
						PORTC|=BIT(PC5);//dir正转
					}
					else
					{
						PORTC&=~BIT(PC5);//dir反转
					}
				TCCR2=0x02;
				if((caozuo&0x01)==0)
				OCR2=0xB4;
				else
				OCR2=0xE1;
			}
			
		}
	}
}

void act(void)
{
		class_dianji=shibie_dianji(shebei);
	 	if(class_dianji==1)
	 	{
	 	 	num_dianji=shibie_dianjihao(shebei);
			fun1_dianji(num_dianji);
	 	}
	 	else  if(class_dianji==2)
	 	{
	 	 	num_dianji=shibie_dianjihao(shebei);
			fun1_dianji(num_dianji);
	 	}
} 

void main(void)
{
 	init_devices();
	do{}while(1);
}