/*****************************************************
This program was produced by the
CodeWizardAVR V2.05.0 Professional
Automatic Program Generator
© Copyright 1998-2010 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project :
Version :
Date : 16.07.2013
Author : NeVaDa
Company :
Comments:


Chip type : ATmega168V
Program type : Application
AVR Core Clock frequency: 8,000000 MHz
Memory model : Small
External RAM size : 0
Data Stack size : 256
*****************************************************/

#include <mega168.h>
#include <stdio.h>
#include <delay.h>



#ifndef RXB8
#define RXB8 1
#endif

#ifndef TXB8
#define TXB8 0
#endif

#ifndef UPE
#define UPE 2
#endif

#ifndef DOR
#define DOR 3
#endif

#ifndef FE
#define FE 4
#endif

#ifndef UDRE
#define UDRE 5
#endif

#ifndef RXC
#define RXC 7
#endif

#define FRAMING_ERROR (1<<FE)
#define PARITY_ERROR (1<<UPE)
#define DATA_OVERRUN (1<<DOR)
#define DATA_REGISTER_EMPTY (1<<UDRE)
#define RX_COMPLETE (1<<RXC)


#define MAX_PPM_CHANNELS 7
#define CH1 PIND.2
#define CH2 PINC.5
#define CH3 PINC.4
#define CH4 PINC.3
#define CH5 PINC.2
#define CH6 PINC.1
#define CH7 PINC.0

unsigned int counter;
unsigned int Channel[MAX_PPM_CHANNELS],ChannelTX[MAX_PPM_CHANNELS];
unsigned char uart_r,flag,start_ppm,end_ppm,n_chan,lo_b,hi_b,tmp;




// USART Receiver buffer
#define RX_BUFFER_SIZE0 50
char rx_buffer0[RX_BUFFER_SIZE0];

#if RX_BUFFER_SIZE0 <= 256
unsigned char rx_wr_index0,rx_rd_index0,rx_counter0;
#else
unsigned int rx_wr_index0,rx_rd_index0,rx_counter0;
#endif

// This flag is set on USART Receiver buffer overflow
bit rx_buffer_overflow0;

// USART Receiver interrupt service routine
interrupt [USART_RXC] void usart_rx_isr(void)
{
char status,data;
status=UCSR0A;
data=UDR0;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
{
rx_buffer0[rx_wr_index0++]=data;
#if RX_BUFFER_SIZE0 == 256
// special case for receiver buffer size=256
if (++rx_counter0 == 0)
{
#else
if (rx_wr_index0 == RX_BUFFER_SIZE0) rx_wr_index0=0;
if (++rx_counter0 == RX_BUFFER_SIZE0)
{
rx_counter0=0;
#endif
rx_buffer_overflow0=1;
}
}
}

#ifndef _DEBUG_TERMINAL_IO_
// Get a character from the USART Receiver buffer
#define _ALTERNATE_GETCHAR_
#pragma used+
char getchar(void)
{
char data;
while (rx_counter0==0);
data=rx_buffer0[rx_rd_index0++];
#if RX_BUFFER_SIZE0 != 256
if (rx_rd_index0 == RX_BUFFER_SIZE0) rx_rd_index0=0;
#endif
#asm("cli")
--rx_counter0;
#asm("sei")
return data;
}
#pragma used-
#endif

// USART Transmitter buffer
#define TX_BUFFER_SIZE0 50
char tx_buffer0[TX_BUFFER_SIZE0];

#if TX_BUFFER_SIZE0 <= 256
unsigned char tx_wr_index0,tx_rd_index0,tx_counter0;
#else
unsigned int tx_wr_index0,tx_rd_index0,tx_counter0;
#endif

// USART Transmitter interrupt service routine
interrupt [USART_TXC] void usart_tx_isr(void)
{
if (tx_counter0)
{
--tx_counter0;
UDR0=tx_buffer0[tx_rd_index0++];
#if TX_BUFFER_SIZE0 != 256
if (tx_rd_index0 == TX_BUFFER_SIZE0) tx_rd_index0=0;
#endif
}
}

#ifndef _DEBUG_TERMINAL_IO_
// Write a character to the USART Transmitter buffer
#define _ALTERNATE_PUTCHAR_
#pragma used+
void putchar(char c)
{
while (tx_counter0 == TX_BUFFER_SIZE0);
#asm("cli")
if (tx_counter0 || ((UCSR0A & DATA_REGISTER_EMPTY)==0))
{
tx_buffer0[tx_wr_index0++]=c;
#if TX_BUFFER_SIZE0 != 256
if (tx_wr_index0 == TX_BUFFER_SIZE0) tx_wr_index0=0;
#endif
++tx_counter0;
}
else
UDR0=c;
#asm("sei")
}
#pragma used-
#endif



// External Interrupt 0 service routine
interrupt [EXT_INT0] void ext_int0_isr(void)
{
start_ppm=1;counter=0;n_chan=0;
PORTB.0=!PORTB.0;
}


// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
TCNT0=0xFE;

ChannelTX[0]=0x3031;
ChannelTX[1]=0x3233;
ChannelTX[2]=0x3435;
ChannelTX[3]=0x3637;
ChannelTX[4]=0x3839;
ChannelTX[5]=0x3A3B;
ChannelTX[6]=0x3C3D;
PORTB.1=!PORTB.1;

}

// Declare your global variables here

void main(void)
{
// Declare your local variables here

// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif

// Input/Output Ports initialization
// Port B initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTB=0x00;
DDRB=0xFF;

// Port C initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State6=P State5=P State4=P State3=P State2=P State1=P State0=P
PORTC=0x7F;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=P State6=P State5=P State4=P State3=P State2=P State1=P State0=P
PORTD=0xFF;
DDRD=0x00;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 1000,000 kHz
// Mode: Normal top=0xFF
// OC0A output: Disconnected
// OC0B output: Disconnected
TCCR0A=0x00;
TCCR0B=0x02;
TCNT0=0xFE;
OCR0A=0x00;
OCR0B=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer1 Stopped
// Mode: Normal top=0xFFFF
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer2 Stopped
// Mode: Normal top=0xFF
// OC2A output: Disconnected
// OC2B output: Disconnected
ASSR=0x00;
TCCR2A=0x00;
TCCR2B=0x00;
TCNT2=0x00;
OCR2A=0x00;
OCR2B=0x00;

// External Interrupt(s) initialization
// INT0: On
// INT0 Mode: Rising Edge
// INT1: Off
// Interrupt on any change on pins PCINT0-7: Off
// Interrupt on any change on pins PCINT8-14: Off
// Interrupt on any change on pins PCINT16-23: Off
EICRA=0x03;
EIMSK=0x01;
EIFR=0x01;
PCICR=0x00;

// Timer/Counter 0 Interrupt(s) initialization
TIMSK0=0x01;

// Timer/Counter 1 Interrupt(s) initialization
TIMSK1=0x00;

// Timer/Counter 2 Interrupt(s) initialization
TIMSK2=0x00;

// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART0 Mode: Asynchronous
// USART Baud Rate: 19200
UCSR0A=0x00;
UCSR0B=0xD8;
UCSR0C=0x06;
UBRR0H=0x00;
UBRR0L=0x19;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
ADCSRB=0x00;
DIDR1=0x00;

// ADC initialization
// ADC disabled
ADCSRA=0x00;

// SPI initialization
// SPI disabled
SPCR=0x00;

// TWI initialization
// TWI disabled
TWCR=0x00;

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

while (1)
{
for (tmp=0;tmp<=6;tmp++)
{
lo_b=(unsigned char) ChannelTX[tmp];
hi_b=(unsigned char) (ChannelTX[tmp]>>8);
putchar(hi_b);
putchar(lo_b);
putchar('!');
}
}
}

    TIMSK0=0x00;
    for (tmp=0;tmp<=6;tmp++)
        {
        lo_b=(unsigned char) ChannelTX[tmp];
        hi_b=(unsigned char) (ChannelTX[tmp]>>8);
        putchar(hi_b);
        putchar(lo_b);
        putchar('!');
        };
    putchar(0x0A);
    putchar(0x0D);
    TIMSK0=0x01;

// USART0 initialization
// USART0 Baud Rate: 115200
UCSR0A=0x00;
UCSR0B=0xD8;
UCSR0C=0x06;
UBRR0H=0x00;
UBRR0L=0x0A;

// USART1 initialization
// USART1 Baud Rate: 115200
UCSR1A=0x00;
UCSR1B=0xD8;
UCSR1C=0x06;
UBRR1H=0x00;
UBRR1L=0x0A;


while (1)
      {
    while(!(UCSR0A & (1<<UDRE0))); UDR0 = 0b10100011;
    while(!(UCSR1A & (1<<UDRE1))); UDR1 = 0b10100101;    
      }

UCSR0B=0xD8

DDRB = (1<<PB7)|(1<<PB6)|(0<<PB5)|(1<<PB4)|(0<<PB3)|(1<<PB2)|(1<<PB1)|(1<<PB0)