#include <stdint.h>
#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>

#define AINpin ((1<<PD6) | (1<<PD7))

volatile uint8_t led[3] = {(1<<PB3)|(1<<PB0),(1<<PB4)|(1<<PB0),(1<<PB5)|(1<<PB0)};
volatile uint8_t motor[6] = {
	(1<<PD4)|(1<<PD1), //C+ A-
	(1<<PD2)|(1<<PD1), //B+ A-
	(1<<PD2)|(1<<PD5), //B+ C-
	(1<<PD0)|(1<<PD5), //A+ C-
	(1<<PD0)|(1<<PD3), //A+ B-
	(1<<PD4)|(1<<PD3)  //C+ B-
};
volatile uint8_t mux[6] = {
	(0<<MUX2)|(1<<MUX1)|(0<<MUX0), //B
	(0<<MUX2)|(0<<MUX1)|(1<<MUX0), //C
	(0<<MUX2)|(1<<MUX1)|(1<<MUX0), //A
	(0<<MUX2)|(1<<MUX1)|(0<<MUX0), //B
	(0<<MUX2)|(0<<MUX1)|(1<<MUX0), //C
	(0<<MUX2)|(1<<MUX1)|(1<<MUX0) //A
};
	
volatile uint8_t ind = 0;

void step() {
	uint8_t i = ind;
	PORTB = led[i];
	PORTD = motor[i];
	ADMUX = mux[i];
}

void runon() {
	/*for(uint8_t j=0;j<2;j++) {
		for(uint8_t i=0;i<6;i++) {
			PORTB = led[i%3];
			PORTD = motor[i];
			_delay_ms(100);
		}
	}
	/*for(uint8_t j=0;j<4;j++) {
		for(uint8_t i=0;i<6;i++) {
			PORTB = led[i%3];
			PORTD = motor[i];
			_delay_ms(50);
		}
	}
	for(uint8_t j=0;j<8;j++) {
		for(uint8_t i=0;i<6;i++) {
			PORTB = led[i%3];
			PORTD = motor[i];
			_delay_ms(20);
		}
	}
	for(uint8_t j=0;j<16;j++) {
		for(uint8_t i=0;i<6;i++) {
			PORTB = led[i%3];
			PORTD = motor[i];
			_delay_ms(10);
		}
	}
	for(uint8_t j=0;j<32;j++) {
		for(uint8_t i=0;i<6;i++) {
			PORTB = led[i%3];
			PORTD = motor[i];
			_delay_ms(5);
		}
	}
	for(uint8_t j=0;j<64;j++) {
		for(uint8_t i=0;i<6;i++) {
			PORTB = led[i%3];
			PORTD = motor[i];
			_delay_ms(3);
		}
	}*/
	/*for(uint8_t k=0;k<120;k++) {
		ind = k%6;
		step();
		_delay_ms(10);
	}*/
}

ISR(ANA_COMP_vect) {
	ind = ind+1%6;
	step();
	//_delay_ms(10);
}

int main(void) {
	DDRB |= (1<<PB3) | (1<<PB4) | (1<<PB5) | (1<<PB0);
	DDRD = 0b00111111;
	DDRD  &=~ AINpin;//as input
	PORTD &=~ AINpin;//no Pull-up

	runon();

	cli();
	ADCSRB |=(1<<ACME);//enable multiplexer 
	ADCSRA &=~(1<<ADEN);//make sure ADC is OFF
	//ADMUX|=(0<<MUX2)|(1<<MUX1)|(1<<MUX0); //select ADC3 as negative AIN
	
	ACSR |= (1<<ACIS1)|(0<<ACIS0);
	ACSR |= (1<<ACIE); // Comparator Interrupt Enable setzen damit Interrupt aktiv
	/*ACSR|=
	(0<<ACD)|	//Comparator ON
	(0<<ACBG)|	//Connect AIN0
	(1<<ACIE)|	//Comparator Interrupt enable
	(0<<ACIC)|	//input capture disabled
	(0<<ACIS1)| //set interrupt on output toggle
	(0<<ACIS0);	*/

	
	PORTB = led[1];
	PORTD = motor[1];
	ADMUX = mux[1];
	sei();
	
	while(1) {
		//PORTB = (1<<PB0);
		/*for(uint8_t i=0;i<6;i++) {
			PORTB = led[i%3];
			PORTD = motor[i];
			_delay_ms(10);
		}*/
	}
}