// H-bridge DC motor and LED lights on ATMEGA328p

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

// pin functions
#define output(directions,pin) (directions |= pin) // set port direction for output
#define set(port,pin) (port |= pin) // set port pin
#define clear(port,pin) (port &= (~pin)) // clear port pin
#define pin_test(pins,pin) (pins & pin) // test for port pin
#define bit_test(byte,bit) (byte & (1 << bit)) // test for bit set

// LED variables
#define led_delay() _delay_ms(100) // LED delay

#define led_port_1 PORTC
#define led_direction_1 DDRC
#define led_pin_1 (1 << PC0)

#define led_port_2 PORTC
#define led_direction_2 DDRC
#define led_pin_2 (1 << PC1)

// motor variables
#define on_delay() _delay_us(3) // PWM on time
#define fast_off_delay() _delay_us(1) // PWM fast off time
#define medium_off_delay() _delay_us(3) // PWM medium off time
#define slow_off_delay() _delay_us(5) // PWM slow off time
#define PWM_count 20000 // number of PWM cycles
#define cycle_count 5 // number of speed cycles

#define bridge_port PORTC // H-bridge port
#define bridge_direction DDRC // H-bridge direction
#define IN1 (1 << PC3) // IN1
#define IN2 (1 << PC2) // IN2



int main(void) {
   //
   // main for LED
   //
   // set clock divider to /1
   //
   CLKPR = (1 << CLKPCE);
   CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);
   //
   // initialize LED pin
   //
   clear(led_port_1, led_pin_1);
   clear(led_port_2, led_pin_2);
   output(led_direction_1, led_pin_1);
   output(led_direction_2, led_pin_2);
   
   //
   // main for motor
   //
   static uint16_t count;
   static uint8_t cycle;
   //
   // set clock divider to /1
   //
   CLKPR = (1 << CLKPCE);
   CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);
   //
   // initialize H-bridge pins
   //
   clear(bridge_port, IN1);
   output(bridge_direction, IN1);
   clear(bridge_port, IN2);
   output(bridge_direction, IN2);
   
   //
   // main loop
   //
   while (1) {
      set(led_port_1, led_pin_1);
      clear(led_port_2, led_pin_2);
      led_delay();
      clear(led_port_1, led_pin_1);
      set(led_port_2, led_pin_2);
      led_delay();
      }
	  
	  while (1) {
	        for (cycle = 0; cycle < cycle_count; ++cycle) {
	           //
	           // turn forward slow
	           //
	           clear(bridge_port, IN1);
	           set(bridge_port, IN2);
	           for (count = 0; count < PWM_count; ++count) {
	              set(bridge_port, IN2);
	              on_delay();
	              clear(bridge_port, IN2);
	              slow_off_delay();
				  
				  //LED
			      set(led_port_1, led_pin_1);
			      clear(led_port_2, led_pin_2);
				  
	              }
	           //
	           // turn reverse slow
	           //
	           clear(bridge_port, IN2);
	           set(bridge_port, IN1);
	           for (count = 0; count < PWM_count; ++count) {
	              set(bridge_port, IN1);
	              on_delay();
	              clear(bridge_port, IN1);
	              slow_off_delay();
				  
				  //LED
			      clear(led_port_1, led_pin_1);
			      set(led_port_2, led_pin_2);
				  
	              }
	           }
	        for (cycle = 0; cycle < cycle_count; ++cycle) {
	           //
	           // turn forward medium
	           //
	           clear(bridge_port, IN1);
	           set(bridge_port, IN2);
	           for (count = 0; count < PWM_count; ++count) {
	              set(bridge_port, IN2);
	              on_delay();
	              clear(bridge_port, IN2);
	              medium_off_delay();
				  
				  //LED
			      set(led_port_1, led_pin_1);
			      clear(led_port_2, led_pin_2);
				  
	              }
	           //
	           // turn reverse medium
	           //
	           clear(bridge_port, IN2);
	           set(bridge_port, IN1);
	           for (count = 0; count < PWM_count; ++count) {
	              set(bridge_port, IN1);
	              on_delay();
	              clear(bridge_port, IN1);
	              medium_off_delay();
				  
				  //LED
			      clear(led_port_1, led_pin_1);
			      set(led_port_2, led_pin_2);
				  
	              }
	           }
	        for (cycle = 0; cycle < cycle_count; ++cycle) {
	           //
	           // turn forward fast
	           //
	           clear(bridge_port, IN1);
	           set(bridge_port, IN2);
	           for (count = 0; count < PWM_count; ++count) {
	              set(bridge_port, IN2);
	              on_delay();
	              clear(bridge_port, IN2);
	              fast_off_delay();
				  
				  //LED
			      set(led_port_1, led_pin_1);
			      clear(led_port_2, led_pin_2);
				  
	              }
	           //
	           // turn reverse fast
	           //
	           clear(bridge_port, IN2);
	           set(bridge_port, IN1);
	           for (count = 0; count < PWM_count; ++count) {
	              set(bridge_port, IN1);
	              on_delay();
	              clear(bridge_port, IN1);
	              fast_off_delay();
				  
				  //LED
			      clear(led_port_1, led_pin_1);
			      set(led_port_2, led_pin_2);
				  
	              }
	           }
	        }
	  
   }