/*
 * USART_Functions.h
 *
 * Created: 2020
 */ 


#ifndef USART_FUNCTIONS_H_
#define USART_FUNCTIONS_H_

#define hundred				0 //First digit of a 3 digit literal
#define ten					1 //Second digit
#define one					2 //Third digit

unsigned char Trans_data[3]; //3 digits who will be transmitted

void USART_Transmit(unsigned char); //Transmit ASCII to Data Visualizer


//Transmit literal to Data Visualizer
//You may use this, like Arduino IDE does, but you need very much time...
//So we have to divide it into three parts or shut it down on processing with the robot
//Takes about 450us at 76800 Baud rate, who has so much time?
void Transmit_literal (char data) { //Transmit 8-Bit literal
	char data_100 = data / 100; //How much hundred
	char data_10 = data % 100 / 10; //How much ten
	char data_1 = data % 10; //How much one
	if (!data_100) { //There is no hundred
		USART_Transmit(32); //Write a blank
		if (!data_10) USART_Transmit(32); //There is no ten, write a blank
		else USART_Transmit(data_10 + 48); //ASCII of 0 is 48
	}
	else {
		USART_Transmit(data_100 + 48); //Hundred
		USART_Transmit(data_10 + 48); //ten
	}
	USART_Transmit(data_1 + 48); //One
	USART_Transmit('\t'); //Tabulator
}
//If we want to do it very, very much faster, we have to divide the transmission into single digits.
//The transmission is not faster!!! But we donīt wait while transmitting, we only initialize it!!!
//Initialisation every 256us.
void Computing_Transmission_Values (unsigned char transmitting_data) { //
	Trans_data[hundred] = transmitting_data / 100; //Itīs the same
	Trans_data[ten] = transmitting_data % 100 /10; //dito
	Trans_data[one] = (transmitting_data % 10) + 48; //A little bit different
	if (!Trans_data[hundred]) { //Now we have to save the results
		Trans_data[hundred] = 32; //blank
		if (!Trans_data[ten]) Trans_data[ten] = 32; //blank
		else Trans_data[ten] = Trans_data[ten] + 48; //ASCII for zero is 48
	}
	else {
		Trans_data[hundred] = Trans_data[hundred] + 48; //See above
		Trans_data[ten] = Trans_data[ten] + 48; //dito
	}
	//But there is no transmission!!!! See "ISR(TIMER2_OVF_vect)"!
}

//Transmission of data from ATMega328P to computer
void USART_Transmit(unsigned char data) { //Transmission of ASCII data to monitor
	while (!(UCSR0A & (1<<UDRE0))); // Wait for empty transmit buffer, but we are shure, that we donīt need to wait for it, because we time it by TMR2
	UDR0 = data; // Put data into buffer, sends the data automaticaly, by the way, we donīt need the the MCU
}

//Initialize the transmission of data
void USART_Init(unsigned int ubrr) { //Initialize USART using baud rate
	UBRR0H = (unsigned char)(ubrr>>8); /*Set baud rate */
	UBRR0L = (unsigned char)ubrr; //See above
	UCSR0B = (1<<RXEN0)|(1<<TXEN0); /*Enable receiver and transmitter */
	UCSR0C = (3<<UCSZ00); /* Set frame format: 8 bit data, 1 stop bit */
}

#endif /* USART_FUNCTIONS_H_ */