//----- Include Files ---------------------------------------------------------
#include <avr/io.h>			// include I/O definitions (port names, pin names, etc)
#include <avr/iom32.h>			// include I/O definitions (port names, pin names, etc)
#include <avr/interrupt.h>	// include interrupt support

#include "global.h"		// include our global settings
#include "uart.h"		// include uart function library
#include "rprintf.h"	// include printf function library
#include "timer.h"		// include timer function library (timing, PWM, etc)

void timerTest(void);

//----- Begin Code ------------------------------------------------------------

uint32_t numofinterrupts;  // total number of time interrupts since reset
uint64_t time;             // total number of microseconds since reset

// Real time interupt function
// time will equal the number of ticks that have happened
// each tick is 4e-6 microseconds
int rtc(void)
{
  numofinterrupts++;
  time = (uint64_t)numofinterrupts * 250 + TCNT2;

  return 0;
}

int setup(void)
{
    // initialize our libraries
    // initialize the UART (serial port)
    uartInit();
    // set the baud rate of the UART for our debug/reporting output
    uartSetBaudRate(2400);
    // initialize rprintf system
    rprintfInit(uartSendByte);

    // set the OC1A and OC1B for PWM output
    sbi(DDRD, PD4);
    sbi(DDRD, PD5);

    // initialize the timer for RTC
    timer2Init();
    timer2SetPrescaler(64);
    timerAttach(TIMER2OUTCOMPARE_INT, rtc);

    // setup the sonar pins 
    sbi(DDRB, );		// sets PC0 to be an output
    sbi(DDRB, );		// sets PC1 to be an output



    return 0;
}

int main(void)
{
    // Setup
    setup();

    return 0;
}


int pingSonar(int distance)
{
    int starttime;
    int elapsed;
    // check the current time
    starttime = time;
    
    // initiate ping


}