#include 
#include 
#include 

// ADC Initialization untuk sensor analog
void ADC_Init() {
    ADMUX = (1 << REFS0); // Reference AVcc
    ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0); // Enable ADC, prescaler 128
}

uint16_t ADC_Read(uint8_t channel) {
    ADMUX = (ADMUX & 0xF8) | (channel & 0x07); // Select channel
    ADCSRA |= (1 << ADSC); // Start conversion
    while (ADCSRA & (1 << ADSC)); // Wait for conversion
    return ADC;
}

// Sensor Suhu LM35 (Analog)
float Read_LM35() {
    uint16_t adc_value = ADC_Read(0); // Channel 0
    float voltage = (adc_value * 5.0) / 1024.0;
    return voltage * 100; // 10mV per °C
}

// Sensor Cahaya LDR dengan voltage divider
int Read_LDR() {
    uint16_t adc_value = ADC_Read(1); // Channel 1
    return adc_value; // Nilai 0-1023
}

// Sensor Ultrasonic HC-SR04
float Read_Ultrasonic() {
    // Trigger pulse
    PORTD |= (1 << PD2);
    _delay_us(10);
    PORTD &= ~(1 << PD2);
    
    // Wait for echo
    while (!(PIND & (1 << PD3)));
    
    // Measure pulse width
    uint32_t count = 0;
    while (PIND & (1 << PD3)) {
        count++;
        _delay_us(1);
    }
    
    return (count * 0.034) / 2; // cm
}

// Sensor DHT22 (Digital)
typedef struct {
    float temperature;
    float humidity;
} DHT22_Data;

int Read_DHT22(DHT22_Data *data) {
    // Implementasi protokol DHT22
    // ... kode lengkap untuk komunikasi dengan DHT22
    return 1; // Success
}
                        

#include 
#include 

// PWM Initialization untuk motor control
void PWM_Init() {
    // Fast PWM mode, non-inverting
    TCCR0A = (1 << WGM00) | (1 << WGM01) | (1 << COM0A1);
    TCCR0B = (1 << CS01); // Prescaler 8
}

// DC Motor control dengan PWM
void DC_Motor_SetSpeed(uint8_t speed) {
    OCR0A = speed; // 0-255
}

// Servo Motor control (50Hz PWM)
void Servo_Init() {
    // Timer1 untuk servo (16-bit)
    TCCR1A = (1 << COM1A1) | (1 << WGM11);
    TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
    ICR1 = 39999; // 50Hz
}

void Servo_SetAngle(uint8_t angle) {
    // Convert angle to pulse width (1-2ms)
    uint16_t pulse_width = 1000 + (angle * 1000 / 180);
    OCR1A = pulse_width;
}

// Stepper Motor control
void Stepper_Init() {
    DDRC |= 0x0F; // PC0-PC3 sebagai output
}

void Stepper_Step(uint8_t direction, uint16_t steps) {
    const uint8_t sequence[] = {0x09, 0x08, 0x0C, 0x04, 0x06, 0x02, 0x03, 0x01};
    
    for(uint16_t i = 0; i < steps; i++) {
        for(uint8_t j = 0; j < 8; j++) {
            uint8_t index = direction ? j : (7 - j);
            PORTC = sequence[index];
            _delay_ms(2);
        }
    }
    PORTC = 0x00; // Turn off
}

// Relay control
void Relay_Control(uint8_t state) {
    if(state) {
        PORTD |= (1 << PD4); // Relay ON
    } else {
        PORTD &= ~(1 << PD4); // Relay OFF
    }
}