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/**

 * CanCarDisplay. HID for simple carsensor network

 * For HD44780- and KS0073-based LCD displays

 *

 * Contains no intelligence. It just prints what it is told to.

 *

 * @date    2007-10-01

 * @author  Martin Norden

 *

 * TODO: put rotary encoder in external library, same with s16/u16tostr, cleanup, read external sensors... a lot basically.

 * Assume all sensor conversion done on the sensorcard, use canstandard here

 */

/*-----------------------------------------------------------------------------

 * Includes

 *---------------------------------------------------------------------------*/

/* system files */

#include <avr/io.h>

#include <inttypes.h>

#include <avr/interrupt.h>

#include <stdio.h>

/* lib files */

#include <bios.h>

#include <config.h>

#include <drivers/lcd/clcd/lcd_HD44780.h>

#include <stdlib.h> //for itoa

#include <string.h> //for memcpy

/* <SIZE> 8 bits 0xFFL */

#define LCD_SIZE_ALL    0x00L

#define LCD_SIZE_16x2   0x02L

#define LCD_SIZE_20x4   0x10L

//Borde ha en bŠttre plats.

#define max(a,b) ((a>b)?a:b)

#define min(a,b) ((a<b)?a:b)

/*-----------------------------------------------------------------------------

 * Defines

 *---------------------------------------------------------------------------*/

#define SIZE_X  20

#define SIZE_Y  4

#define SIZE_LCD LCD_SIZE_20x4

#define BUFFER_SIZE SIZE_X

#define TRUE 1

#define FALSE 0

#define LEFT    0x01

#define RIGHT   0x02

#define BUTTON_PUSH 0x03

#define BUTTON_RELEASE 0x04

volatile Can_Message_t rxMsg;

char incoming_text[ BUFFER_SIZE ];

uint8_t rxMsgFull;

char buffer[ BUFFER_SIZE ];

void send_dimensions(void);

void rotenc(void);

void rotenc_action(uint8_t type);

void updateDisplay(uint8_t screen, uint8_t transition);

#define SCR_BOOST       0x00

#define SCR_MAXBOOST    0x01

#define SCR_LAMBDA      0x02

#define SCR_RPM         0x03

#define SCR_VOLTAGE     0x04

#define SCR_VELOCITY    0x05

#define SCR_FUELCONS    0x06

//#define SCR_OILPRESS  0x07

//#define SCR_OILTEMP   0x08

#define LAST_SCREEN     0x06

void numtoascii( int16_t num, char **str );

void signedtoascii(int16_t num, uint8_t decimalplace, char *string, uint8_t numberofdecimals);

void unsignedtoascii(uint16_t num, uint8_t decimalplace, char *string, uint8_t numberofdecimals);

/*******************************************************************************

 * Sensor Values, Scale factors etc.                                           *

 *******************************************************************************/

int16_t     sensor_Boost        = 0.001*64;

int16_t     sensor_Boost_Max    = 0.92*64;  //highest boost so far

uint16_t    sensor_Lambda       = 32000;

uint16_t    sensor_RPM          = 3973*(2<<(SNS_DECPOINT_ROTSPEED-1));

uint16_t    sensor_Voltage      = 12.7*(2<<(SNS_DECPOINT_VOLTAGE-1));

uint16_t    sensor_Velocity     = 120*(2<<(SNS_DECPOINT_VELOCITY-1));

uint16_t    sensor_Fuelcons     = 0.78*(2<<(SNS_DECPOINT_FUELCONS-1));

#define SCALE_BOOSTMAX 1.2*64 //depending on memory usage later, maybe put these in eeprom?

#define SCALE_LAMBDAMAX 65535

#define SCALE_RPMMAX 8000*(2<<(SNS_DECPOINT_ROTSPEED-1))

#define SCALE_VOLTAGEMAX 15*(2<<(SNS_DECPOINT_VOLTAGE-1))

#define SCALE_VELOCITYMAX 150*(2<<(SNS_DECPOINT_VELOCITY-1))

#define SCALE_FUELCONSMAX 2*(2<<(SNS_DECPOINT_FUELCONS-1))

/*******************************************************************************

 * Something else..                                                            *

 *******************************************************************************/

uint8_t currentScreen; //current screen

// CAN message reception callback

// This function runs with interrupts disabled, keep it as short as possible

void can_receive(Can_Message_t *msg){

    if(!rxMsgFull){

        memcpy((void*)&rxMsg, msg, sizeof(rxMsg));

        rxMsgFull = 1;

    }

}

ISR( PCINT2_vect ){

// For ROTENC_A and ROTENC_B FIXME Šr inte riktigt rŠtt. Verkar vara bra tycker jag?

    rotenc();

}

ISR( PCINT0_vect ){

// For ROTENC_BTN

    rotenc();

}

/*-----------------------------------------------------------------------------

 * Main Program

 *---------------------------------------------------------------------------*/

int main(void) {

    currentScreen = 0; //init display position

//  uint32_t act; not used anymoer

//  uint8_t act_type, lcd_size; not used anymore

    //uint8_t m, lcd_action;

    sei();

    /*

     * Initialize rotaryencoders and buttons

     */

    // Set as input

    DDRD &= ~(1<<DDD2);

    DDRB &= ~((1<<DDB7)|(1<<DDB0));

    // Enable pull-up

    PORTD |= (1<<PD2);

    PORTB |= (1<<PB7)|(1<<PB0);

    // Enable IO-pin interrupt

    PCICR |= (1<<PCIE2)|(1<<PCIE0);

    // Unmask PB7, PB0 and PD2

    PCMSK2 |= (1<<PCINT18);

    PCMSK0 |= (1<<PCINT7)|(1<<PCINT0);

    // Contrast

    TCCR0A |= (1<<COM0B1)|(1<<WGM01)|(1<<WGM00);

    TCCR0B |= (1<<CS00);

    OCR0B = 0x10;

    DDRD |= (1<<DDD5);

    // Backlight

    TCCR1A |= (1<<COM1A1)|(1<<WGM11);

    TCCR1B |= (1<<WGM13)|(1<<WGM12)|(1<<CS10);

    ICR1 = 0xFF; // Make it 8 bits

    OCR1A = 0xFF;

    DDRB |= (1<<DDB1);

    Can_Message_t txMsg;

    txMsg.ExtendedFlag=1;

    txMsg.RemoteFlag=0;

// FIXME skicka app startad

    BIOS_CanCallback = &can_receive;

    lcd_init( LCD_DISP_ON );

    lcd_clrscr();

    lcd_puts("CarDisplay");

    send_dimensions();

    lcd_gotoxy(0,1);

    lcd_puts("CAN Connected!");

    /* main loop */

    while(1){

        /* check if any messages have been received */

        if(rxMsgFull){

            uint16_t sns_type;

            uint8_t snsid;

            if ( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_SNS){// FIXME ett jŠkla herk, stŠda upp

                sns_type = (uint16_t)((rxMsg.Id & CAN_MASK_SNS_TYPE) >> CAN_SHIFT_SNS_TYPE);

                snsid = (uint8_t)((rxMsg.Id & CAN_MASK_SNS_ID) >> CAN_SHIFT_SNS_ID);

                switch(sns_type){

                case SNS_TYPE_PRESSURE:

                    sensor_Boost = rxMsg.Data.bytes[0]*256 + rxMsg.Data.bytes[1];

                    sensor_Boost_Max = max(sensor_Boost,sensor_Boost_Max);

                    if (currentScreen == SCR_BOOST) updateDisplay(SCR_BOOST,0);        

                break;

                case SNS_TYPE_ROTSPEED:

                    sensor_RPM = rxMsg.Data.bytes[0]*256 + rxMsg.Data.bytes[1];

                    if (currentScreen == SCR_RPM) updateDisplay(SCR_RPM,0);

                break;

                case SNS_TYPE_VOLTAGE:

                    sensor_Voltage = rxMsg.Data.bytes[0]*256 + rxMsg.Data.bytes[1];

                    if (currentScreen == SCR_VOLTAGE) updateDisplay(SCR_VOLTAGE,0);

                }

            }

            rxMsgFull = 0;

        }

    }

}

void send_dimensions(){

    Can_Message_t txMsg;

    txMsg.ExtendedFlag=1;

    txMsg.RemoteFlag=0;

    txMsg.Id=0xA000001;

    txMsg.Data.bytes[0] = SIZE_X;

    txMsg.Data.bytes[1] = SIZE_Y;

    txMsg.DataLength = 2;

    BIOS_CanSend(&txMsg);

}

void rotenc_action(uint8_t type){

    //Let's do something with something!

    if (type == LEFT){ 

        if (currentScreen == 0) currentScreen = LAST_SCREEN+1;

        currentScreen--;

        updateDisplay(currentScreen,1);

    }

    if (type == RIGHT){

        currentScreen++;

        if (currentScreen > LAST_SCREEN) currentScreen = 0;

        updateDisplay(currentScreen,1);

    }

    if (type == BUTTON_PUSH){

    }

    if (type == BUTTON_RELEASE){

    }

}

void updateDisplay(uint8_t screen, uint8_t transition){

    char buffer[20];   

    if (transition){

        lcd_clrscr();

        lcd_setanimation(1);

    } else {

        lcd_setanimation(0);

    }

    switch (screen){

    case SCR_LAMBDA:

        lcd_gotoxy(0,0);

        lcd_puts("LEAN   Lambda   RICH");

        lcd_gotoxy(0,1);

        lcdProgressBar(sensor_Lambda, SCALE_LAMBDAMAX, SIZE_X); //TODO: vacker bargraph med bara en plupp i mitten

    break;

    case SCR_RPM:      

        lcd_gotoxy(0,0);

        lcd_puts("RPM: ");

        unsignedtoascii(sensor_RPM,SNS_DECPOINT_ROTSPEED,buffer,0);

        lcd_puts(buffer);

        lcd_gotoxy(0,1);

        lcdProgressBar(sensor_RPM, SCALE_RPMMAX, SIZE_X);

    break;

    case SCR_BOOST:        

        lcd_gotoxy(0,0);

        lcd_puts("Boost: ");   

        signedtoascii(sensor_Boost,SNS_DECPOINT_PRESSURE,buffer,2);

        lcd_puts(buffer);

        lcd_puts(" bar    ");

        lcd_gotoxy(0,1);

        lcdProgressBar(max(0,sensor_Boost), SCALE_BOOSTMAX, SIZE_X);

    break;

    case SCR_MAXBOOST: //currently just a testscreen ffs omg

        lcd_gotoxy(0,0);

        lcd_puts("Max Boost: ");

        signedtoascii(sensor_Boost_Max ,SNS_DECPOINT_PRESSURE,buffer,2);

        lcd_puts(buffer);

        lcd_puts(" bar");

    break;

    case SCR_VOLTAGE:

        lcd_gotoxy(0,0);

        lcd_puts("Voltage: "); 

        unsignedtoascii(sensor_Voltage,SNS_DECPOINT_VOLTAGE,buffer,2);

        lcd_puts(buffer);

        lcd_puts(" V");    

        lcd_gotoxy(0,1);

        lcdProgressBar(max(0,sensor_Voltage), SCALE_VOLTAGEMAX, SIZE_X);

    break;

    case SCR_FUELCONS:

        lcd_gotoxy(0,0);

        lcd_puts("Fuel: ");

        unsignedtoascii(sensor_Fuelcons,SNS_DECPOINT_FUELCONS,buffer,2);

        lcd_puts(buffer);

        lcd_puts(" L/10km");       

        lcd_gotoxy(0,1);

        lcdProgressBar(max(0,sensor_Fuelcons), SCALE_FUELCONSMAX, SIZE_X);

    break;

    case SCR_VELOCITY:

        lcd_gotoxy(0,0);

        lcd_puts("Speed: ");   

        unsignedtoascii(sensor_Velocity,SNS_DECPOINT_VELOCITY,buffer,0);

        lcd_puts(buffer);

        lcd_puts(" km/h");     

        lcd_gotoxy(0,1);

        lcdProgressBar(max(0,sensor_Velocity), SCALE_VELOCITYMAX, SIZE_X);

    break;

    }

}

void rotenc(){

    uint8_t rot_data = 0;

    static uint8_t rot_lastdir = 0, rot_laststate = 0, btn_laststate = 0;

    Can_Message_t txMsg;

    txMsg.ExtendedFlag=1;

    txMsg.RemoteFlag=0;

    //txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_BUTTON<<SNS_TYPE_BITS )|( 0x01<<SNS_ID_BITS )| NODE_ID;//FIXME: borttaget

    txMsg.DataLength=2;

    //Take care of button push

    if ((PINB&(1<<PB7)) != btn_laststate){ //The buttonstate has changed! Let's send a message!

        btn_laststate = (PINB&(1<<PB7));

        txMsg.Data.bytes[0] = 5;

        txMsg.Data.bytes[1] = (btn_laststate)?0:1;

        txMsg.DataLength=2;

        BIOS_CanSend(&txMsg);

        rotenc_action((btn_laststate)?BUTTON_RELEASE:BUTTON_PUSH);

    }

    //Take care of rotary encoder movement

    if(PINB&(1<<PB0)){

        rot_data |= 0x01;

    }

    if(PIND&(1<<PD2)){

        rot_data |= 0x02;

    }

    if( rot_data==0 || rot_data==3 ){ // Are both signals high or low?

        if( rot_data==0 && rot_laststate!=rot_data ){ // Are both signals low? In that case we are finished with one turn and should print out the direction it went. 

            if( rot_lastdir&0x01 ){

                // Moving right

                txMsg.Data.bytes[0]=RIGHT;

                txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;

                txMsg.DataLength=2;

                BIOS_CanSend(&txMsg);

                rotenc_action(RIGHT);

            }else{

                // Moving left

                txMsg.Data.bytes[0]=LEFT;

                txMsg.Data.bytes[1] = (PINB&(1<<PB7))?0:1;

                txMsg.DataLength=2;

                BIOS_CanSend(&txMsg);

                rotenc_action(LEFT);

            }

        }

        rot_laststate = rot_data;

    } else { // No, only one of the signals are high. We can use this to find out what direction we are moving.

        rot_lastdir = rot_data;

    }

}

//‡ la pengi. Skall libbifieras.

void numtoascii( int16_t num, char **str ) {

    if( num==0 ) return;

    numtoascii( num/10, str );

    **str = '0' + (num%10);

    (*str)++;

}

void signedtoascii(int16_t num, uint8_t decimalplace, char *string, uint8_t numberofdecimals){ //decimalplace is number of decimals

    uint8_t i;

    if( num<0 ) {

        *(string++) = '-';

        num = -num;

    }

    numtoascii(num>>decimalplace, &string );

    if(numberofdecimals!=0) *(string++) = '.';

    for(i=0;i<numberofdecimals;i++) {

        num %= 1<<decimalplace;

        num *= 10;

        *(string++) = '0' + (num>>decimalplace);

    }

    *(string++) = 0;

}

void unsignedtoascii(uint16_t num, uint8_t decimalplace, char *string, uint8_t numberofdecimals){ //decimalplace is number of decimals

    uint8_t i;

    numtoascii(num>>decimalplace, &string );

    if(numberofdecimals!=0) *(string++) = '.';

    for(i=0;i<numberofdecimals;i++) {

        num %= 1<<decimalplace;

        num *= 10;

        *(string++) = '0' + (num>>decimalplace);

    }

    *(string++) = 0;

}