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#include "bios_funs.h"

#include "avr_cfg.h"

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <avr/pgmspace.h>

#include <stdio.h>

#include "flash.h"

#include "vectors.h" // Must be included after sfr_defs.h but before any ISR()

#include "can.h"

//---------------------------------------------------------------------------

// Globals

volatile long gMilliSecTick;

//---------------------------------------------------------------------------

// Function definitions for the exported interface

void reset(void) {

    //Just loop and let the watchdog reset

    cli();

    while(1);

};

void bios_putchar(char c) {

    UART_PUTCHAR(c);

};

char bios_getchar(void) {

    char c;

    UART_GETCHAR(c)

    return c;

};

long timebase_get(void) {

    uint8_t sreg;

    long res;

    //Disable interrupts while reading tick count

    sreg=SREG;

    cli();

    res = gMilliSecTick;

    SREG=sreg;

    return res;

}

//---------------------------------------------------------------------------

// Function definitions for the private functions

static int console_getchar(FILE *stream) {

    return bios_getchar();

}

static int console_putchar(char c, FILE *stream) {

    bios_putchar(c);

    return 0;

}

static FILE bios_stdio = FDEV_SETUP_STREAM(console_putchar, console_getchar,

                                         _FDEV_SETUP_RW);

//---------------------------------------------------------------------------

// Interrupt Service Routines

// Read app_vectors.h!

ISR(TIMEBASE_VECTOR) {

    TIMEBASE_COUNTER -= TIMEBASE_RELOAD;

    gMilliSecTick++;

    wdt_reset();

}

int main() {

    void (*app_reset)(void) = 0;

    // Setup USART for debug channel

    UART_INIT();

    stdout = &bios_stdio;

    stdin = &bios_stdio;

    // Initialize a suitable hardware timer to create a 1KHz interrupt.

    TIMEBASE_INIT();

    // Enable watchdog timer to protect against an application locking the

    // node by leaving interrupts disabled. 

    wdt_enable(WDTO_500MS);

    // Move interrupt vectors to start of bootloader section and enable interrupts

    IVSEL_REG = _BV(IVCE);

    IVSEL_REG = _BV(IVSEL);

    sei();

    printf("AVR BIOS\n");

    if (pgm_read_word(0) != 0xffff) {

        printf("Starting application.\n");

        app_reset();

    }

    printf("No application found.\n");

    printf("\n------------------------------------------------------------\n");

    printf(  "   CAN Test: Periodic Transmission\n");

    printf(  "------------------------------------------------------------\n");

    printf("CanInit...");

    if (Can_Init() != CAN_OK) {

        printf("FAILED!\n");

    }

    else {

        printf("OK!\n");

    }

    uint32_t timeStamp = 0;

    Can_Message_t txMsg;

    Can_Message_t rxMsg;

    //The databytes are just what happens to be in the memory. They are never set.

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

#define NODENUMBER 2

#if NODENUMBER == 1

    txMsg.Id = 16;

    txMsg.DataLength = 2;

#elif NODENUMBER == 2

    txMsg.Id = 32;

    txMsg.DataLength = 5;

#else

# error NODENUMBER not set!

#endif

    uint8_t i;

    /* main loop */

    while (1) {

        /* service the CAN routines */

        Can_Service();

        /* send CAN message and check for CAN errors once every second */

        if ((timebase_get() - timeStamp) >= 1000) {

            timeStamp = timebase_get();

            /* send txMsg */

            txMsg.Id++;

            Can_Send(&txMsg);

        }

        /* check if any messages have been received */

        while (Can_Receive(&rxMsg) == CAN_OK) {

            printf("BIOS Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));

            printf("data={ ");

            for (i=0; i<rxMsg.DataLength; i++) {

                printf("%x ", rxMsg.Data.bytes[i]);

            }

            printf("}\n");

            if (rxMsg.Id % 20 == 19) reset();

        }

    }

    return 0;

}