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/**

 * CanBlinds.

 * Takes incomming packages and adjusts PWM output.

 * Input: -128 to +127

 * Position msg: <byte0 BLINDS_CMD> <byte1 position> <byte2 servo number>

 * Turning msg: <byte0 START/STOP> <byte 1 direction> <byte2 servo number>

 *

 * @date    2001-01-01

 * @author  Erik Larsson

 *

 * TODO fixa en ordentlig failsafe som kan bryta matningen till servona

 */

#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */

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

 * Includes

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

/* system files */

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <stdio.h>

/* lib files */

#include <can.h>

#include <timebase.h>

#include <tc1047.h>

#include <rc_servo.h>

/* defines */

#define FAILSAFE_MODE       0x0F

#define FAILSAFE_TRESHOLD   60  /* Degrees celcius when nodeBlinds goes into failsafe mode */

#define BLINDS_CMD_GET      0x1300

#define BLINDS_CMD_SEND     0x1301

#define BLINDS_CMD_ABS      0x01 /* Absolute position */

#define BLINDS_CMD_REL      0x02 /* Relative position */

#define BLINDS_CMD_START    0x03 /* Start turning RC-servo */

#define BLINDS_CMD_STOP     0x04 /* Stop turning RC-servo */

#define BLINDS_CMD_RESET    0x05

#define BLINDS_CMD_STATUS   0x06

#define BLINDS_TURN_STOP    0x00

#define BLINDS_TURN_LEFT    0x01

#define BLINDS_TURN_RIGHT   0x02

#define STEPS_PER_TURN_PERIOD 10 /* number of steps for each adjustment */

#define TURN_PERIOD         100 /* milliseconds */

#define STATUS_SEND_PERIOD  10000 /* milliseconds */

#define FAILSAFE_SEND_PERIOD    10000 /* milliseconds */

#define BOUNCE_TIME         10 /* milliseconds */

#define BUTTON_ID           0x1202

#define BUTTON1             1

#define BUTTON2             2

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

 * Global variables

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

#if TWO_BUTTON_MODE

Can_Message_t txMsg_Button;

#endif

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

 * Functions

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

void blindsFailsafe();

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

 * Interrupt routines

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

#if TWO_BUTTON_MODE

ISR( PCINT2_vect )

{

    /*

     * Auxiliary button pressed and released

     * Check time between press and release to eliminate bounces

     */

    static uint32_t buttonTime[2];

    txMsg_Button.RemoteFlag = 0;

    txMsg_Button.ExtendedFlag = 1;

    if( (PIND & (1<<PD6)) == 0){

        /* Button pressed */

        buttonTime[0] = Timebase_CurrentTime();

    }else if( (PIND & (1<<PD6)) == 1){

        if( Timebase_PassedTimeMillis( buttonTime[0] ) >= BOUNCE_TIME ){

            /* No bounce, send message */

            txMsg_Button.Id = BUTTON_ID;

            txMsg_Button.DataLength = 1;

            txMsg_Button.Data.bytes[0] = BUTTON1;

            return;

        }else{

            /* Just bounces, ignore it */

            return;

        }

    }

    if( (PIND & (1<<PD7)) == 0){

        /* Button pressed */

        buttonTime[1] = Timebase_CurrentTime();

    }else if( (PIND & (1<<PD7)) == 1){

        if( Timebase_PassedTimeMillis( buttonTime[1] ) >= BOUNCE_TIME ){

            /* No bounce, send message */

            txMsg_Button.Id = BUTTON_ID;

            txMsg_Button.DataLength = 1;

            txMsg_Button.Data.bytes[0] = BUTTON2;

            return;

        }else{

            /* Just bounces, ignore it */

            return;

        }

    }

}

#endif

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

 * Main Program

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

int main(void) {

    uint8_t blindsStatus, /* Position (-128 to 127) */

            servoToTurn,

            turnDirection = BLINDS_TURN_STOP; /* Specifies direction to turn or stopped */

    uint32_t boardTemperature = 0;

    uint32_t timeStamp = 0, timeStampTurn = 0;

    adcTemperatureInit();

    Timebase_Init();

    rcServoInit();

#if TWO_BUTTON_MODE

    /*

     * Initialize buttons

     * It is possible to use ie. sensors instead

     * but then change this

     */

    /* Set as input and enable pull-up */

    DDRD &= ~( (1<<DDD6)|(1<<DDD7) );

    PORTD |= (1<<PD6)|(1<<PD7);

    /* Enable IO-pin interrupt */

    PCICR |= (1<<PCIE1);

    /* Unmask PD6 and PD7 */

    PCMSK2 |= (1<<PCINT22) | (1<<PCINT23);

#endif

    sei();

    Can_Init();

    Can_Message_t txMsg;

    Can_Message_t rxMsg;

    txMsg.Id = BLINDS_CMD_SEND;

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.DataLength = 3;

    /* main loop */

    while (1) {

        /* service the CAN routines */

        Can_Service();

        /* check if any messages have been received */

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

            /* This node that control a servo is adressed */

            if( rxMsg.Id == BLINDS_CMD_GET ){

                if( rxMsg.Data.bytes[0] == BLINDS_CMD_ABS ){

                    /* Set absolute position to servo */

                    setPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );

                }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_REL){

                    /* Set relative position to servo */

                    alterPosition( rxMsg.Data.bytes[1], rxMsg.Data.bytes[2] );

                }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_START ){

                    /* Start turning the servo */

                    turnDirection = rxMsg.Data.bytes[1];

                    servoToTurn = rxMsg.Data.bytes[2];

                }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STOP ){

                    /* Stop turning */

                    turnDirection = BLINDS_TURN_STOP;

                }else if(rxMsg.Data.bytes[0] == BLINDS_CMD_STATUS){

                    /* Send blinds status to CAN */

                    boardTemperature = getTC1047temperature();

                    if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){

                        blindsFailsafe();

                    }else{

                        txMsg.Data.bytes[0] = boardTemperature & 0x00FF;

                        txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;

                        txMsg.Data.bytes[2] = 0x00;

#if NUMBER_OF_RCS >0

                        txMsg.Data.bytes[3] = getPosition(1);

#endif

#if NUMBER_OF_RCS >1

                        txMsg.Data.bytes[4] = getPosition(2);

#endif

#if NUMBER_OF_RCS >2

                        txMsg.Data.bytes[5] = getPosition(3);

#endif

                        txMsg.DataLength = NUMBER_OF_RCS+3;

                        Can_Send( &txMsg );

                    }

                }

            }

        }

        if( Timebase_PassedTimeMillis(timeStamp) >= STATUS_SEND_PERIOD ){

            timeStamp = Timebase_CurrentTime();

            /* Send blinds status to CAN */

            boardTemperature = getTC1047temperature();

            if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){

                blindsFailsafe();

            }else{

                txMsg.Data.bytes[0] = boardTemperature & 0x00FF;

                txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;

                txMsg.Data.bytes[2] = 0x00;

#if NUMBER_OF_RCS >0

                txMsg.Data.bytes[3] = getPosition(1);

#endif

#if NUMBER_OF_RCS >1

                txMsg.Data.bytes[4] = getPosition(2);

#endif

#if NUMBER_OF_RCS >2

                txMsg.Data.bytes[5] = getPosition(3);

#endif

                txMsg.DataLength = NUMBER_OF_RCS+3;

                Can_Send( &txMsg );

            }

        }

        /* If start turning servo */

        if( turnDirection ){

            if( Timebase_PassedTimeMillis( timeStampTurn ) >= TURN_PERIOD ){

                timeStampTurn = Timebase_CurrentTime();

                /* Clockwise or counterclockwise? */

                if( turnDirection == BLINDS_TURN_LEFT ){

                    alterPosition( -STEPS_PER_TURN_PERIOD , servoToTurn);

                }else if( turnDirection == BLINDS_TURN_RIGHT ){

                    alterPosition( STEPS_PER_TURN_PERIOD , servoToTurn);

                }

            }

        }

    }

    return 0;

}

void blindsFailsafe() // TODO fixa failsafe, vad ska hända med PWM?

{

    uint8_t relayStatus;

    uint32_t boardTemperature = 0, timeStamp = 0;

    Can_Message_t txMsg;

    Can_Message_t rxMsg;

    txMsg.Id = BLINDS_CMD_SEND;

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.DataLength = 4;

    while(1){

        /* service the CAN routines */

        Can_Service();

        /* check if any messages have been received */

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

            /* This relay is adressed*/

            if( rxMsg.Id == BLINDS_CMD_GET ){

                if( rxMsg.Data.bytes[0] == BLINDS_CMD_RESET ){

                    /* Return from failsafe mode */

                    return;

                }

            }

        }

        if( Timebase_PassedTimeMillis(timeStamp) >= FAILSAFE_SEND_PERIOD ){

            timeStamp = Timebase_CurrentTime();

            /* Send relay status to CAN */

            boardTemperature = getTC1047temperature();

            txMsg.Data.bytes[0] = boardTemperature & 0x00FF;

            txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;

            txMsg.Data.bytes[2] = FAILSAFE_MODE;

#if NUMBER_OF_RCS >0

            txMsg.Data.bytes[3] = getPosition(1);

#endif

#if NUMBER_OF_RCS >1

            txMsg.Data.bytes[4] = getPosition(2);

#endif

#if NUMBER_OF_RCS >2

            txMsg.Data.bytes[5] = getPosition(3);

#endif

            txMsg.DataLength = NUMBER_OF_RCS+3;

            Can_Send( &txMsg );

        }

    }

}