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/**

 * CAN RGB LED. This application is used to control a RGB LED.

 * Still under heavy development

 *

 * @date    2007-02-04

 * @author  Martin Nordén

 *  

 */

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

 * Includes

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

/* system files */

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <stdio.h>

/* lib files */

#include <can.h>

#include <serial.h>

#include <timebase.h>

#include <math.h>

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

 * Variables

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

uint32_t timeStamp; //TimeStamp to keep track of time

uint32_t dimStamp;  //Timestamp to keep track of dimmer changes

uint8_t currR;  //Current Red 0->255

uint8_t currG;  //Current Green 0->255

uint8_t currB;  //Current Blue 0->255

uint8_t destR;  //Destination Red

uint8_t destG;  //Destination Green

uint8_t destB;  //Destination Blue

uint8_t currIntens; //Current intensity. 0->255

uint8_t destIntens; //Destination intensity. 0->255

uint16_t fadeSpeed; //Fadingspeed. 16bit for reaaaally slow fading. Sets the speed of colorchange.

uint8_t dimSpeed;       //Dimmer speed. Sets the speed of intensitychange.

uint8_t program;        //This variable keeps track of what program is currently running. 

uint8_t programstate;   //This variable keeps track of where in a program we currently are. Will probably be removed later on.

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

 * Functions

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

void updateLED();

void reformatRGB(uint8_t R, uint8_t G, uint8_t B);

uint8_t fade(uint8_t current, uint8_t destination);

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

 * Main Program

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

int main(void) {

    Timebase_Init();

    Serial_Init();

    Can_Init();

//Setting up OC1A, 16 bit counter used as 8 bit.

    /* Use OC1A */

    TCCR1A |= (1<<COM1A1) | (1<<WGM11); /* Set OC1A at TOP, mode 14 */

    TCCR1B |= (1<<WGM13) | (1<<WGM12) | (1<<CS11); /* Timer uses main system clock with 1/8 prescale */

    ICR1 = 256; //8 bit precision to match the other two counters.

    OCR1A = 128;  //50% as standard

    DDRB |= (1<<PB1); /* Enable pin as output */

//Initialize variables

    fadeSpeed = 250;

    dimSpeed = 255;

    timeStamp = 0;

    dimStamp = 0;

    Can_Message_t rxMsg;

    currR = 0x3f;

    currG = 0x15;

    currB = 0x63;

    sei(); 

    reformatRGB(currR,currG,currB);

    destR = 0xff;

    currIntens = 100;

    destIntens = 100;

    /* main loop */

    while (1) {

        /* service the CAN routines */

        Can_Service();

        /* Time to fade color? */

        if (Timebase_PassedTimeMillis(timeStamp) >= fadeSpeed) {

            currR = fade(currR, destR);

            currG = fade(currG, destG);

            currB = fade(currB, destB);

            timeStamp = Timebase_CurrentTime();

            updateLED();

        }

        /* Time to fade intensity? */

        if (Timebase_PassedTimeMillis(dimStamp) >= dimSpeed) {

            currIntens = fade(currIntens, destIntens);

            dimStamp = Timebase_CurrentTime();

            updateLED();

        }

        /* check if any messages have been received */

        /* A lot of remote control crap going on here now for testing */

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

            if ((rxMsg.Data.bytes[0] == 0x0)&(rxMsg.Data.bytes[3] == 0x20)){

                program = 1;

                fadeSpeed = 0;

            }

            if ((rxMsg.Data.bytes[0] == 0x0)&(rxMsg.Data.bytes[3] == 0x21)){

                program = 2;

                fadeSpeed = 0;

            }

        }

    }

    return 0;

}

void updateLED(){

    OCR1A = currR * currIntens / 255;

    //TODO: Här ska givetvis de andra två färgerna också uppdateras.

    //Bara för debugcrap

    Can_Message_t txMsg;

    txMsg.Id = 0x55;

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.DataLength = 4;

    txMsg.Data.bytes[0] = currR * currIntens / 255;

    txMsg.Data.bytes[1] = currG * currIntens / 255;

    txMsg.Data.bytes[2] = currB * currIntens / 255;

    txMsg.Data.bytes[3] = currIntens;

    Can_Send(&txMsg);

//Red

//Green

//Blue

}

void reformatRGB(uint8_t R, uint8_t G, uint8_t B){

    uint8_t maxvalue;

    uint16_t tempcontainer;

    if ((R>G)&(R>B)){

        maxvalue = R;

    } else if ((G>R)&(G>B)){

        maxvalue = G;

    } else {

        maxvalue = B;

    }

    tempcontainer = R * 255;

    currR = tempcontainer/maxvalue;

    tempcontainer = G * 255;

    currG = tempcontainer/maxvalue;

    tempcontainer = B * 255;

    currB = tempcontainer/maxvalue;

    currIntens = maxvalue;

}

uint8_t fade(uint8_t current, uint8_t destination){

    if (current > destination){

        return(current - 1);

    } else if (current < destination){

        return(current + 1);

    }

    return(current);

}