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/**

 * CanServo.

 * Takes incomming packages and adjusts PWM output.

 * Input: 0 to 255

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

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

 *

 * @date    2007-01-01

 * @author  Erik Larsson

 *

 */

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

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

 * Includes

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

/* system files */

#include <avr/io.h>

#include <avr/interrupt.h>

#include <stdio.h>

/* lib files */

#include <bios.h>

#include <config.h>

#include <drivers/timer/timebase.h>

#include <tc1047.h>

#include <rc_servo.h>

#include <funcdefs.h>

/* defines */

#define GROUP_ID    0x01L // FIXME

#define FAILSAFE_MODE       0x0F

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

#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 /* ms */

#define STATUS_SEND_PERIOD      5000 /* ms */

#define FAILSAFE_SEND_PERIOD    10000 /* ms */

#define BOUNCE_TIME             10 /* ms */

#define SERVO_FEED_TIME         2000 /* ms */

#define BUTTON1                 1

#define BUTTON2                 2

#define SERVO_FEED_PORT         PORTD

#define SERVO_FEED_DDR          DDRD

#define SERVO_FEED_PIN          PD2

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

 * Global variables

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

/*#if defined(TWO_BUTTON_MODE)

Can_Message_t txMsg_Button;

#endif*/

uint8_t msg_received = 0;

Can_Message_t txMsg;

Can_Message_t rxMsg;

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

 * Functions

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

void blindsFailsafe();

/* Takes care about incoming messages and parses them if this node is adressed */

void can_receive(Can_Message_t *msg){

    uint32_t act;

    uint8_t m, act_type, group, node;

    if( ((msg->Id & CLASS_MASK) >> CLASS_MASK_BITS) == CLASS_ACT ){

        act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;

        act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;

        group = (act & ACT_GROUP_MASK) >> ACT_GROUP_BITS;

        node = (act & ACT_NODE_MASK) >> ACT_NODE_BITS;

        /* Check if it is command to control this servo */

        if(act_type == ACT_TYPE_SERVO){

            if(group == GROUP_ID || node == NODE_ID){

                for(m=0;m<msg->DataLength;m++){

                    rxMsg.Data.bytes[m] = msg->Data.bytes[m];

                }

            msg_received = 1;

            }

        }

    }

}

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

 * Interrupt routines

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

#if defined(TWO_BUTTON_MODE)

#error two button mode is still untested

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<<PD1)) == 0){

        /* Button pressed */

        buttonTime[0] = Timebase_CurrentTime();

    }else if( (PIND & (1<<PD1)) == 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<<PD2)) == 0){

        /* Button pressed */

        buttonTime[1] = Timebase_CurrentTime();

    }else if( (PIND & (1<<PD2)) == 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(viod) {

    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, servoFeed_timeStamp = 0;

    sei();

    Timebase_Init();

    adcTemperatureInit();

    rcServoInit();

#if defined(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<<DDD1)|(1<<DDD2) );

    PORTD |= (1<<PD1)|(1<<PD2);

    /* Enable IO-pin interrupt */

    PCICR |= (1<<PCIE2);

    /* Unmask PD1 and SERVO_FEED_PIN */

    PCMSK2 |= (1<<PCINT16) | (1<<PCINT17);

#endif

    /* Set output and turn off the servo current feed */

    SERVO_FEED_DDR |= (1<<SERVO_FEED_PIN);

    SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);

    txMsg.RemoteFlag = 0;

    txMsg.ExtendedFlag = 1;

    txMsg.Id = (CLASS_SNS << CLASS_MASK_BITS)|(SNS_ACT_STATUS_SERVO << TYPE_MASK_BITS)|(NODE_ID << SID_MASK_BITS);

    /* Set up callback for CAN messages */

    BIOS_CanCallback = &can_receive;

    /* main loop */

    while (1) {

        /* check if any messages have been received */

        if(msg_received){

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

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

                /* Set absolute position to servo */

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

                servoFeed_timeStamp = Timebase_CurrentTime();

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

                /* Set relative position to servo */

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

                servoFeed_timeStamp = Timebase_CurrentTime();

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

                /* Start turning the servo */

                turnDirection = rxMsg.Data.bytes[1];

                servoToTurn = rxMsg.Data.bytes[2];

                servoFeed_timeStamp = Timebase_CurrentTime();

            }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;

                    BIOS_CanSend(&txMsg);

                    }

                }

                msg_received = 0;

        }

        if( (Timebase_CurrentTime() - 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;

                BIOS_CanSend(&txMsg);

            }

        }

        /* If start turning servo */

        if( turnDirection ){

            if( Timebase_CurrentTime() - 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);

                }

            }

        }

        /* Turn off the servo current feed */

        if( Timebase_CurrentTime() - servoFeed_timeStamp >= SERVO_FEED_TIME ){

            SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);

        }else{

            SERVO_FEED_PORT |= (1<<SERVO_FEED_PIN);

        }

    }

    return 0;

}

void blindsFailsafe()

{

    uint32_t boardTemperature = 0, timeStamp = 0;

    /* Turn of servo current feed */

    SERVO_FEED_PORT &= ~(1<<SERVO_FEED_PIN);

    while(1){

        /* check if any messages have been received */

        while(msg_received) {

            /* This relay is adressed*/

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

                /* Return from failsafe mode */

                return;

            }

        }

        if( Timebase_CurrentTime() - 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;

            BIOS_CanSend(&txMsg);

        }

    }

}