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/**

 * CAN Relay.

 *

 *

 * @date    2006-12-17

 * @author  Erik Larsson

 *

 *   ADC=Vin*1024/Vref

 *   Vout=( 10 mV/C )( Temperature C ) + 500 mV

 *

 *  Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode>

 *

 *

 */

#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 <stdio.h>

#include <avr/wdt.h>

/* lib files */

#include <bios.h>

#include <tc1047.h>

#include <funcdefs.h>

/* defines */

#define GROUP_ID		0x01UL

#define RELAY_OFF			0x01UL

#define RELAY_ON			0x02UL

#define FAILSAFE_MODE		0x0FUL

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

#define RELAY_CMD_ON		0x01UL

#define RELAY_CMD_OFF		0x02UL

#define RELAY_CMD_TOGGLE	0x03UL

#define RELAY_CMD_STATUS	0x04UL

#define RELAY_CMD_RESET		0x05UL

#define STATUS_SEND_PERIOD	10000 /* milliseconds */

#define FAILSAFE_SEND_PERIOD	10000 /* milliseconds */

#define BOUNCE_TIME			10 /* milliseconds */

#define BUTTON1				1

#define BUTTON2				2

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

 * Global variables

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

#if TWO_BUTTON_MODE

Can_Message_t txMsg_Button;

#endif

uint8_t relayStatus, failsafe_flag = 0;

uint32_t boardTemperature = 0;

Can_Message_t txMsg;

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

 * Functions

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

uint8_t relayOff();

uint8_t relayOn();

void relayFailsafe();

void can_receive(Can_Message_t *msg){

	uint32_t act;

	uint32_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;

		if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){

			if(msg->Data.bytes[0] == RELAY_CMD_ON && !failsafe_flag){

				// Turn relay on

				relayStatus = relayOn();

			}else if(msg->Data.bytes[0] == RELAY_CMD_OFF && !failsafe_flag){

				// Turn relay off

				relayStatus = relayOff();

				txMsg.Id = 0x8000111UL; // FIXME

				bios->can_send(&txMsg);

			}else if(msg->Data.bytes[0] == RELAY_CMD_TOGGLE && !failsafe_flag){

					// Toggle relay

					if(relayStatus == RELAY_OFF){

						relayStatus = relayOn();

					}else{

						relayStatus = relayOff();

						txMsg.Id = 0x8000113UL; // FIXME

						bios->can_send(&txMsg);

					}

			}else if(msg->Data.bytes[0] == RELAY_CMD_STATUS && !failsafe_flag){

				// Send relay status to CAN

				boardTemperature = getTC1047temperature();

				if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){

					// Goto failsafe mode

					relayFailsafe();

				}else{

					// Transmitt node status

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

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

					txMsg.Data.bytes[2] = relayStatus;

					txMsg.Data.bytes[3] = 0;

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

					bios->can_send( &txMsg );

				}

			}else if(msg->Data.bytes[0] == RELAY_CMD_RESET){

				// Return to normal operation

				failsafe_flag = 0;

			}

		}

	}

}

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

 * Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder

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

#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) {

	adcTemperatureInit();

#if TWO_BUTTON_MODE

#error two button mode not yet tested

    /*

     * 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

	// Control channel for relay

	DDRC |= (1<<DDC1);

	// Set up callback for CAN messages

	bios->can_callback = &can_receive;

	txMsg.RemoteFlag = 0;

	txMsg.ExtendedFlag = 1;

	txMsg.DataLength = 4;

	sei();

	// Turn relay off

	relayStatus = relayOff();

	txMsg.Id = 0x8000110UL; // FIXME

	bios->can_send(&txMsg);

	uint32_t timeStamp = 0;

	// Main loop

	while (1) {

		if( bios->timebase_get() - timeStamp >= STATUS_SEND_PERIOD ){

			timeStamp = bios->timebase_get();

			// Send relay status to CAN

			boardTemperature = getTC1047temperature();

			if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){

				relayFailsafe();

			}else{

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

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

				txMsg.Data.bytes[2] = relayStatus;

				txMsg.Data.bytes[3] = 0;

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

				bios->can_send( &txMsg );

			}

		}

	}

	return 0;

}

uint8_t relayOff()

{

	// Turn off relay

	PORTC &= ~(1<<PC1);

	DDRC |= (1<<DDC1); // FIXME

	return RELAY_OFF;

}

uint8_t relayOn()

{

	// Turn on relay

	DDRC &= ~(1<<DDC1); // FIXME

	PORTC |= (1<<PC1);

	return RELAY_ON;

}

void relayFailsafe()

{

	uint32_t timeStamp = 0;

	relayStatus = relayOff();

	failsafe_flag = 1;

	while(1){

		if( !failsafe_flag ){

			// Return from failsafe mode

			return;

		}

		if( bios->timebase_get() - timeStamp >= FAILSAFE_SEND_PERIOD ){

			timeStamp = bios->timebase_get();

			// Send relay status to CAN

			boardTemperature = getTC1047temperature();

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

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

			txMsg.Data.bytes[2] = relayStatus;

			txMsg.Data.bytes[3] = FAILSAFE_MODE;

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

			bios->can_send( &txMsg );

		}

	}

}