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/**
 * CAN Test. This program sends a CAN message once every second. The ID of the
 * message is increased each time for testing purposes.
 * Added LCD output
 * 
 * @date    2006-11-21, LCD addition 2006-12-11
 * @author  Jimmy Myhrman, Erik Larsson
 *   
 *   Observera! Applikationen är helt otestad
 */

/*-----------------------------------------------------------------------------
 * 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>

#define RELAY_PORT  PORTC
#define RELAY_PIN   PC1
#define OFF     0x00
#define ON      0x01

/*-----------------------------------------------------------------------------
 * Main Program
 *---------------------------------------------------------------------------*/
int main(void) {

    uint8_t relayStatus;

    Timebase_Init();
    Serial_Init();
    sei();

    /* Enable RELAY_PIN as output */
    DDRC |= (1<<DDC1);
    /* Turn relay off */
    RELAY_PORT &= ~(1<<RELAY_PIN);
    relayStatus = OFF;

    // TODO initiera temperatursensor

    printf("\n------------------------------------------------------------\n");
    printf(  "   CAN: Relay\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;
    txMsg.Id = 0;
    txMsg.RemoteFlag = 0;
    txMsg.ExtendedFlag = 1;


    /* main loop */
    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 == 0x1200 ){

                if( rxMsg.Data.bytes[0] == 0x01 ){
                    /* Turn relay on */

                    RELAY_PORT |= (1<<RELAY_PIN);
                    relayStatus = ON;

                }else if(rxMsg.Data.bytes[0] == 0x02){
                    /* Turn relay off */

                    RELAY_PORT &= ~(1<<RELAY_PIN);
                    relayStatus = OFF;

                }else if(rxMsg.Data.bytes[0] == 0x03){
                    /* Toggle relay */

                    if(relayStatus == ON){
                        RELAY_PORT &= ~(1<<RELAY_PIN);
                        relayStatus = OFF;
                    }else{
                        RELAY_PORT |= (1<<RELAY_PIN);
                        relayStatus = ON;
                    }

                }else if(rxMsg.Data.bytes[0] == 0x04){
                    /* Get relay status (ON/OFF?, temperature) */
                    // TODO läsa värde från temperatursensor

                    txMsg.Id = 0x1201;
                    txMsg.Data.bytes[0] = relayStatus;
                    txMsg.DataLength = 3;

                    Can_Send( &txMsg );
                }
            }
        }
    // TODO
    // ska status på relä och temperatur skickas periodiskt?
    // tätare intervall om temperaturen kommer över en viss gräns?

        if( Timebase_PassedTimeMillis(timeStamp) >=5000){
            timeStamp = Timebase_CurrentTime();
             /* Get relay status (ON/OFF?, temperature) */
            // TODO läsa värde från temperatursensor

            txMsg.Id = 0x1201;
            txMsg.Data.bytes[0] = relayStatus;
            txMsg.DataLength = 3;

            Can_Send( &txMsg );

        }

    }


    return 0;
}