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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>
/* lib files */
#include <bios.h>
#include <config.h>
#include <drivers/timer/timebase.h>
#include <tc1047.h>
#include <funcdefs.h>

/* defines */
#define GROUP_ID        0x01UL

#define RELAY_OFF           0x01
#define RELAY_ON            0x02
#define FAILSAFE_MODE       0x0F
#define FAILSAFE_TRESHOLD   0xFF  /* Degrees when nodeRelay goes into failsafe mode */

#define RELAY_CMD_ON        0x01
#define RELAY_CMD_OFF       0x02
#define RELAY_CMD_TOGGLE    0x03
#define RELAY_CMD_STATUS    0x04
#define RELAY_CMD_RESET     0x05
#define STATUS_SEND_PERIOD  10000UL /* milliseconds */
#define FAILSAFE_SEND_PERIOD    10000UL /* milliseconds */
#define BOUNCE_TIME         10 /* milliseconds */
#define BUTTON1             1
#define BUTTON2             2

/*-------------------------------------------------------------------------
 * Global variables
 * -----------------------------------------------------------------------*/
uint8_t relayStatus, failsafe_flag = 0, rxMsg_Data_bytes[8], msg_received = 0;
uint32_t boardTemperature = 0;


/*----------------------------------------------------------------------------
 * Functions
 * -------------------------------------------------------------------------*/
uint8_t relayOff();
uint8_t relayOn();
void relayFailsafe();
void sendStatus();

void can_receive(Can_Message_t *msg)
{ // CAN callback function
    uint32_t act;
    uint8_t m, act_type, group, node;

    if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){
        // Actuator package
        act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
        act_type =(uint8_t)((act & ACT_TYPE_MASK) >> ACT_TYPE_BITS);
        group = (uint8_t)((act & ACT_GROUP_MASK) >> ACT_GROUP_BITS);
        node = (uint8_t)((act & ACT_NODE_MASK) >> ACT_NODE_BITS);

        if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){
            // This is a message for this node

            if(rxMsg_Data_bytes[0] == RELAY_CMD_RESET){
                // Return to normal operation
                failsafe_flag = 0;
            }

            for(m=0;m<(msg->DataLength);m++){
                rxMsg_Data_bytes[m] = msg->Data.bytes[m];
            }
            msg_received = 1; // Tell application that message has arrived
        }
    }
}

/*----------------------------------------------------------------------------
 * Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
 * -------------------------------------------------------------------------*/
#if TWO_BUTTON_MODE
ISR( PCINT2_vect )
{

}
#endif

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

    uint32_t timeStamp = Timebase_CurrentTime(), temp = timeStamp;

    Can_Message_t txMsg;
    txMsg.RemoteFlag = 0;
    txMsg.ExtendedFlag = 1;
    txMsg.DataLength = 4;

    adcTemperatureInit();

    // Set up callback for CAN messages
    BIOS_CanCallback = &can_receive;

    sei();
    
    Timebase_Init();

    // Turn relay off
    relayStatus = relayOff();
//  txMsg.Id = 0x8000110; // FIXME
//  bios->can_send(&txMsg);

    // Main loop
    while (1) {

        if(msg_received && !failsafe_flag ){

            if( rxMsg_Data_bytes[0] == RELAY_CMD_ON ){
                // Turn relay on
                relayStatus = relayOn();

            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_OFF ){
                // Turn relay off
                relayStatus = relayOff();

            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_TOGGLE ){
                    // Toggle relay
                    if(relayStatus == RELAY_OFF){
                        relayStatus = relayOn();
                    }else{
                        relayStatus = relayOff();
                    }

            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_STATUS ){
                // Send relay status to CAN
                sendStatus();
            }
            msg_received = 0;
        }

        temp = Timebase_CurrentTime();
        if( temp - timeStamp >= STATUS_SEND_PERIOD ){
            timeStamp = temp;
/*          txMsg.Id = 0x8000111;
            txMsg.Data.bytes[0] = timeStamp & 0x000000FF;
            txMsg.Data.bytes[0] = (timeStamp & 0x0000FF00)>>8;
            txMsg.Data.bytes[0] = (timeStamp & 0x00FF0000)>>16;
            txMsg.Data.bytes[0] = (timeStamp & 0xFF000000)>>24;
            bios->can_send(&txMsg);
*/          // Send relay status to CAN
            sendStatus();
        }
    }
    return 0;
}

uint8_t relayOff()
{
    // Turn off relay
    PORTC &= ~(1<<PC1);
    DDRC |= (1<<DDC1);

    return RELAY_OFF;
}

uint8_t relayOn()
{
    // Turn on relay
    DDRC &= ~(1<<DDC1);
    PORTC |= (1<<PC1);

    return RELAY_ON;
}

void relayFailsafe()
{
    uint32_t failsafe_timeStamp, temp;
    relayStatus = relayOff();
    failsafe_flag = 1;

    while(1){

        if( !failsafe_flag ){
            // Return from failsafe mode
            return;
        }
// TODO skicka med period
        sendStatus( );
    }
}

void sendStatus()
{
    uint32_t temperature;
    Can_Message_t statusMsg;
    statusMsg.RemoteFlag = 0;
    statusMsg.ExtendedFlag = 1;
    statusMsg.DataLength = 4;
    statusMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);

    temperature = getTC1047temperature();
    if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){
        // Goto failsafe mode
        relayFailsafe();
    }else{
        // Transmitt node status
        statusMsg.Data.bytes[0] = temperature & 0x00FF;
        statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;
        statusMsg.Data.bytes[2] = relayStatus;
        statusMsg.Data.bytes[3] = failsafe_flag;

        BIOS_CanSend( &statusMsg );
    }
}