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#include <avr/boot.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include "main.h"

#include "timer0.h"

#include "uart0.h"

#include "uart1.h"

#include "fat16.h"

#include "led.h"

#include "menu.h"

#include "printf_P.h"

#include "analog.h"

#include "gps.h"

#include "button.h"

#include "logging.h"

#include "settings.h"

#define FOLLOWME_INTERVAL 1000 // 1 second update

#define CELLUNDERVOLTAGE 32 // lowest allowed voltage/cell; 32 = 3.2V

#ifdef USE_FOLLOWME

int16_t UBat = 120;

int16_t Zellenzahl = 0;

int16_t PowerOn = 0;

int16_t i = 0;

int16_t delay = 0;

#endif

uint16_t Error = 0;

SysState_t SysState = STATE_UNDEFINED;

int main (void)

{

	static uint16_t FollowMe_Timer = 0;

	// disable interrupts global

	//cli();

	// disable watchdog

    MCUSR &=~(1<<WDRF);

    WDTCSR |= (1<<WDCE)|(1<<WDE);

    WDTCSR = 0;

	// initalize modules

	LED_Init();

	LEDRED_ON;

    TIMER0_Init();

	USART0_Init();

	UBX_Init();

	USART1_Init();

	ADC_Init();

	Button_Init();

	// enable interrupts global

	sei();

	// try to initialize the FAT 16 filesystem on the SD-Card

	Fat16_Init();

	// initialize the settings

	Settings_Init();

	// initialize logging (needs settings)

	Logging_Init();

	LEDRED_OFF;

	LEDGRN_ON;

  	#ifdef USE_SDLOGGER

	printf("\r\n\r\nHW: SD-Logger");

	#endif

	#ifdef USE_FOLLOWME

	printf("\r\n\r\nHW: Follow-Me");

	#endif

	printf("\r\nFollow Me\r\nSoftware:V%d.%d%c ",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');

	printf("\r\n------------------------------");

	printf("\r\n");

	//BeepTime = 2000;

    Menu_Clear();

	FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL);

	while (1)

	{

		// get gps data to update the follow me position

		GPS_Update();

		// update logging

		Logging_Update();

		// check for button action and change state resectively

		if(GetButton())

		{

			BeepTime = 200;

			switch(SysState)

			{

				case STATE_IDLE:

					if(!Error) SysState = STATE_SEND_FOLLOWME; // activate followme only of no error has occured

					break;

				case STATE_SEND_FOLLOWME:

					SysState = STATE_IDLE;

					break;

				default:

					SysState = STATE_IDLE;

					break;

			}

		}

		// state machine

		DebugOut.Analog[9] = SysState;

		switch(SysState)

		{

			case STATE_SEND_FOLLOWME:

				if(CheckDelay(FollowMe_Timer)) // time for next message?

				{

					if(FollowMe.Position.Status == NEWDATA)        // if new

					{   // update remaining data

						FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL);  // reset timer

						FollowMe.Heading = -1;			// invalid heading

						FollowMe.ToleranceRadius = 1;   // 1 meter

						FollowMe.HoldTime = 60;         // go home after 60s without any update

						FollowMe.Event_Flag = 0;        // no event

						FollowMe.Index = 1;             // 2st wp

						FollowMe.reserve[0] = 0;		// reserve

						FollowMe.reserve[1] = 0;		// reserve

						FollowMe.reserve[2] = 0;		// reserve

						FollowMe.reserve[3] = 0;		// reserve

						Request_SendFollowMe = 1;       // triggers serial tranmission

					}

					else // now new position avalable (maybe bad gps signal condition)

					{

						FollowMe_Timer = SetDelay(FOLLOWME_INTERVAL/4);  // reset timer on higer frequency

					}

					LEDGRN_TOGGLE;						// indication of active follow me

				}

				break;

			case STATE_IDLE:

				// do nothing

				LEDGRN_ON;

				break;

			default:

				// triger to idle state

				SysState = STATE_IDLE;

				break;

		}

		// restart ADConversion if ready

		if(ADReady)

		{

			DebugOut.Analog[0] = Adc0;

			DebugOut.Analog[1] = Adc1;

			DebugOut.Analog[2] = Adc2;

			DebugOut.Analog[3] = Adc3;

			DebugOut.Analog[4] = Adc4;

			DebugOut.Analog[5] = Adc5;

			DebugOut.Analog[6] = Adc6;

			DebugOut.Analog[7] = Adc7;

			#ifdef USE_FOLLOWME

			// AVcc = 5V --> 5V = 1024 counts

			// the voltage at the voltage divider reference point is 0.8V less that the UBat

			// because of the silicon diode inbetween.

			// voltage divider R2=10K, R3=3K9

			// UAdc4 = R3/(R3+R2)*UBat= 3.9/(3.9+10)*UBat = UBat/3.564

			UBat = (3 * UBat + (64 * Adc4) / 368) / 4;

			DebugOut.Analog[8] = UBat;

			// check for zellenzahl

			if(PowerOn < 100)

			{

				if(UBat<=84) Zellenzahl = 2;

				else Zellenzahl = 3;

				PowerOn++;

			}

			DebugOut.Analog[16] = Zellenzahl;

			DebugOut.Analog[17] = PowerOn;

			//show recognised Zellenzahl to user

			if(i < Zellenzahl && PowerOn >= 100 && BeepTime == 0 && delay > 1000)

			{

				BeepTime = 100;

				i++;

				delay = 0;

			}

			if(delay < 1500) delay++;

			// monitor battery undervoltage [...||(UBat<74) as temporary workaround to protect 2s lipo packs]

			if(((UBat < Zellenzahl * CELLUNDERVOLTAGE)||(UBat < 74)) && (PowerOn >= 100))

			{   // sound for low battery

				BeepModulation = 0x0300;

				if(!BeepTime)

				{

					BeepTime = 6000; // 0.6 seconds

				}

				Error |= ERROR_LOW_BAT;

			}

			else

			{

				Error &= ~ERROR_LOW_BAT;

			}

			#endif

			ADReady = 0;

			ADC_Enable(); // restart ad conversion sequence

		}

		// serial communication

		USART0_ProcessRxData();

		USART0_TransmitTxData();

		// indicate error, blinking code tbd.

		if(Error)	LEDRED_ON;

		else 		LEDRED_OFF;

    }

 	return (1);

}