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#include "fc.h"

unsigned char TxBuffer[MAX_BUFF_LEN];

unsigned char _TxBuffer[MAX_BUFF_LEN];

unsigned char RxBuffer[MAX_BUFF_LEN];

char PrintableRxBuffer[MAX_BUFF_LEN];

int mk_socket;

int status;

void AddCRC(unsigned int wieviele)

{

  unsigned int tmpCRC = 0,i;

  for(i = 0; i < wieviele;i++)

    {

      tmpCRC += TxBuffer[i];

    }

  tmpCRC %= 4096;

  TxBuffer[i++] = '=' + tmpCRC / 64;

  TxBuffer[i++] = '=' + tmpCRC % 64;

  TxBuffer[i++] = '\r';

}

void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)

{

  //  return;

  int status =0;

  unsigned int pt = 0;

  unsigned char a,b,c;

  unsigned char ptr = 0;

  TxBuffer[pt++] = '#';               // Startzeichen

  TxBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)

  TxBuffer[pt++] = cmd;                 // Commando

  while(len)

    {

      if(len) { a = snd[ptr++]; len--;} else a = 0;

      if(len) { b = snd[ptr++]; len--;} else b = 0;

      if(len) { c = snd[ptr++]; len--;} else c = 0;

      TxBuffer[pt++] = '=' + (a >> 2);

      TxBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));

      TxBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));

      TxBuffer[pt++] = '=' + ( c & 0x3f);

    }

  AddCRC(pt);

  printf("Sending to MK %d \n" , pt);

  status = send(mk_socket,"\r" , 1, 0);

  //  for (c=0;c<pt+2;c++)

  // {

  status = write(mk_socket,&TxBuffer , pt+3);

  //   printf("Send to MK %d \n" , TxBuffer[c] );

  // }

  /* int i=0;

  while(TxBuffer[i] !='\r' && i<150)

    {

    //     TxBuffer[i]='#';

    status = send(mk_socket,TxBuffer[i] , 1, 0);

    printf(" +%d%c ",i,TxBuffer[i]);

    i++;

    }

  //  status = send(s,"\r" , 1, 0);

  */

   status = send(mk_socket,"\r" , 1, 0);

   status = send(mk_socket,"\n" , 1, 0);

  printf("\n");

}

int rx_last_length;

void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)

{

 unsigned char a,b,c,d;

 unsigned char ptr = 0;

 unsigned char x,y,z;

 while(len)

  {

   a = RxBuffer[ptrIn++] - '=';

   b = RxBuffer[ptrIn++] - '=';

   c = RxBuffer[ptrIn++] - '=';

   d = RxBuffer[ptrIn++] - '=';

   if(ptrIn > max - 2) break;    

   x = (a << 2) | (b >> 4);

   y = ((b & 0x0f) << 4) | (c >> 2);

   z = ((c & 0x03) << 6) | d;

   if(len--) ptrOut[ptr++] = x; else break;

   if(len--) ptrOut[ptr++] = y; else break;

   if(len--) ptrOut[ptr++] = z; else break;

  }

}

int read_from_mk()

{      

  char in_char='#';

  int count=0;

  int r=0;

  int i=0;

  int p=0;

  printf("starting read\n");

  while(in_char!='\r')

    {

      p++;

      //      printf("b read\n");

      count=read(mk_socket,&in_char,1);

      //      if ( count ==-1) exit(0);

      printf("a read %d %d %c \n",p,count,in_char);

      if (count!=-1)

        {

          //  printf("%c\n",in_char);

          RxBuffer[r]=in_char;

          if (in_char!=0)

            PrintableRxBuffer[r++]=in_char;

          else

            PrintableRxBuffer[r++]='0';

        }

    }

  rx_last_length=r;

  PrintableRxBuffer[r++]='\0'; // terminate 

  printf("done --->%s\n",PrintableRxBuffer);

  if (RxBuffer[2]=='D')

    {

      debug_sets++;

      Decode64((unsigned char *) &DebugOut,sizeof(DebugOut),3,rx_last_length);

      printf("decoded FC Debug data height:%d\n",DebugOut.Analog[5]);

    }

  return 1;

}

int connect_mk_bluetooth(char dest[18])

{

  struct sockaddr_rc addr ;

  // allocate a socket

  mk_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);

  // set the connection parameters (who to connect to)

  addr.rc_family = AF_BLUETOOTH;

  addr.rc_channel = 1;

  str2ba( dest, &addr.rc_bdaddr );

  // connect to server

  status = connect(mk_socket, (struct sockaddr *)&addr, sizeof(addr));

  printf("connection status %d\n",status);

  return status;

}

int connect_mk_tty(char* tty_filename)

{

  mk_socket = open(tty_filename,O_RDWR);

  struct termios termattr;

   speed_t baudRate;

      /* Make a copy of the termios structure. */

   tcgetattr(mk_socket, &termattr);

   termattr.c_iflag = IGNBRK | IGNPAR;

   termattr.c_cflag=CS8 | CREAD | CLOCAL ;

   termattr.c_cflag&= ~CBAUD;

   termattr.c_cflag|=B57600;

   tcsetattr(mk_socket, TCSANOW, &termattr);

   /*

   usleep(1000000);  

  char in_char='#';

  int count=0;

  int r=0;

  int i=0;

  int p=0;

  printf("starting read %d\n",mk_socket);

  while  (1)

    {

      p=0;

      r=0;

  char in_char='#';

  while((in_char!='\r'))//&&(r<MAX_BUFF_LEN))

        {

          //      p++;

          //      printf("b read\n");

          count=read(mk_socket,&in_char,1);

          // tcflush( mk_socket, TCOFLUSH );

          //      printf("\np !read %d %d %c \n",p,count,in_char);

          //count=read(mk_socket,&in_char,1);

          // tcflush( mk_socket, TCOFLUSH );

          //      printf("\np !read %d %d %d %c \n",r,p,count,in_char);

          printf("%d %c \n",r, in_char);

                  if (count==1)

                  {

                  //  printf("%c\n",in_char);

                    RxBuffer[r]=in_char;

                  if (in_char!=0)

                  PrintableRxBuffer[r]=in_char;

                  else

                  PrintableRxBuffer[r]='0';

                  r++;

                  }

          //else

                         //printf("%d/%d",errno,EBADF);

        }

  PrintableRxBuffer[r]=0;

      printf("buff> %d\n %s\n", r, PrintableRxBuffer);

    }

*/

  if (mk_socket<0)

    return 0;

  else

    return  1;

}

int connect_mk_localhost_socket(int port)

{

  struct sockaddr_in sa;

  sa.sin_family = AF_INET;

  sa.sin_addr.s_addr = htonl(0x0);

  sa.sin_port = htons(port);

  mk_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);

  return  connect(mk_socket,(struct sockaddr*) &sa, sizeof(struct sockaddr_in));

}