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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);
}