/***************************************************************************
 *   sam7fc - main loop                                                    *
 *                                                                         *
 *   Copyright (C) 01/2008 by Olaf Rempel                                  *
 *   razzor@kopf-tisch.de                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; version 2 of the License                *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#include <stdio.h>
#include <string.h>

#include "AT91SAM7S256.h"
#include "board.h"

#include "at91_sysc.h"
#include "at91_dbgu.h"
#include "at91_pitc.h"
#include "at91_adc.h"
#include "at91_tests.h"
#include "at91_udp.h"
#include "at91_pio.h"
#include "at91_twi.h"

#include "at91_tc1.h"
#include "memalloc.h"
#include "telemetrie.h"

extern void base_ctrl(void);

volatile static uint32_t run_ctrl;

static uint32_t base_ctrl_trigger(struct pitc_timer *timer)
{
	/* trigger adc, after ~15us () result should be ready */
	adc_trigger();

	run_ctrl = 1;

	return PITC_RESTART_TIMER;
}

static struct pitc_timer base_timer = {
	.interval = 2,
	.func = &base_ctrl_trigger,
};

int main(void)
{
	/* LED outputs */
	*AT91C_PIOA_PER = LED_GREEN | LED_ORANGE;
	*AT91C_PIOA_OER = LED_GREEN | LED_ORANGE;

	/* needed for dbgu */
	at91_sysc_init();

	at91_dbgu_init();
	at91_dbgu_puts("==========================================================\n\rGood morning Dave\n\r");

	/* triggers pinchange-isrs */
	at91_pio_init();

	/* timer */
	at91_pitc_init();
	at91_rttc_test_init();

	/* twi */
	at91_twi_init();
	at91_twi_test();

	/* remote control, needs twi */
	at91_tc1_init();

	/* usb */
	at91_udp_init();

	/* adc, need timer, twi */
	at91_adc_init();

	pitc_schedule_timer(&base_timer);

	tdc_init();

	printf("static alloc: %5ld bytes\n\r", static_alloc_used());

	while (1) {
		if (run_ctrl) {
			// TODO: racy?
			run_ctrl = 0;

			base_ctrl();
		}
		tdc_check();
	}
}