/***************************************************************************
 *   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 "AT91SAM7S256.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 "board.h"
#include <stdio.h>
#include <string.h>

static uint32_t global_state;

#define MOTORS_RUNNING		0x0001
#define STICK_CALIBRATION	0x0002

static uint32_t stick_timer_cb(struct pitc_timer *timer)
{
	static uint32_t i;
	*AT91C_PIOA_SODR = i;
	i = i ^ LED_GREEN;
	*AT91C_PIOA_CODR = i;

	struct rc_values rc;
	uint32_t count = rcontrol_getswitches(&rc);

	static uint32_t stick_cal_count;

	if (global_state & MOTORS_RUNNING) {
		if ((rc.chan[2] < 0 && rc.chan[3] > 0) || count < 4)
			global_state &= ~MOTORS_RUNNING;

	} else if (global_state & STICK_CALIBRATION) {
		stick_cal_count--;
		if (stick_cal_count == 0) {
			rcontrol_calibrate(RC_CAL_END);
			rcontrol_calibrate(RC_CAL_SAVE);
			rcontrol_print_cal();
			global_state &= ~STICK_CALIBRATION;
		}

	} else if (count >= 4) {
		if (rc.chan[2] < 0 && rc.chan[3] < 0)
			global_state |= MOTORS_RUNNING;

		if (rc.chan[2] > 0 && rc.chan[3] > 0)
			adc_calibrate(ADC_CAL_GYRO);

		if (rc.chan[2] > 0 && rc.chan[3] < 0) {
			adc_calibrate(ADC_CAL_ACC);

			stick_cal_count = 3000;
			global_state |= STICK_CALIBRATION;
			rcontrol_calibrate(RC_CAL_START);
		}
	}

	rcontrol_getvalues(&rc);

	static uint8_t pwm[4];
	if (global_state & MOTORS_RUNNING) {
		int32_t pitch = rc.chan[2] * 256;
		int32_t gier = rc.chan[3] * 64;
		int32_t nick = rc.chan[0] * 64;
		int32_t roll = rc.chan[1] * 64;

		int32_t data[4];
		data[0] = (pitch - nick + gier) / 1024;
		data[1] = (pitch + nick + gier) / 1024;
		data[2] = (pitch + roll - gier) / 1024;
		data[3] = (pitch - roll - gier) / 1024;

		pwm[0] = (data[0] > 0x0f) ? data[0] : 0x0f;
		pwm[1] = (data[1] > 0x0f) ? data[1] : 0x0f;
		pwm[2] = (data[2] > 0x0f) ? data[2] : 0x0f;
		pwm[3] = (data[3] > 0x0f) ? data[3] : 0x0f;

	} else {
		pwm[0] = 0x00;
		pwm[1] = 0x00;
		pwm[2] = 0x00;
		pwm[3] = 0x00;
	}

//	printf("%3d %3d %3d %3d\n\r", pwm[0], pwm[1], pwm[2], pwm[3]);
	twi_setpwm(pwm);

//	adc_trigger();
	return PITC_RESTART_TIMER;
}

static struct pitc_timer stick_timer = {
	.interval = 10,
	.func = &stick_timer_cb,
};

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(&stick_timer);

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

	while (1);
}