/*

 * Master Firmware

 *

 * Wireless Observational Modular Aerial Network

 * 

 * Ethan Zonca

 * Matthew Kanning

 * Kyle Ripperger

 * Matthew Kroening

 *

 */

#include "config.h"

#include <avr/io.h>

#include <util/delay.h>

#include <avr/wdt.h>

#include <avr/interrupt.h>

#include <stdio.h>

#include <stdbool.h>

#include <string.h>

#include "lib/serial.h"

#include "lib/aprs.h"

#include "lib/afsk.h"

#include "lib/led.h"

#include "lib/logger.h"

#include "lib/watchdog.h"

#include "lib/gps.h"

#include "lib/i2c.h"

#include "lib/boardtemp.h"

#include "lib/heater.h"

#include "lib/looptime.h"

#include "lib/slavesensors.h"

#include "lib/serparser.h"

#include "lib/sensordata.h"

int main(void)

{

	// Power debounce

	// Initialize libraries

	time_setup();

	watchdog_setup(); // enables interrupts

	led_setup();

	gps_setup();

	serial0_setup();

	serial1_setup();

	i2c_init();

	sensordata_setup(); // must happen before slavesensors/logger/AFSK

	slavesensors_setup();

	logger_setup();

	afsk_setup();

	serial0_sendString("\r\nHello.\r\n\r\n");

	// Blocking ZigBee node discovery

	slavesensors_network_scan();

	// Software timers	

	uint32_t lastAprsBroadcast = 0;

	uint32_t lastLog = 0;

	uint32_t lastLedCycle = 0;

	uint32_t lastDataReq = 0;

	uint32_t lastBuzz = 0;

	// Result of last parser run

	int parseResult = PARSERESULT_NODATA;

	// FIXME: Probably don't need this.

	serial1_ioff();

	while(1)

    {

		// Periodic: LED execution indicator

		if(time_millis() - lastLedCycle > LEDCYCLE_RATE) 

		{

			led_power_toggle();

			led_spin();

			// Enable GPS serial interrupts if we aren't doing AFSK

			if(!afsk_busy())

				serial1_ion();

			lastLedCycle = time_millis();	

		}

		// Periodic: Logging

		if(time_millis() - lastLog > LOGGER_RATE) 

		{

			led_on(LED_CYCLE);

			heater_regulateTemp();

			// Turn on sideboard LED if we have a fix

			if(gps_hasfix()) 

			{

				led_on(LED_SIDEBOARD);

			}

			else 

			{

				led_off(LED_SIDEBOARD);

			}

			sensors_readBoardTemp();

			// Write CSV header and log data values

			sensordata_logvalues();			

			led_off(LED_CYCLE);

			lastLog = time_millis();

		}		

		// Periodic: Buzzer

		if(time_millis() - lastBuzz > BUZZER_RATE) {

			if(sensordata_isTouchdown())

			{

				led_on(LED_BUZZ);

				_delay_ms(BUZZER_DURATION);

				led_off(LED_BUZZ);

			}			

			lastBuzz = time_millis();

		}

		// Periodic: Data Request

		if(time_millis() - lastDataReq > DATAREQUEST_RATE)  

		{

			// Start getting values for next transmission

			if(slavesensors_isrequesting())

			{

				// TODO: something is terribly wrong. Timeout?

			}

			else

			{

				slavesensors_startprocess();

			}

			lastDataReq = time_millis();

		}

		// Periodic: APRS transmission

		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) 

		{

			// Check for touchdown

			sensordata_checkTouchdown();

			// LED blackout

			#ifdef BLACKOUT_ENABLE

			led_blackout();

			#endif

			// Ensure we aren't already transmitting

			while(afsk_busy());

			// Turn off interrupts and transmit APRS sentence

			serial1_ioff();

			aprs_send(); // non-blocking

			lastAprsBroadcast = time_millis();

		}			

		// Parse any serial data in the XBee software buffer

		parseResult = serparser_parse();

		slavesensors_process(parseResult);

		// Parse any NMEA messages in the GPS software buffer

		parse_gps_transmission();

		wdt_reset();

    }

}