/*

 * 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