// Maximum payload size of command

#define MAX_PAYLOAD_LEN 16

// Number of datatypes to transmit per module type

#define DATATYPES_GENERIC 3

#define DATATYPES_SENSOR 8

#define DATATYPES_GEIGER 4

#define DATATYPES_CAMERA 3

//Sensors and IO

#define SENSOR_LOOP 200				// Frequency of sensor reads (in ms) (should be 200)

#define HEATER_THRESHOLD 0			// Temperature threshold in Fahrenheit where heater is activated

 //I2C Addresses

 #define EEPROM_ADDR 0xA0		// Read 0xA1 - Write 0xA0

 #define BOARDTEMP_ADDR 0x90	// Read 0x91 - Write 0x90

 #define PRESSURE_ADDR 0xEE		// Read 0xEF - Write 0xEE

 #define HUMID_ADDR 0x27		// Read 0x28 - Write 0x27

 #define LIGHT_ADDR 0x94		// Read 0x95 - Write 0x94

 #define ACCEL_ADDR	0x38		// Read 0x39 - Write 0x38

 #define RTC_ADDR 0xB2			//DEBUG [Used for testing]      // Read 0xA3 - Write 0xA2

  Issues a start condition and sends address and transfer direction.

  return 0 = device accessible, 1= failed to access device

*************************************************************************/

unsigned char i2c_start(unsigned char address)

{

    uint8_t   twst;

	// send START condition

	TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);

	// wait until transmission completed

//	startTime = time_millis();

//	{

//		if ((time_millis() - startTime) > 10)

//		{

//			break;	// Timeout Reached!

//		}

//	}

	// check value of TWI Status Register. Mask prescaler bits.

	twst = TW_STATUS & 0xF8;

	if ( (twst != TW_START) && (twst != TW_REP_START)) return 1;

	// send device address

	TWDR = address;

	TWCR = (1<<TWINT) | (1<<TWEN);

	// wail until transmission completed and ACK/NACK has been received

//	startTime = time_millis();

//	{

//		if ((time_millis() - startTime) > 10)

//		{

//			break;	// Timeout Reached!

//		}

//	}

	// check value of TWI Status Register. Mask prescaler bits.

	twst = TW_STATUS & 0xF8;

	if ( (twst != TW_MT_SLA_ACK) && (twst != TW_MR_SLA_ACK) ) return 1;

	return 0;

*************************************************************************/

void i2c_start_wait(unsigned char address)

{

    uint8_t   twst;

    while ( 1 )

    {

	    // send START condition

	    TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);

    	// wait until transmission completed

    	// check value of TWI Status Register. Mask prescaler bits.

    	twst = TW_STATUS & 0xF8;

    	if ( (twst != TW_START) && (twst != TW_REP_START)) continue;

    	// send device address

    	TWDR = address;

    	TWCR = (1<<TWINT) | (1<<TWEN);

    	// wail until transmission completed

    	// check value of TWI Status Register. Mask prescaler bits.

    	twst = TW_STATUS & 0xF8;

    	if ( (twst == TW_MT_SLA_NACK )||(twst ==TW_MR_DATA_NACK) ) 

    	{    	    

    	    /* device busy, send stop condition to terminate write operation */

	        TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);

	        // wait until stop condition is executed and bus released

    	    continue;

    	}

    	//if( twst != TW_MT_SLA_ACK) return 1;

    	break;

     }

}/* i2c_start_wait */

/*************************************************************************

/*************************************************************************

 Terminates the data transfer and releases the I2C bus

*************************************************************************/

void i2c_stop(void)

{

    /* send stop condition */

	TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);

	// wait until stop condition is executed and bus released

//	startTime = time_millis();

	{

//		if ((time_millis() - startTime) > 10)

//		{

//			break;	// Timeout Reached!

//		}

	}

}/* i2c_stop */

/*************************************************************************

  Return:   0 write successful 

            1 write failed

*************************************************************************/

unsigned char i2c_writeX( unsigned char data )

{	

    uint8_t   twst;

	// send data to the previously addressed device

	TWDR = data;

	TWCR = (1<<TWINT) | (1<<TWEN);

	// wait until transmission completed

	// check value of TWI Status Register. Mask prescaler bits

	twst = TW_STATUS & 0xF8;

	if( twst != TW_MT_DATA_ACK) return 1;

	return 0;

}/* i2c_write */

/*************************************************************************

 Read one byte from the I2C device, request more data from device 

 Return:  byte read from I2C device

*************************************************************************/

unsigned char i2c_readAck(void)

{

	TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);

    return TWDR;

}/* i2c_readAck */

/*************************************************************************

 Read one byte from the I2C device, read is followed by a stop condition 

 Return:  byte read from I2C device

*************************************************************************/

unsigned char i2c_readNak(void)

{

	TWCR = (1<<TWINT) | (1<<TWEN);

    return TWDR;

}/* i2c_readNak */

/*************************************************************************

 Write one byte to the I2C device, read is followed by a stop condition 

 Return:  void

*************************************************************************/

		pressure = (b7 << 1) / b4;

	}

	else

	{

		pressure = (b7 / b4) << 1;

	}

	x1 = (pressure >> 8) * (pressure >> 8);

	x1 = (x1 * 3038) >> 16;

	x2 = (-7357 * pressure) >> 16;

	pressure += (x1 + x2 + 3791) >> 4;				//This is the final value for our pressure

}

void sensors_readHumid()

{

	//i2c_write(HUMID_ADDR, 0x00, 0x00);		//Measurement Request

	//humid = i2c_read16(HUMID_ADDR);

	humid = i2c_humidRead();

	//calculations to relative humidity: humid = (humid/((2^14) - 1))*100%       >> is divide by power, << is multiply by power, 2^14-1 = 16383

	 //humid = (humid / 16383) * 100;

}

 #include <avr/io.h>

 #include <avr/interrupt.h>

 #include "config.h"

 #include <util/delay.h>

 #include "modules.h"

 #include "lib/spi.h"

 #include "lib/i2c.h"

 #include "lib/sensors.h"

 #include "lib/loopTimer.h"

 #include "lib/led.h"

 uint32_t lastPicture;

 uint32_t lastRefresh;	// Time in ms when last geiger refresh occurred 

 void modules_setup(uint8_t id)

 {

	switch(id)

	{

		case 0:

			modules_generic_setup();

			break;

		case 1:

			modules_sensors_setup();

	ASSR &= ~(1 << EXCLK);	// Disable external clock input (enabling crystal use)

	ASSR |= (1 << AS2);		// Enable timer2 async mode with an external crystal	

	_delay_ms(100);			// Let external 32KHz crystal stabilize

	TCCR2B = 0x05;			// Set the prescaler to 128: 32.768kHz / 128 = 1Hz overflow

	TIFR2 = 0x01;			// Reset timer2 overflow interrupt flag

	TIMSK2 = 0x01;			// Enable interrupt on overflow

 }

 void modules_cameras_setup()

 {

	 DDRA |= (1 << DDA0);	// Set PA0 to Output for Camera

	 DDRA |= (1 << DDA1);	// Set PA1 to Output for Camera

	 DDRA |= (1 << DDA2);	// Set PA2 to Output for Camera

	 DDRA |= (1 << DDA3);	// Set PA3 to Output for Camera

 }

 void modules_generic()

 {

	// Gathers data and performs functions for generic daughter board

		// This is taken care of in interrupt (See geiger.c)

		lastRefresh = time_millis();

		if ((time_millis() - lastRefresh) > 1000000)

		{

			geiger_refresh();	//Refreshes every 1000sec (16min)

		}			

 }

 void modules_cameras()

 {

	// Gathers data and performs functions for cameras daughter board

		//cameras_readAccelXYZ();

 } 

#include "lib/led.h"

#include "lib/inputOutput.h"

#include "lib/i2c.h"

#include "lib/spi.h"

#include "lib/geiger.h"

#include "lib/sensors.h"

#include "lib/cameras.h"

#include "lib/loopTimer.h"

#include "lib/masterComm.h"

#include "lib/watchdog.h"

bool WDTreset = false;

void micro_setup()

{

	// Generic microcontroller config options

	WDTreset = ((MCUSR & 0b00001000) > 0);	// Check if WDT reset occured

	MCUSR = 0;		// Clear reset flags

	wdt_disable();	// Disable WDT

	_delay_ms(20);	// Power debounce

	sei();			// Enable interrupts

}

			snprintf(buff,128,"|ModuleID: %u |BoardTemp: %i |Millis: %lu |Lux: %lu |Press: %lu |Altitude: %lu |Batt: %u |Humidity: %u |spiTemp: %i \r\n ",io_getModuleId(),sensors_getBoardTemp(),time_millis(),sensors_getLux(),sensors_getPressure(),sensors_getAltitude(),sensors_getBatt(),sensors_getHumid(),sensors_getSpiTemp()); //DEBUG

			serial1_sendString(buff); //DEBUG

			led_off(0);

			lastLoop = time_millis();

// Writes ID to EEPROM, change for all modules and delete after programming

// 0 is for generic setup,	 1 is for sensors,	 2 is for Geiger,	3 is for cameras

//i2c_write(EEPROM_ADDR, 0x05, 0x02);			

		}	// IFloop

    }	// While(1)

	return 0;

}	// Main

		/********Examples of data reading and getting******************

		x = geiger_getCpm();				//Data get