#define USART1_BAUDRATE 115200 

// Circular serial buffer size. Must be at least MAX_CMD_LEN + 5

#define BUFFER_SIZE 32

// 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

#define CAMERA_FREQ 10000		// Camera pulse frequency (Should be 30000 for 30 Secs)

#define CAMERA_PULSE 500			// Camera pulse duration

 //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 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

 #endif /* CONFIG_H_ */

	if (b7 < 0x80000000)

	{

		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

	altitude = (float)44330 * (1 - pow(((float) pressure/101325), 0.190295));

}

void sensors_readHumid()

{

	humid = i2c_read16(HUMID_ADDR);

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

}

void sensors_readLux()

{

	lightH = i2c_read(LIGHT_ADDR, 0x03);

	lightL = i2c_read(LIGHT_ADDR, 0x04);

	exponent = lightH;

	exponent = exponent >> 4;

	lightH = lightH << 4;

	mantissa = lightH | lightL;

	lux = (float)(pow(2,exponent) * mantissa) * 0.045;

}

void sensors_readBatt()

{

	battL = ADCL;					// Read low battery byte from ADC (all 8 bits)

	batt = ADCH;					// Read high battery byte from ADC (only two LSBs)

	batt = batt << 8;

	batt |= battL;

	vBatt = (batt * 10.0) / 67.4;

}

 void modules_cameras_setup()

 {

	 lastPicture = time_millis();

	 pulseOn = time_millis();	 

	 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

 }

 void modules_sensors()

 {

	// Gathers data and performs functions for sensor daughter board

	sensors_readBoardTemp();		//Data Read

	sensors_readSpiTemp();			//Data Read

	sensors_readPressure();			//Data Read

	sensors_readLux();				//Data Read

 }

 void modules_geiger()

 {

	// No data gatering function needed for geiger daughter board

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

 }

 void modules_cameras()

 {

	// Gathers data and performs functions for cameras daughter board

		//cameras_readAccelXYZ();

		if ((time_millis() - pulseOn) > CAMERA_PULSE)

		{

			PORTA &= ~(1 << PA0);	// Pull pin on usb low

			PORTA &= ~(1 << PA1);	// Pull pin on usb low

			PORTA &= ~(1 << PA2);	// Pull pin on usb low

			PORTA &= ~(1 << PA3);	// Pull pin on usb low

	uint32_t lastLoop = 0;	// Time in ms when last loop occurred 

	// Serial output //DEBUG

	char buff[128];						//Buffer for serial output //DEBUG

	serial1_sendString("Starting Slave\r\n");	//DEBUG

    while(1)

    {	

		wdt_reset();	// Resets WDT (to prevent restart)

		// Master communication

		masterComm_checkParser();	//Checks parser for data requests from master

		// Main slave operations

		if ((time_millis() - lastLoop) > SENSOR_LOOP)	// Uses program timer to run every so often. Time interval defined in config.h

		{

			led_on(0);

			sensors_readBatt();				// Read Battery level

			sensors_readBoardTemp();		// Read board temperature sensor (Common on all slaves) (Data Read)

			modules_run(io_getModuleId());	// Runs specific module functions (like data reading)

			io_regulateTemp();			// Gets board temperature and enables heater if below threshold

			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, 0x03);			

		}

    }

	return 0;

}

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

		x = geiger_getCpm();				//Data get

		x = sensors_getSpiTemp();			//Data get

		x = sensors_getBoardTemp();			//Data get