*

 * Kyle Ripperger

 * Ethan Zonca

 * Matthew Kanning

 * Matthew Kroening

 *

 */

#include "config.h"

#include <stdio.h>

#include <inttypes.h>

#include <avr/io.h>

#include <compat/twi.h>

#include <util/delay.h>

#include <avr/cpufunc.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include "modules.h"

#include "lib/serial.h"

#include "lib/serparser.h"

#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"

void micro_setup()

{

	// Generic microcontroller config options

	sei();			// Enable interrupts

	MCUSR = 0;		// Clear reset flags

	wdt_disable();	// Disable WDT

	_delay_ms(20);	// Power debounce

}

int main(void)

{

	// 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);

	io_configure();			// Configure IO ports and registers

	i2c_init();				// Setup I2C

	serial0_setup();		// Config serial port 0

	serial1_setup();		// Config serial port 1

	_delay_ms(50);	// Setup hold delay

	io_readModuleId();

	modules_setup(io_getModuleId());	// Run setup functions for specific module

	uint32_t lastLoop = 0;

	// Serial output //DEBUG

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

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

    while(1)

    {	

		// 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)