/*

 * Slave Firmware

 *

 * Wireless Observational Modular Aerial Network

 *

 * 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);

	// Initialize	

	micro_setup();			// Generic microcontroller config options

	time_setup();			// Setup loop timer and interrupts (TIMER0)

	watchdog_setup();		// Setup watchdog timer

	led_configure();		// Configure ports and registers for LED operation

	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)

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

			snprintf(buff,128,"|ModuleID: %u |BoardTemp: %i |Millis: %lu |Lux: %lu |Pressure: %lu |Altitude: %lu |Battery: %u \r\n ",io_getModuleId(),sensors_getBoardTemp(),time_millis(),sensors_getLux(),sensors_getPressure(),sensors_getAltitude(),sensors_getBatt()); //DEBUG

			serial1_sendString(buff); //DEBUG

			led_off(0);

			lastLoop = time_millis();

		}

    }

	return 0;

}

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

		x = geiger_getCpm();				//Data get

		x = sensors_getSpiTemp();			//Data get

		x = sensors_getBoardTemp();			//Data get

		sensors_readSpiTemp();				//Data Read

		sensors_readBoardTemp();			//Data Read

		led_output(0xFF);					//Output value to LED array

		i2c_write(RTC_ADDR, 0x05, 0x3A);	//i2c Write Example

		PORTA &= ~(1 << PA1);	//OFF

		PORTA |= (1 << PA1);	//ON

		PORTB ^= (1 << PB0);	//Toggle

		sprintf(buff, "log: %u,%u,%u,%u\r\n", temp,temp2,temp3,temp4);

		serial0_sendString(buff);

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