#include <util/delay.h>

 #include "cameras.h"

 #include "i2c.h"

 int8_t xmsb;	// Acceleration data in x-direction (MSB)

 int8_t ymsb;	// Acceleration data in y-direction (MSB)

 int8_t zmsb;	// Acceleration data in z-direction (MSB)

 void cameras_readAccelXYZ()

 {

	 xmsb = i2c_read(ACCEL_ADDR, 0x01);

	 ymsb = i2c_read(ACCEL_ADDR, 0x03);

	 zmsb = i2c_read(ACCEL_ADDR, 0x05);

 }

 void cameras_sendPulse()

 {

	 PORTA |= (1 << PA0);	// Pull pin on usb high

	 PORTA |= (1 << PA1);	// Pull pin on usb high

	 PORTA |= (1 << PA2);	// Pull pin on usb high

	 PORTA |= (1 << PA3);	// Pull pin on usb high

 }

 int8_t cameras_getAccelX()

 {

	 return xmsb;

 }

 int8_t cameras_getAccelY()

 {

	 return ymsb;

 }

 int8_t cameras_getAccelZ()

 {

	 return zmsb;

 }

/*

 * modules.c

 *

 * Created: 11/9/2012 11:44:22 AM

 *  Author: kripperger

 */ 

 #include <inttypes.h>

 #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"

 uint32_t lastPicture;

 void modules_setup(uint8_t id)

 {

	switch(id)

	{

		case 0:

			modules_generic_setup();

			break;

		case 1:

			modules_sensors_setup();

			break;

		case 2:

			modules_geiger_setup();

			break;

		case 3:

			modules_cameras_setup();

			break;

		default:

			modules_generic_setup();

			break;

 void modules_geiger_setup()

 {

	// Pin setup

	DDRA &= ~(1 << DDA0);	// PA0 is an input

	// Setup for interrupt input on PA0 (PCINT0)

	PCMSK0 |= (1 << PCINT0);	// Enable interrupt for PA0

	PCICR |= (1 << PCIE0);		// Enable ioc section PCIF0

	// Setup for interrupt from Timer2

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

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

	_delay_ms(250);			// 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

 }

 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_readHumid();			//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();

		{

		}

 } 

	_delay_ms(50);	// Setup hold delay

	if(WDTreset) led_on(1);	// Turn on LED if WDT reset has occurred	

	io_readModuleId();

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

	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

			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();

// 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;

}