#include "stm32f0xx_hal.h"

#include "config.h"

#include "ssd1306.h"

#include "eeprom_min.h"

#include "gpio.h"

#include "spi.h"

#include "stringhelpers.h"

#include "usb_device.h"

#include "usbd_cdc_if.h"

// Prototypes

// Move to header file

void process();

void machine();

void restore_settings();

void save_settings();

void save_setpoints();

void SystemClock_Config(void);

///////////////////////

enum tempunits {

    TEMP_UNITS_CELSIUS = 0,

    TEMP_UNITS_FAHRENHEIT,

};

// State definition

enum state {

    STATE_IDLE = 0,

    STATE_SETP,

    STATE_SETI,

    STATE_SETD,

    STATE_SETSTEPS,

    STATE_SETWINDUP,

    STATE_SETBOOTTOBREW,

    STATE_SETUNITS,

    STATE_PREHEAT_BREW,

    STATE_MAINTAIN_BREW,

    STATE_PREHEAT_STEAM,

    STATE_MAINTAIN_STEAM,

    STATE_TC_ERROR

};

uint8_t state = STATE_IDLE;

// Globalish setting vars

uint8_t boottobrew = 0;

uint8_t temp_units = TEMP_UNITS_CELSIUS;

uint16_t windup_guard = 1;

uint16_t k_p = 1;

uint16_t k_i = 1;

uint16_t k_d = 1;

uint8_t ignore_tc_error  = 0;

int16_t setpoint_brew = 0;

int16_t setpoint_steam = 0;

SPI_HandleTypeDef hspi1;

static __IO uint32_t TimingDelay;

volatile int i=0;

int main(void)

{

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

    HAL_Init();

    /* Configure the system clock */

    SystemClock_Config();

    /* Initialize all configured peripherals */

    init_gpio();

    MX_USB_DEVICE_Init();

    // USB startup delay

    HAL_Delay(1000);

    HAL_GPIO_WritePin(LED_POWER, 1);

    /// BEGIN IMPORT/////////////////////////////////////////

    // TODO: Awesome pwm of power LED 

    // Configure 1ms SysTick (change if more temporal resolution needed) 

    //RCC_ClocksTypeDef RCC_Clocks;

    //RCC_GetClocksFreq(&RCC_Clocks);

    //SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);

    // Init SPI busses

    init_spi();

    // Init OLED over SPI

    ssd1306_Init();

    ssd1306_clearscreen();

    // Startup screen 

    ssd1306_DrawString("therm v0.1", 1, 40);

    ssd1306_DrawString("protofusion.org/therm", 3, 0);

    HAL_Delay(1500);

    ssd1306_clearscreen();

    restore_settings();

    if(boottobrew)

      state = STATE_PREHEAT_BREW; // Go to brew instead of idle if configured thusly

    // Main loop

    while(1)

    {

        // Process sensor inputs

        process();

        // Run state machine

        machine(); 

    }

/* OLD MAIN 

    for (;;) {

	CDC_Transmit_FS("a", 1); //sizeof(str)); for(count=0; count<32000000; count++); //#endif

        HAL_Delay(300);

    }

*/

}

/** System Clock Configuration

*/

void SystemClock_Config(void)

{

  RCC_OscInitTypeDef RCC_OscInitStruct;

  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  RCC_PeriphCLKInitTypeDef PeriphClkInit;

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48;

  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;

  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI48;

  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1);

  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;

  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;

  HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);

  __SYSCFG_CLK_ENABLE();

}

// Read temperature and update global temp vars

int32_t temp = 0;

uint8_t temp_frac = 0;

uint8_t state_resume = 0;

// FIXME: Now this needs to work 8bits at a time, or change the port mode on the fly

void update_temp() {

    // Assert CS

    HAL_GPIO_WritePin(MAX_CS, 0);

    HAL_Delay(100);

    // This may not clock at all... might need to send 16 bits first

    // SPI_I2S_SendData(SPI2, 0xAAAA); // send dummy data

    uint8_t rxdatah[1] = {0x00};

    uint8_t rxdatal[1] = {0x00};

    HAL_SPI_Receive(&hspi1, rxdatah, 1, 100);

    HAL_SPI_Receive(&hspi1, rxdatal, 1, 100);

    // Deassert CS

    HAL_Delay(1);

    HAL_GPIO_WritePin(MAX_CS, 1);

    //OLD: SPI_I2S_SendData(SPI2, 0xAA); // send dummy data

    // OLD:   uint16_t temp_pre = SPI_I2S_ReceiveData(SPI2);

    // Assemble data array into one var

    uint16_t temp_pre = rxdatal[0] | (rxdatah[0]<<8);

    if(temp_pre & 0b0000000000000010) {

        ssd1306_DrawString("Fatal Error", 3, 35);

        state = STATE_TC_ERROR;

    }

    else if(temp_pre & 0b0000000000000001 && !ignore_tc_error) {

        state_resume = state;

        state = STATE_TC_ERROR;

        temp = 0;

        temp_frac = 0;

    }

    else 

    {

        if(state == STATE_TC_ERROR)

        {

            state = state_resume;

            ssd1306_clearscreen();

        }

        uint8_t sign = temp >> 15;// top bit is sign

        temp_pre = temp_pre >> 2; // Drop 2 lowest bits

        temp_frac = temp_pre & 0b11; // get fractional part

        temp_frac *= 25; // each bit is .25 a degree, up to fixed point

        temp_pre = temp_pre >> 2; // Drop 2 fractional bits 

        if(sign) {

            temp = -temp_pre;

        }

        else {

            temp = temp_pre;

        }

        if(temp_units == TEMP_UNITS_FAHRENHEIT) {

            temp *= 9; // fixed point mul by 1.8

            temp /= 5;

            temp += 32;

            temp_frac *= 9;

            temp_frac /= 5;

            temp_frac += 32;

            temp += temp_frac/100; // add overflow to above

            temp_frac %= 100;

        }

    }

    // Print temp to cdc

    CDC_Transmit_FS("Temp: ", 6);

    char tempstr[6];

    zitoa(temp, tempstr);

    CDC_Transmit_FS(tempstr, 1); //sizeof(tempstr));

    CDC_Transmit_FS("\r\n", 2);

}

// PID implementation

// TODO: Make struct that has the last_temp and i_state in it, pass by ref. Make struct that has other input values maybe.

int16_t last_pid_temp = 0;

uint8_t last_pid_temp_frac = 0;

    if((ticks - last_ssr_on > SSR_PERIOD))

    {

        if(pid_enabled) 

        {

            // Get ssr output for next time

            int16_t power_percent = update_pid(k_p, k_i, k_d, temp, temp_frac, setpoint);

            //power-percent is 0-1000

            ssr_output = power_percent; //(((uint32_t)SSR_PERIOD * (uint32_t)10 * (uint32_t)100) * power_percent) / (uint32_t)1000000;

        }

        else 

        {

            ssr_output = 0;

        }

        // Only support heating (ssr_output > 0) right now

        if(ssr_output > 0) {

            char tempstr[6];

            itoa(ssr_output, tempstr, 10);

            ssd1306_DrawString(tempstr, 0, 90);

            HAL_GPIO_WritePin(SSR_PIN, 1);

            last_ssr_on = ticks;

        }

    }

    // Kill SSR after elapsed period less than SSR_PERIOD 

    if(ticks - last_ssr_on > ssr_output || ssr_output == 0)

    {

        HAL_GPIO_WritePin(SSR_PIN, 0);

    }

}

void draw_setpoint() {

    char tempstr[3];

    itoa_fp(temp, temp_frac, tempstr);

    ssd1306_DrawStringBig("      ", 3, 0);

    ssd1306_DrawStringBig(tempstr, 3, 0);

    ssd1306_DrawStringBig(">", 3, 74);

    itoa(setpoint, tempstr, 10);

    ssd1306_DrawStringBig("    ", 3, 90);

    ssd1306_DrawStringBig(tempstr, 3, 90);

}

uint8_t goto_mode = 2;

// State machine

uint8_t sw_btn_last = 0;

uint8_t sw_up_last = 0;

uint8_t sw_down_last = 0;

uint8_t sw_left_last = 0;

uint8_t sw_right_last = 0;

#define SW_BTN_PRESSED (sw_btn_last == 0 && sw_btn == 1) // rising edge on buttonpress

#define SW_UP_PRESSED (sw_up_last == 0 && sw_up == 1)

#define SW_DOWN_PRESSED (sw_down_last == 0 && sw_down == 1)

#define SW_LEFT_PRESSED (sw_left_last == 0 && sw_left == 1)

#define SW_RIGHT_PRESSED (sw_right_last == 0 && sw_right == 1)

void save_settings()

{

/*

   Minimal_EEPROM_Unlock();

    // Try programming a word at an address divisible by 4

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_BOOTTOBREW, boottobrew);

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_WINDUP_GUARD, windup_guard);

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_K_P, k_p);

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_K_I, k_i);

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_K_D, k_d);

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_UNITS, temp_units);

    Minimal_EEPROM_Lock();

*/

}

void save_setpoints()

{

/*

    Minimal_EEPROM_Unlock();

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_BREWTEMP, setpoint_brew);

    Minimal_EEPROM_ProgramWord(EEPROM_BASE_ADDR + EEPROM_ADDR_STEAMTEMP, setpoint_steam); 

    Minimal_EEPROM_Lock();

*/

}

// TODO: Make a struct that has all settings in it. Pass by ref to this func in a library.

void restore_settings()

{

/*    Minimal_EEPROM_Unlock();

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    boottobrew = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_BOOTTOBREW));

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    windup_guard = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_WINDUP_GUARD));

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    k_p = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_K_P));

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    k_i = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_K_I));

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    k_d = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_K_D));

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    setpoint_brew = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_BREWTEMP));

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    setpoint_steam = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_STEAMTEMP));    

    while(Minimal_FLASH_GetStatus()==FLASH_BUSY);

    temp_units = (*(__IO uint32_t*)(EEPROM_BASE_ADDR + EEPROM_ADDR_UNITS));    

    Minimal_EEPROM_Lock(); */

}

int16_t last_temp = 21245;

///////////////////////////////////////////////////////////////////////////////////////

/// freaking multiple setpoint support ///

uint8_t step_duration[10] = {0,0,0,0,0,0,0,0,0,0};

int16_t step_setpoint[10] = {0,0,0,0,0,0,0,0,0,0};

uint8_t final_setpoint = 0;

// Multiple screens to set setpoint and duration on each screen

// press center to go to the next one, and press left or right or something to confirm

// When executing, complete on time AND(?) temperature. Maybe allow switching to OR via settings

////////////////////////////////////////////////////////////////////////////////////////////////

void machine()

{

    uint8_t last_state = state;

    uint8_t temp_changed = temp != last_temp;

    last_temp = temp;

    uint8_t sw_btn = !HAL_GPIO_ReadPin(SW_BTN);

    uint8_t sw_up = !HAL_GPIO_ReadPin(SW_UP);

    uint8_t sw_down = !HAL_GPIO_ReadPin(SW_DOWN);

    uint8_t sw_left = !HAL_GPIO_ReadPin(SW_LEFT);

    uint8_t sw_right = !HAL_GPIO_ReadPin(SW_RIGHT);

    switch(state)

    {

        // Idle state

        case STATE_IDLE:

        {

            // Write text to OLED

            // [ therm :: idle ]

            ssd1306_DrawString("therm :: idle ", 0, 40);

            pid_enabled = 0;

            if(temp_changed) {

                char tempstr[6];

                itoa_fp(temp, temp_frac, tempstr);

                ssd1306_DrawString("Temp: ", 3, 40);

                ssd1306_DrawString("    ", 3, 72);

                ssd1306_DrawString(tempstr, 3, 72);

            }

            ssd1306_drawlogo();

            switch(goto_mode) {

                case 2:

                {

                    ssd1306_DrawString("-> heat     ", 1, 40);

                } break;

                case 1:

                {

                    ssd1306_DrawString("-> setup    ", 1, 40);

                } break;

                case 0:

                {

                    ssd1306_DrawString("-> reset    ", 1, 40);

                } break;

            }

            // Button handler

            if(SW_BTN_PRESSED) {

                switch(goto_mode) {

                    case 2:

                        state = STATE_PREHEAT_BREW;

                        break;

                    case 1:

                        state = STATE_SETP;

                        break;

                    case 0:

                        state = STATE_IDLE;

                    default:

                        state = STATE_PREHEAT_BREW;

                }

            }

            else if(SW_UP_PRESSED && goto_mode < 2) {

                goto_mode++;

            }

            else if(SW_DOWN_PRESSED && goto_mode > 0) {

                goto_mode--;

            }

            // Event Handler

            // N/A

        } break;

        case STATE_SETP:

        {

            // Write text to OLED

            // [ therm :: set p ]

            // [ p = 12         ]

            ssd1306_DrawString("Proportional", 0, 40);

            ssd1306_drawlogo();

            char tempstr[6];

            itoa(k_p, tempstr, 10);

            ssd1306_DrawString("P=", 1, 45);

            ssd1306_DrawString("    ", 1, 57);

            ssd1306_DrawString(tempstr, 1, 57);

            ssd1306_DrawString("Press to accept", 3, 40);

            // Button handler

            if(SW_BTN_PRESSED) {

                state = STATE_SETI;

            }

            else {

                user_input(&k_p);

            }

            // Event Handler

            // N/A

        } break;

        case STATE_SETI:

        {

            // Write text to OLED

            // [ therm :: set i ]

            // [ i = 12         ]

            ssd1306_DrawString("Integral", 0, 40);

            ssd1306_drawlogo();

            char tempstr[6];

            itoa(k_i, tempstr, 10);

            ssd1306_DrawString("I=", 1, 45);

            ssd1306_DrawString("    ", 1, 57);

            ssd1306_DrawString(tempstr, 1, 57);

            ssd1306_DrawString("Press to accept", 3, 40);

            // Button handler

            if(SW_BTN_PRESSED) {

                state = STATE_SETD;

            }

            else {

                user_input(&k_i);

            }

            // Event Handler

            // N/A

        } break;

        case STATE_SETD:

        {

            // Write text to OLED

            // [ therm :: set d ]

            // [ d = 12         ]

            ssd1306_DrawString("Derivative", 0, 40);

            ssd1306_drawlogo();

            char tempstr[6];

            itoa(k_d, tempstr, 10);

            ssd1306_DrawString("D=", 1, 45);

            ssd1306_DrawString("    ", 1, 57);

            ssd1306_DrawString(tempstr, 1, 57);

            ssd1306_DrawString("Press to accept", 3, 40);

            // Button handler

            if(SW_BTN_PRESSED) {

                state = STATE_SETWINDUP;

            }

            else {

                user_input(&k_d);

            }

            // Event Handler

            // N/A

        } break;

        case STATE_SETSTEPS:

        {

            // Write text to OLED

            // [ step #1:: Duration: ### ]

            // [           Setpoint: ### ]

            char tempstr[6];

            itoa(final_setpoint, tempstr, 10);

            ssd1306_DrawString("Step #", 0, 0);

            ssd1306_DrawString(tempstr, 0, 40);

            ssd1306_DrawString("Duration: ", 0, 5);

            itoa(step_duration[final_setpoint], tempstr, 10);

            ssd1306_DrawString(tempstr, 0, 70);

            ssd1306_DrawString("Setpoint: ", 0, 0);

            itoa(step_setpoint[final_setpoint], tempstr, 10);

            ssd1306_DrawString(tempstr, 0, 70);

            ssd1306_DrawString("Press to accept", 3, 40);

            // Button handler - TODO: increment max_step if pressed

            // return and go to next state otherwise

            if(SW_BTN_PRESSED) {

                state = STATE_SETSTEPS;

                final_setpoint++;

            }

        //    else if(SW_LEFT_PRESSED) {

        //        state++; // go to next state or something

        //    }

            else {

                user_input(&k_p);

            }

            // Event Handler

            // N/A

        } break;

        case STATE_SETWINDUP:

        {

            // Write text to OLED

            // [ therm :: set windup ]

            // [ g = 12         ]

            ssd1306_DrawString("Windup Guard", 0, 40);

            ssd1306_drawlogo();

            char tempstr[6];

            itoa(windup_guard, tempstr, 10);

            ssd1306_DrawString("G=", 1, 45);

            ssd1306_DrawString("    ", 1, 57);

            ssd1306_DrawString(tempstr, 1, 57);

            ssd1306_DrawString("Press to accept", 3, 40);

            // Button handler

            if(SW_BTN_PRESSED) {

                state = STATE_SETBOOTTOBREW;

            }

            else {

                user_input(&windup_guard);

            }

            // Event Handler

            // N/A

        } break;

        case STATE_SETBOOTTOBREW:

        {

            // Write text to OLED

            // [ therm :: set windup ]

            // [ g = 12         ]

            ssd1306_DrawString("Start on Boot", 0, 40);

            ssd1306_drawlogo();

            ssd1306_DrawString("sob=", 1, 45);

            if(boottobrew)

                ssd1306_DrawString("Enabled ", 1, 70);

            else

                ssd1306_DrawString("Disabled", 1, 70);

            ssd1306_DrawString("Press to accept", 3, 40);

            // Button handler

            if(SW_BTN_PRESSED) {

                state = STATE_SETUNITS;

/**

  ******************************************************************************

  * @file      startup_stm32f042x6.s

  * @author    MCD Application Team

  * @version   V2.1.0

  * @date      03-Oct-2014

  * @brief     STM32F042x4/STM32F042x6 devices vector table for Atollic TrueSTUDIO toolchain.

  *            This module performs:

  *                - Set the initial SP

  *                - Set the initial PC == Reset_Handler,

  *                - Set the vector table entries with the exceptions ISR address

  *                - Branches to main in the C library (which eventually

  *                  calls main()).

  *            After Reset the Cortex-M0 processor is in Thread mode,

  *            priority is Privileged, and the Stack is set to Main.

  ******************************************************************************

  * 

  * Redistribution and use in source and binary forms, with or without modification,

  * are permitted provided that the following conditions are met:

  *   1. Redistributions of source code must retain the above copyright notice,

  *      this list of conditions and the following disclaimer.

  *   2. Redistributions in binary form must reproduce the above copyright notice,

  *      this list of conditions and the following disclaimer in the documentation

  *      and/or other materials provided with the distribution.

  *   3. Neither the name of STMicroelectronics nor the names of its contributors

  *      may be used to endorse or promote products derived from this software

  *      without specific prior written permission.

  *

  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

  *

  ******************************************************************************

  */

  .syntax unified

  .cpu cortex-m0

  .fpu softvfp

  .thumb

.global g_pfnVectors

.global Default_Handler

/* start address for the initialization values of the .data section.

defined in linker script */

.word _sidata

/* start address for the .data section. defined in linker script */

.word _sdata

/* end address for the .data section. defined in linker script */

.word _edata

/* start address for the .bss section. defined in linker script */

.word _sbss

/* end address for the .bss section. defined in linker script */

.word _ebss

  .section .text.Reset_Handler

  .weak Reset_Handler

  .type Reset_Handler, %function

Reset_Handler:

  ldr   r0, =_estack

  mov   sp, r0          /* set stack pointer */

/* Copy the data segment initializers from flash to SRAM */

  movs r1, #0

  b LoopCopyDataInit

CopyDataInit:

  ldr r3, =_sidata

  ldr r3, [r3, r1]

  str r3, [r0, r1]

  adds r1, r1, #4

LoopCopyDataInit:

  ldr r0, =_sdata

  ldr r3, =_edata

  adds r2, r0, r1

  cmp r2, r3

  bcc CopyDataInit

  ldr r2, =_sbss

  b LoopFillZerobss

/* Zero fill the bss segment. */

FillZerobss:

  movs r3, #0

  str  r3, [r2]

  adds r2, r2, #4

LoopFillZerobss:

  ldr r3, = _ebss

  cmp r2, r3

  bcc FillZerobss

/* Call the clock system intitialization function.*/

  bl  SystemInit

/* Call static constructors */