/**
 ******************************************************************************
 *
 * @file       attitude.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Module to read the attitude solution from the AHRS on a periodic basis.
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

/**
 * Output object: FlightBatteryState
 *
 * This module will periodically generate information on the battery state.
 *
 * UAVObjects are automatically generated by the UAVObjectGenerator from
 * the object definition XML file.
 *
 * Modules have no API, all communication to other modules is done through UAVObjects.
 * However modules may use the API exposed by shared libraries.
 * See the OpenPilot wiki for more details.
 * http://www.openpilot.org/OpenPilot_Application_Architecture
 *
 */

#include "openpilot.h"

#include "flightbatterystate.h"

//
// Configuration
//
#define DEBUG_PORT			PIOS_COM_TELEM_RF
#define STACK_SIZE			1024
#define TASK_PRIORITY		(tskIDLE_PRIORITY + 3)
#define SAMPLE_PERIOD_MS	500
//#define ENABLE_DEBUG_MSG

#ifdef ENABLE_DEBUG_MSG
	#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
#else
	#define DEBUG_MSG(format, ...)
#endif



// Private types

// Private variables
static xTaskHandle taskHandle;

// Private functions
static void task(void* parameters);

/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t BatteryInitialize(void)
{
	// Start main task
	xTaskCreate(task, (signed char*)"Battery", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);

	return 0;
}

/**
 * Module thread, should not return.
 */
static void task(void* parameters)
{
	uint cnt = 0;
	uint32_t mAs = 0;
	portTickType lastSysTime;
	FlightBatteryStateData flightBatteryData;

	PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);

	DEBUG_MSG("Battery Started\n");

	lastSysTime = xTaskGetTickCount();
	while(1)
	{
		// TODO: Compare with floating point calculations

		uint32_t mV, mA;

		mV = PIOS_ADC_PinGet(2)*1257/100;
		mA = (PIOS_ADC_PinGet(1)-28)*4871/100;
		mAs += mA * SAMPLE_PERIOD_MS / 1000;		// FIXME: Use real time between samples

		DEBUG_MSG("%03d %06d => %06dmV   %06d => %06dmA  %06dmAh\n", cnt,  PIOS_ADC_PinGet(2), mV, PIOS_ADC_PinGet(1), mA, mAs/3600);
		cnt++;

		flightBatteryData.Voltage = (float)mV/1000;
		flightBatteryData.Current = (float)mA/1000;
		flightBatteryData.ConsumedEnergy = mAs / 3600;
		FlightBatteryStateSet(&flightBatteryData);

		vTaskDelayUntil(&lastSysTime, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
	}
}