/**
 ******************************************************************************
 *
 * @file       openpilot.c 
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Sets up and runs main OpenPilot tasks.
 * @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
 */


/* OpenPilot Includes */
#include "openpilot.h"
#include "uavobjectsinit.h"

/* Task Priorities */
#define PRIORITY_TASK_HOOKS             (tskIDLE_PRIORITY + 3)

/* Global Variables */

/* Local Variables */
static uint8_t sdcard_available;
FILEINFO File;
char Buffer[1024];
uint32_t Cache;
GpsInfoType GpsInfo;

/* Function Prototypes */
static void TaskTick(void *pvParameters);
static void TaskTesting(void *pvParameters);
static void TaskServos(void *pvParameters);
static void TaskSDCard(void *pvParameters);
int32_t CONSOLE_Parse(COMPortTypeDef port, char c);
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);

/**
* OpenPilot Main function
*/
int main()
{
	/* Brings up System using CMSIS functions, enables the LEDs. */
	PIOS_SYS_Init();

	/* Delay system */
	PIOS_DELAY_Init();

	/* SPI Init */
	PIOS_SPI_Init();

	/* Enables the SDCard */
	PIOS_SDCARD_Init();

	/* Wait for SD card for ever */
	for(;;)
	{
		/* Check if we have an SD Card with the correct settings files on it */
		if(!PIOS_SDCARD_MountFS(STARTUP_LOG_ENABLED)) {
			/* Found one without errors */
			break;
		}

		/* SD Card not found, flash for 1 second */
		PIOS_LED_On(LED1);
		PIOS_LED_On(LED2);
		for(uint32_t i = 0; i < 10; i++) {
			PIOS_LED_Toggle(LED2);
			PIOS_DELAY_WaitmS(100);
		}
	}

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();
	UAVObjectsInitializeAll();

	/* Com ports init */
	PIOS_COM_Init();

	/* Initialise servo outputs */
	PIOS_Servo_Init();

	/* Analog to digital converter initialise */
	PIOS_ADC_Init();

	PIOS_GPIO_Init();

	//PIOS_PPM_Init();

	PIOS_PWM_Init();

	PIOS_USB_Init(0);

	PIOS_I2C_Init();

	PIOS_Servo_SetHz(50, 450);

	/* Create a FreeRTOS task */
	xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
	xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
	//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
	//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
	//GpsInitialize();

	/* Start the FreeRTOS scheduler */
	vTaskStartScheduler();

	/* If all is well we will never reach here as the scheduler will now be running. */
	/* If we do get here, it will most likely be because we ran out of heap space. */
	PIOS_LED_Off(LED1);
	PIOS_LED_Off(LED2);
	for(;;) {
		PIOS_LED_Toggle(LED1);
		PIOS_LED_Toggle(LED2);
		PIOS_DELAY_WaitmS(100);
	}

	return 0;
}

static void TaskTick(void *pvParameters)
{
	portTickType xLastExecutionTime;

	/* Setup the LEDs to Alternate */
	PIOS_LED_On(LED1);
	PIOS_LED_Off(LED2);

	for(;;)
	{
		/*
		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"utc: %s alt:%d\r\n",GpsInfo.TimeOfFix,(int)GpsInfo.alt);
		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"lat: %d lon: %d\r\n",(long)(GpsInfo.lat*10000),(long)(GpsInfo.lon*10000));
		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"SV: %d\r\n",GpsInfo.numSVs);
		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"Heading: %s Speed: %s\r\n",GpsInfo.heading,GpsInfo.speed);
		*/
		PIOS_LED_Toggle(LED1);
		vTaskDelayUntil(&xLastExecutionTime, 1000 / portTICK_RATE_MS);
	}
}

static void TaskTesting(void *pvParameters)
{
	portTickType xDelay = 250 / portTICK_RATE_MS;
	portTickType xTimeout = 10 / portTICK_RATE_MS;

	PIOS_BMP085_Init();

	for(;;)
	{

		/* This blocks the task until the BMP085 EOC */
		/*
		PIOS_BMP085_StartADC(TemperatureConv);
		xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
		PIOS_BMP085_ReadADC();
		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());

		PIOS_BMP085_StartADC(PressureConv);
		xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
		PIOS_BMP085_ReadADC();
		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
		*/

		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
		//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));

		/* This blocks the task until there is something on the buffer */
		/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
		int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
		for(int32_t i = 0; i < len; i++) {
			PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
		}*/

		//int32_t state = PIOS_USB_CableConnected();
		//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);

		//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);

		/* Test ADC pins */
		//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
		//uint32_t vsense = PIOS_ADC_PinGet(0);
		//uint32_t Temp = (1.42 -  vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
		PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
		PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1: %d, AUX2: %d, AUX3: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));

		vTaskDelay(xDelay);
	}
}

static void TaskServos(void *pvParameters)
{
	/* For testing servo outputs */
	portTickType xDelay;

	/* Used to test servos, cycles all servos from one side to the other */
	for(;;) {
		/*xDelay = 250 / portTICK_RATE_MS;
		PIOS_Servo_Set(1, 2000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(2, 2000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(3, 2000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(4, 2000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(5, 2000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(6, 2000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(7, 2000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(8, 2000);
		vTaskDelay(xDelay);

		PIOS_Servo_Set(8, 1000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(7, 1000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(6, 1000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(5, 1000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(4, 1000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(3, 1000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(2, 1000);
		vTaskDelay(xDelay);
		PIOS_Servo_Set(1, 1000);
		vTaskDelay(xDelay);*/

		xDelay = 1 / portTICK_RATE_MS;
		for(int i = 1000; i < 2000; i++) {
			PIOS_Servo_Set(1, i);
			PIOS_Servo_Set(2, i);
			PIOS_Servo_Set(3, i);
			PIOS_Servo_Set(4, i);
			PIOS_Servo_Set(5, i);
			PIOS_Servo_Set(6, i);
			PIOS_Servo_Set(7, i);
			PIOS_Servo_Set(8, i);
			vTaskDelay(xDelay);
		}
		for(int i = 2000; i > 1000; i--) {
			PIOS_Servo_Set(1, i);
			PIOS_Servo_Set(2, i);
			PIOS_Servo_Set(3, i);
			PIOS_Servo_Set(4, i);
			PIOS_Servo_Set(5, i);
			PIOS_Servo_Set(6, i);
			PIOS_Servo_Set(7, i);
			PIOS_Servo_Set(8, i);
			vTaskDelay(xDelay);
		}
	}
}

static void TaskSDCard(void *pvParameters)
{
	uint16_t second_delay_ctr = 0;
	portTickType xLastExecutionTime;

	/* Initialise the xLastExecutionTime variable on task entry */
	xLastExecutionTime = xTaskGetTickCount();

	for(;;) {
		vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);

		/* Each second: */
		/* Check if SD card is available */
		/* High-speed access if SD card was previously available */
		if(++second_delay_ctr >= 1000) {
			second_delay_ctr = 0;

			uint8_t prev_sdcard_available = sdcard_available;
			sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);

			if(sdcard_available && !prev_sdcard_available) {
				/* SD Card has been connected! */
				/* Switch to mass storage device */
				MSD_Init(0);
			} else if(!sdcard_available && prev_sdcard_available) {
				/* Re-init USB for HID */
				PIOS_USB_Init(1);
				/* SD Card disconnected! */
			}
		}

		/* Each millisecond: */
		/* Handle USB access if device is available */
		if(sdcard_available) {
			MSD_Periodic_mS();
		}
	}
}

/**
* Idle hook function
*/
void vApplicationIdleHook(void)
{
	/* Called when the scheduler has no tasks to run */


}