/* --------------------------------------------------------------------

   Ultraluminous version 5 main control loop.

   Author: Brian Neltner, Dan Taub
   Copyright: 2008
   Dependencies: benc.c avr/io.h avr/interrupt.h

   Details:

   This is the top level function to control the ultraluminous
   illuminator. Some example default code for light fading is 
   included.

   Structure:

   benc.c provides byte encoded outputs. brightnesses are controlled
   through RED, ORANGE, AMBER, GREEN, CYAN, BLUE, and RBLUE, are double
   buffered, written with benc_update(), and load to the brightness
   module at the start of the next loop to avoid glitches.

   benc.c requires a timer interrupt (TIMER3_COMPA_vect) to function.

   This should be the higest priority interrupt in order to avoid
   glitches. Unfortunately, because this is a one interrupt architecture,
   that means serial communication will have to be done via polling in
   the main loop.

   Dan is going to implement RF with the ATAVRRZ502 Evaluation Board.
   It will require timer 1.

   -------------------------------------------------------------------*/

#define F_CPU 8000000UL // in Hz
#define benc_freq 300UL // byte encoding total frequency in Hz
#define delay_time 5000UL
//#define light_location 4

#include <avr/io.h>
#include <avr/interrupt.h>
#include "benc.c"
#include <stdlib.h>
#include "com.h"
#include "com.c"

int main(void);
void init_uart(void);
void delay(long);

uint8_t mode;
uint8_t stop_fade;
uint8_t freeze_fade;

int main(void) {
  uint8_t light;
  uint8_t newlight;
  uint8_t light_location;
  uint8_t received_byte;
  uint8_t first_digit, second_digit, third_digit;
  uint8_t digit_location;
  uint8_t j;
  init_timer();
  init_uart();
  mode = 0;
  digit_location = 0;
  first_digit = 0;
  second_digit = 0;
  third_digit = 0;
  stop_fade = 0;
  freeze_fade = 0;
  light_location = 0;
  
  if(mode==0) {
    light=(uint8_t)(rand() % 7);
    while((BENC[light]<0xFF) && (stop_fade==0)) {
      if(freeze_fade==0) {
	BENC[light]++;
	update_benc();
      }
      delay(delay_time);
    }
  }
  
  while(1) {

    switch(mode) {
    case 0: // This randomly picks a color and switches to it each cycle.
      BENC[light]=0xFF;
      while((newlight=(uint8_t)(rand() % 7))==light);		
      while((BENC[newlight]<0xFF) && (stop_fade==0)) {
	if(freeze_fade==0){
	  BENC[newlight]++;
	  BENC[light]--;
	  update_benc();
	}
      	delay(delay_time);
      }
      BENC[light]=0x00;
      BENC[newlight]=0xFF;
      light=newlight;
      break;
    case 1:
      while( !(UCSR1A & (1<<RXC1)) );
      received_byte=UDR1;
      while(!(UCSR1A & (1<<UDRE1)));
      UDR1 = received_byte; 
      switch(received_byte) {
      case 13:
	while(!(UCSR1A & (1<<UDRE1)));
	UDR1 = '\n';
	digit_location = 0;
       	light_location = 0;
	update_benc();
	break;
      case ',':
	if(light_location<6) light_location++;
	digit_location = 0;	
	break;
      case 'T':
	mode = 0;
	for(j=0;j<7;j++) BENC[j]=0x00;
	light=(uint8_t)(rand() % 7);
	stop_fade=0;
	while((BENC[light]<0xFF) && (stop_fade==0)) {
	  if(freeze_fade==0) {	
	    BENC[light]++;
	    update_benc();
	  }
	  delay(delay_time);
	}
	digit_location = 0;
	break;
      default: 
	switch(digit_location) {
	case 0:
	  BENC[light_location] = received_byte-48;
	  break;
	case 1:
	  BENC[light_location] = BENC[light_location]*10+(received_byte-48);
	  break;
	case 2:
	  BENC[light_location] = BENC[light_location]*10+(received_byte-48);
	  break;
	}
	if(digit_location<2) digit_location++;
	break;
      }
    }
  }
}

void delay(long max) {
  long i;
  int j;
  for(i=0;i<max;i++) {	
    if((UCSR1A & (1<<RXC1))) {
      switch(UDR1) {
      case 'T':	
	while(!(UCSR1A & (1<<UDRE1)));
	UDR1 = 'T';	
	for(j=0;j<7;j++) BENC[j]=0x00;
	update_benc();
	stop_fade = 1;
	mode = 1;
	break;
      case 'Z':
	while(!(UCSR1A & (1<<UDRE1)));
	UDR1 = 'Z';	
	if(freeze_fade) freeze_fade = 0;
	else freeze_fade = 1;
	break;
      }
    }
  }
}

void init_uart(void) {
  UCSR1A |= (1<<U2X1); // Double Baud Rate
  UBRR1 = 8; // 115.2 kbps
  UCSR1B |= (1<<TXEN1) | (1<<RXEN1); // Enable Transmitter and Receiver
  
  /*

  // This sets the baud rate from 9600 to 152000 bps for a
  // fresh Xbee chip, and shouldn't need to be done after
  // that.

  // This enters AT Command Mode on the XBee Tranceiver
  
  delay(1000000UL);

  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = '+';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = '+';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = '+';
  delay(1000000UL);

  // This sets the interface baud rate on the XBee Transceiver to 115.2kbps
  
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'A';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'T';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'B';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'D';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = ' ';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = '0';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = '7';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = ',';

  // Write baud rate to firmware.

  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'A';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'T';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'W';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'R';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = ',';

  // Leave AT Command Mode.

  UDR1 = 'A';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'T';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'C';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 'N';
  while(!(UCSR1A & (1<<UDRE1)));
  UDR1 = 13;

  UBRR1 = 8;	// Set the UART1 Baud Rate to 115.2kbps to accomodate.

  */
}