/****************************************************************************/
/* Copyright 2010 MBARI.                                                    */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
#include <p24fxxxx.h>
#include <stdio.h>
#include <string.h>

#include "sys_defs.h"
#include "actions.h"
#include "parser.h"
#include "commands.h"
#include "errors.h"
#include "serial.h"
#include "dig_io.h"
#include "spi_io.h"
#include "sys_timer.h"
#include "rtcc.h"


/* FLASH Configuration */

/* JTAG/Code Protect/Write Protect/Clip-on Emulation mode
Watchdog Timer/ICD pins select */
_CONFIG1(JTAGEN_OFF & GCP_OFF & GWRP_OFF & FWDTEN_OFF) 
/* Enable CLK switch, Disable CLK monitor, OSCO or Fosc/2, 
Primary Oscillator Mode: Disabled, Internal Fast RC oscillator */
_CONFIG2(FCKSM_CSDCMD & OSCIOFNC_OFF & POSCMOD_XT & FNOSC_PRI)
/* Disable CLK switch and CLK monitor, OSCO or Fosc/2, HS oscillator,
Primary oscillator */
_CONFIG3(WPEND_WPSTARTMEM & SOSCSEL_IO & WPCFG_WPCFGEN & WPDIS_WPEN & WPFP_WPFP2)
_CONFIG4(DSWDTEN_OFF & DSBOREN_OFF) 




#define TOG_DELAY  70000
#define MAX_CHARS   80  /* maximum command line entry length */
#define ChipSelect 1
#define SER_CONSOLE 1
#define TIMER_100 100
#define TIMER_1000 1000

int getCommand(char* cmd);

int main()
{
    int ret_val;
	char cmd_buff[MAX_CHARS];
    char err_buff[32]; 	
    char* cmd_ptr;
	int CPU_Cmd = 0;
    
    /* Map UARTs to pins */
	/* should move this to periph mapping module */

	/* Map UART pins */
	RPINR18bits.U1RXR = 9;  /* Make Pin RP9 U1RX */
	RPOR4bits.RP8R = 3;     /* Make Pin RP8 U1TX */

    /* initialize the shizzle */
    digInit();
    serInit();
//	rtcInit();
	spiInit();
	tmrInit();

	RPINR18bits.U1RXR = 9;  /* Make Pin RP9 U1RX */
	RPOR4bits.RP8R = 3;     /* Make Pin RP8 U1TX */

	Timer Timer1;
	Timer Timer2;
	
    /* spit out the banner */
    sprintf(cmd_buff, "\r\nFOCE CHASSIS ENVIRONMENTAL BOARD Built on %s at %s\r\n", 
            __DATE__, __TIME__);
    serPutString(SER_CONSOLE, cmd_buff);
	
	tmrClear(&Timer1);
	tmrStart(&Timer1);
	tmrClear(&Timer2);
	tmrStart(&Timer2);

	

    /* enter the main loop */
    for(;;)
    {
			
			//if (digGetInBit(3) == 0)
		//	{
				
				// call CPU_Command subroutine
				
		//		SPI1STATbits.SPIROV = 0;
		//		CPU_Cmd = spiReadWrite1(5);
		//		sprintf(cmd_buff, "\r\nCPU_Cmd = %d", CPU_Cmd);
		//		serPutString(SER_CONSOLE, cmd_buff);
		//		CPU_Cmd = 0;
			//	spiReadWrite1(5);
		//	}
		
			if (tmrRead(&Timer1) > TIMER_1000)
			{
				// do stuff
				//SPI1STATbits.SPIROV = 0;
				//CPU_Cmd = spiReadWrite1(0);
				//sprintf(cmd_buff, "\r\nCPU_Cmd = %d", CPU_Cmd);
				//serPutString(SER_CONSOLE, cmd_buff);

				tmrClear(&Timer1);
			}
			
			if (tmrRead(&Timer2) > TIMER_100)
			{
				// do other stuff
				tmrClear(&Timer2);
			}

		/* get command */
        if ( !getCommand(cmd_buff) )
        {
            ret_val = ERR_NO_LINE;
		}
        else
        {
            /* Skip white space here */
            cmd_ptr = prsSkip(cmd_buff, " \t");
			
            /* If the cmd from getCommand was empty then return here. */
            if ( !strlen(cmd_ptr) )
				{
                ret_val = ERR_EMPTY_LINE;
				
				}
            else
				{
                ret_val = prsParse(cmd_ptr, cmdsRoot, ERR_NO_COMMAND);
				
				}
        }

        /* display ERR code or RDY prompt */
        if ( ret_val != ERR_NO_LINE)
        {
            if ((ret_val != ERR_SUCCESS) && (ret_val != ERR_EMPTY_LINE))
            {
                sprintf(err_buff,"ERR %04d\r\n", ret_val);
                serPutString(SER_CONSOLE, err_buff);
            }
            serPutString(SER_CONSOLE, "RDY\r\n");
        }
    }

    return 0;	
}



#define ECHO_MODE   1
#define TERM        '\r'

int getCommand(char* cmd)
{
    static int char_count = 0;
    static char line[MAX_CHARS] = "";
    int got_line;
    unsigned char b;
    int i;
    
    got_line = FALSE;

    if ( serGetByte(SER_CONSOLE, &b) )
    {
        if ( ECHO_MODE )
        {
            serPutByte(SER_CONSOLE, b);
            if (b == '\r') serPutByte(SER_CONSOLE, '\n');
        }

        if ( b != TERM )
        {
            if ( (b != '\b') && (char_count < MAX_CHARS) )
                line[char_count++] = b;
            else if ( char_count > 0 )
                --char_count;

            cmd[0] = '\0';
        } 
        else
        {
            got_line = TRUE;
            line[char_count] = '\0';
            for (i = 0; i <= char_count; i++)
                cmd[i] = line[i];
            char_count = 0;
        }
    }

    return got_line;
}