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

#include "card.h"
#include "sys_defs.h"
#include "actions.h"
#include "parser.h"
#include "commands.h"
#include "errors.h"
#include "serial.h"
#include "spi1.h"
#include "spi2.h"
#include "dig_io.h"
#include "sys_timer.h"
#include "analog.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 MAX_CHARS   80  /* maximum command line entry length */
#define SER_CONSOLE 1

int getCommand(char* cmd);

int main()
{
    int ret_val;
    char cmd_buff[MAX_CHARS];
    char err_buff[32];     
    char* cmd_ptr;
    unsigned int reg;
    unsigned int spiCount = 0;
    Timer Timer1;
    Timer Timer2;
     
    /* Map UART pins */
    RPINR18bits.U1RXR = 9;  /* Make Pin RP9 U1RX */
    RPOR4bits.RP8R = 3;     /* Make Pin RP8 U1TX */
    
    /* Set B7 high to disable UART2_SHUTDOWN */
    TRISBbits.TRISB7 = 0;
    LATBbits.LATB7 = 1;
    
    /* Map SPI pins */
    RPOR5bits.RP11R = 7;    /* SPI1 Out (MISO) RP11 */
    RPINR20bits.SDI1R = 10; /* SPI1 In  (MOSI) RP10 */
    RPINR20bits.SCK1R = 12; /* SPI1 CLK In     RP12 */
    RPINR21bits.SS1R = 13;  /* SPI1 SSEN In    RP13 */ 
  
	/* initialize the shizzle */
	digInit();
    serInit();
    tmrInit();
    spiInit();
	spi2Init();
    cardInit();
    
    /* set ADCs to external clock */
    CSAddSet(8);
    spiReadWrite2(0b10000111);
    CSAddSet(99);
    
    CSAddSet(9);
    spiReadWrite2(0b10000111);
    CSAddSet(99);
    
    
    /* 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(;;)
    {
        /* get command */
        if ( !getCommand(cmd_buff) )
        {
            ret_val = ERR_NO_LINE;
        }
        else
        {
            /* Skip white space here */
            cmd_ptr = prsSkip(cmd_buff, "     ");
            
            /* 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");
        }
        
        cardPoll();
        spiUpdate();
    }

    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;
    			//	serPutString(SER_CONSOLE, "ENTERED GetCommand\r\n");
    got_line = FALSE;

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

//					serPutString(SER_CONSOLE, "ECHO MODE TRUE\r\n");	
        }

        if ( b != TERM )
        {
            if ( (b != '\b') && (char_count < MAX_CHARS) ){
                line[char_count++] = b;
//					serPutString(SER_CONSOLE, "b != '\b' and char_count < MAX_CHARS\r\n");
				}
            else if ( char_count > 0 ) {
                --char_count;
//					serPutString(SER_CONSOLE, "char_count > 0\r\n");
			}

            cmd[0] = '\0';

//					serPutString(SER_CONSOLE, "b != TERM\r\n");
        } 
        else
        {
            got_line = TRUE;
            line[char_count] = '\0';
            for (i = 0; i <= char_count; i++)
                cmd[i] = line[i];
            char_count = 0;
//					serPutString(SER_CONSOLE, "b = TERM\r\n");
        }
    }

    return got_line;
}