/******************************************************************************
 *****************************************************************************/

#include "config.h"


#include "lpc2294.h"
#include "lcd.h"
#include "uart.h"
#include "armVIC.h"
#include "can.h"


#define STATE_0             0
#define STATE_1             1
#define STATE_2             2
#define STATE_3             3
#define STATE_4             4
#define STATE_5             5
#define STATE_6             6
#define STATE_7             7
#define STATE_8             8
#define STATE_9             9
#define STATE_10            10

#define STATE_MAX           STATE_10

unsigned char sendSymulPacket = _FALSE;
unsigned char startSymulation = _FALSE;
#ifdef uIP_IS_USED
#define BUF ((struct uip_eth_hdr *)&uip_buf[0])
#endif  //uIP_IS_USED

void __attribute__ ((interrupt("IRQ"))) timer0_cmp(void);
void systemInit(void);
void gpioInit(void);
//void VIC_Init(void);
//void LCD_Init(void);
//void UART0_init(void);

const char AppTitle[] = " Magistrala CAN ";

#define   UIP_ARP_TIMER     1000
#define   UIP_TX_TIMER      1
#define   HALF_SEK          50
#define   LED_TIMER         50
#define   ONE_SEC           100
#define   THREE_SEC         300
#define   TWO_SEC           200
#define   TEST_TIMER        100

int TX_EventPending = _FALSE;           // the hardware receive event
int ARP_EventPending = _FALSE;          // trigger the arp timer event
unsigned long half_Sec = HALF_SEK;
unsigned long two_Sec = 0;
unsigned long three_Sec = THREE_SEC;
unsigned long Uip_Timer = UIP_TX_TIMER;
unsigned long ten_Secs = UIP_ARP_TIMER;
unsigned long LedTimer = LED_TIMER;
unsigned long one_Sec = ONE_SEC;
unsigned long TestTimer = TEST_TIMER;


//=====================================================================
//
//=====================================================================
void systemInit(void)
{
    // --- enable and connect the PLL (Phase Locked Loop) ---
    // a. set multiplier and divider
    SCB_PLLCFG = MSEL | (1<<PSEL1) | (0<<PSEL0);
    // b. enable PLL
    SCB_PLLCON = (1<<PLLE);
    // c. feed sequence
    SCB_PLLFEED = PLL_FEED1;
    SCB_PLLFEED = PLL_FEED2;
    // d. wait for PLL lock (PLOCK bit is set if locked)
    while (!(SCB_PLLSTAT & (1<<PLOCK)));
    // e. connect (and enable) PLL
    SCB_PLLCON = (1<<PLLE) | (1<<PLLC);
    // f. feed sequence
    SCB_PLLFEED = PLL_FEED1;
    SCB_PLLFEED = PLL_FEED2;

    // --- setup and enable the MAM (Memory Accelerator Module) ---
    // a. start change by turning of the MAM (redundant)
    MAM_MAMCR = 0;
    // b. set MAM-Fetch cycle to 3 cclk as recommended for >40MHz
    MAM_MAMTIM = MAM_FETCH;
    // c. enable MAM
    MAM_MAMCR = MAM_MODE;


    // --- set VPB speed ---
    SCB_VPBDIV = VPBDIV_VAL;

    // --- map INT-vector ---
    #if defined(RAM_RUN)
      SCB_MEMMAP = MEMMAP_USER_RAM_MODE;
    #elif defined(ROM_RUN)
      SCB_MEMMAP = MEMMAP_USER_FLASH_MODE;
    #else
    #error RUN_MODE not defined!
    #endif
}

//=====================================================================
//
//=====================================================================
void gpioInit(void)
{

    PCB_PINSEL0 = 0x00000000;         //1000 0000 0000 0000 0000 0000 0000 0000
    PCB_PINSEL1 = 0;

    BCFG1 = 0x20000400;
    PCB_PINSEL2 = 0x0FE169EC;

    GPIO0_IODIR = 0x714024F1;            //0111 0001 0100 0000 0010 0100 1111 0001 - E,R_W,RS,TD4,TD3,TD2,LIGHT_LCD,D4-D7,TXD0
    GPIO1_IODIR = 0x02000003;            //0000 0010 0000 0000 0000 0000 0000 0011 - PULL_PIN_P1, CS0, OE

    GPIO0_IODIR &= ~((1<<BUT1PIN)|(1<<BUT2PIN));    // define Button-Pins as inputs
    GPIO0_IODIR |= (1<<SCL_TEST_PIN);
}

//=====================================================================
//
//=====================================================================
#define TxTCR_COUNTER_ENABLE (1<<0)
#define TxMCR_INT_ON_MR0     (1<<0)
#define TxMCR_RESET_ON_MR0   (1<<1)
#define TxIR_MR0_FLAG        (1<<0)
void timer0_init(void)
{
    T0_MR0 = ((FOSC*PLL_M)/(1000/10))-1;     // Compare-hit at 10mSec (-1 reset "tick")
    T0_MCR = TxMCR_INT_ON_MR0 | TxMCR_RESET_ON_MR0;     // Interrupt and Reset on MR0
    T0_TCR = TxTCR_COUNTER_ENABLE;            // Timer0 Enable
}
void ShowButtonLCD(unsigned char button)
{
    switch(button){
        case 15: LCD_WriteString("    Button 1    ",LCD_LINE_2,0);break;
        case 16: LCD_WriteString("    Button 2    ",LCD_LINE_2,0);break;
        default: return;
    }
    two_Sec=TWO_SEC;
}
//=====================================================================
//
//=====================================================================
void timer0_cmp(void)
{
    UART0_Timeout();
    LCD_RefreshTimer();

    three_Sec--;
    if (three_Sec == 0)
    {
        three_Sec = THREE_SEC;
        sendSymulPacket = _TRUE;
    }

    half_Sec--;                           // Decrement half sec counter
    if (half_Sec == 0)                    // Count 1ms intervals for half a second
    {
        half_Sec = HALF_SEK;

    }
    if(two_Sec)two_Sec--;
    if (two_Sec == 1)
    {
        LCD_WriteString("                ",LCD_LINE_2,0);
    }
    Uip_Timer--;                           // Decrement half sec counter
    if (Uip_Timer == 0)                    // Count 1ms intervals for half a second
    {
        Uip_Timer = UIP_TX_TIMER;            // and then set the receive poll flag
        TX_EventPending = _TRUE;
    }

    ten_Secs--;
    if (ten_Secs == 0)                    // Count 1ms intervals for ten seconds
    {
        ten_Secs = UIP_ARP_TIMER;           // and then set the event required to
        ARP_EventPending = _TRUE;            // trigger the arp timer if necessary
    }

    TestTimer--;
    if(TestTimer == 0)
    {
        TestTimer = TEST_TIMER;

    }

    T0_IR = TxIR_MR0_FLAG; // Clear interrupt flag by writing 1 to Bit 0
    VICVectAddr = 0;       // Acknowledge Interrupt (rough?)
}

//=====================================================================
// Obsluguje odbiorniki CAN
//=====================================================================
    void CAN_HandleCanReceivers(unsigned char canNumExt)
    {
        CAN_MSG localMsgBufRec; // Buffers one CAN message

        unsigned char canBufferRec[12];
        int bytesCntRec;
        unsigned char canNumLocal;
        int i;

        canNumLocal = canNumExt;
        for(i=0; i<12; i++)
            canBufferRec[i] = 0;

        //funkcja sprawdza czy są dane odebrane w przerwaniu
        if (CAN_PullMessage(canNumLocal,&localMsgBufRec) == _TRUE)
        {
            bytesCntRec = (int)((localMsgBufRec.Frame >> 16) & 0x0000000F);
            UART0_Puts("\r\n CAN ");
            UART0_SendNumber(canNumLocal);
            UART0_Puts(" received ");
            UART0_SendNumber(bytesCntRec);
            UART0_Puts(" byte data,");
            UART0_Puts(" MsgId ");
            UART0_SendNumber((short)localMsgBufRec.MsgID);

            // jesli id ramki 0 to nie wysylaj
            if(localMsgBufRec.MsgID & 0x0080)
            {
                UART0_Puts("\r\n Handling simulation CAN packet");
                //***************************************************************//

                switch(canNumLocal)
                {
                    case CAN_PORT_1:
                    case CAN_PORT_2:
                    case CAN_PORT_3:
                        canBufferRec[0] = 0x08;
                        canBufferRec[1]=(unsigned char)(localMsgBufRec.DatA & 0x000000FF);
                        canBufferRec[2]=0x00;
                        canBufferRec[3]=canBufferRec[1]+1;
                        break;
                    case CAN_PORT_4:
                        canBufferRec[1]=0;
                        CAN_ChangeSymulationState();
                        UART0_Puts("\r\n Symulation stopped\r\n");
                        break;
                }

                //***************************************************************//

                if(CAN_SendPacketToCan((canBufferRec[1] & (0x0F)),canBufferRec) == _TRUE)
                {
                    UART0_Puts("\r\n Send SYM packet to CAN");
                    UART0_SendNumber(canNumLocal+1);
                    UART0_Puts(" ,msg id= ");
                    UART0_SendNumber(canBufferRec[1]);
                }
                return;
            }
        }

    }

//=====================================================================
//
//=====================================================================

void CAN_SymulPacket(void)
    {
        unsigned char canBufferTest[12];
        int i;
        if (startSymulation == _FALSE)  return;

        for(i=0; i<12; i++)
            canBufferTest[i] = 0;
        //****************************************************************//
        canBufferTest[0]=0x08;
        canBufferTest[1]=CAN_PORT_1+0x80;
        canBufferTest[2]=0x00;

        canBufferTest[3] = canBufferTest[1]+1;
        if(CAN_SendPacketToCan(CAN_PORT_1, canBufferTest) == _TRUE)
        {
            UART0_Puts("\r\n Send SYM packet to CAN1, msg id=");
            UART0_SendNumber(canBufferTest[1]);
        }
        else
        UART0_Puts("\r\n Error send test packet to CAN");

    }

//=====================================================================
//  funkcja główna
//=====================================================================
int main(void)
{
    //*************************************************//

    systemInit();
    gpioInit();
    VIC_Init();
    LCD_Init();
    UART0_Init(UART_BAUD(UART0_BAUD), UART_8N1, UART_FIFO_8);
    enableIRQ();
    timer0_init();
    VIC_Install_IRQ( VIC_TIMER0, (void *) timer0_cmp);

    if ((CAN_Init(CAN_PORT_1, CANBitrate1000k_60MHz) == 0) ||
    (CAN_Init(CAN_PORT_2, CANBitrate1000k_60MHz) == 0) ||
    (CAN_Init(CAN_PORT_3, CANBitrate1000k_60MHz) == 0) ||
    (CAN_Init(CAN_PORT_4, CANBitrate1000k_60MHz) == 0) )
    UART0_Puts("\r\n CAN bus not initialized");

    CAN_SetFilter(CAN_PORT_1, 0x0022);
    CAN_SetFilter(CAN_PORT_1, 0x0033);
    CAN_SetFilter(CAN_PORT_1, 0x0044);
    CAN_SetFilter(CAN_PORT_2, 0x0002);
    CAN_SetFilter(CAN_PORT_3, 0x0003);
    CAN_SetFilter(CAN_PORT_4, 0x0004);
    CAN_SetFilter(CAN_PORT_1, 0x0081);
    CAN_SetFilter(CAN_PORT_2, 0x0082);
    CAN_SetFilter(CAN_PORT_3, 0x0083);
    CAN_SetFilter(CAN_PORT_4, 0x0084);


    //*************************************************//
    UART0_Puts("\r\n RESET");
    LCD_WriteString(AppTitle,LCD_LINE_1,1);
    //*************************************************//



    //*************************************************//

    while(1)
    {
        // Obsluga transmisji RS232
        UART0_HandleProtocol();
        UART0_HandlePacket();
        UART0_CheckProtocolTimeout();

        //*************************************************//

        if(!(GPIO0_IOPIN & (1<<BUT1PIN))){
        ShowButtonLCD(BUT1PIN);
        Delay_us(50000);

        CAN_ChangeSymulationState();
        CAN_SymulPacket();
        }

        if(!(GPIO0_IOPIN & (1<<BUT2PIN))){
        ShowButtonLCD(BUT2PIN);
        Delay_us(50000);

        }

        CAN_HandleCanReceivers(CAN_PORT_1);
        CAN_HandleCanReceivers(CAN_PORT_2);
        CAN_HandleCanReceivers(CAN_PORT_3);
        CAN_HandleCanReceivers(CAN_PORT_4);


        //*************************************************//
        if(CAN_GetSymulationState() == _TRUE)
        {
            if (sendSymulPacket == _TRUE)
            {
                sendSymulPacket = _FALSE;
                CAN_SymulPacket();
            }
        }
    }
    return 0;
}