//
//////////////////////////////////////////////////////////////////////////
//
//													M A I N - S E T U P
//
int main() {
 
	led_init();				// Set GPIO DDR for LEDs
	//
	//
#if 0
	// Brown Out Reset Flag scheint immer gesetzt zu sein
	if (MCUCSR & (1<<BORF)) {
	//if (1==1) {
		uint8_t i,k;
		// Reset nach Brown Out Detected
		while (1==1) {
			for (k = 3; k>0;--k) {
				for (i = 3; i>0;--i) {
					led_set(1,1);
					if (k == 2) { delay(250); } 
					else { delay(100); }
					led_set(1,0);
					if (k == 2) { delay(250); } 
					else { delay(400); }
				}
			} // for k			
			delay(10000);
		} // while		
	} // if BORF
#endif	

	uart_init(9600);		// BirgerT activate UART Kommunikation
	//usart_setbaudrate(38400); // niborobolib kommunikation
	//usart_enable();
 
	motpwm_init();			// 
	motpid_init();			//
	odometry_init();		//
	analog_init();			//
	sei();
	surface_init();			//
 
	// ?
	for (uint8_t i = 0; i<8; i++) {
		analog_setExtToggleMode(i, 0);
	}
 
	// Startup Waittime für XBEE nach dem Einschalten 
	delay(2000);
 
#if 1
	// Erste Begrüßung
	uart_txd_strP(str_hello);
	uart_txd_char('\n');
//	delay(2000);
	delay(400);
#endif

	uart_txd_strP(str_clearscr);
 
	#define LED2_INTERVAL 200
	#define LED3_INTERVAL 205
	uint16_t led2_interval = LED2_INTERVAL;
	uint16_t led3_interval = LED3_INTERVAL;
 
	#define CHAR_SEND_INTERVAL 800
	uint16_t char_interval = CHAR_SEND_INTERVAL;
 
 
	uint8_t rxdmerker = 20;
 
//
//
//////////////////////////////////////////////////////////////////////////
//
//														M A I N - L O O P
//
	while(1==1) {
		// sei(); // is done within clock_elapsed_ms
		//
		//	Laufzeit der Main_Loop:
		//	Aus der Variablen "clock_ms" ermittelte Zeitdifferenz entspricht
		//	der Laufzeit (Ausführungsdauer) der Hauptschleife.
		//
		loop_duration = clock_elapsed_ms();
		if (loop_duration > loop_duration_max) {
			loop_duration_max = loop_duration;
		}
		loop_duration_avg += loop_duration;
		loop_duration_avg /= 2;
		//
		//
		if (analog_has_update()) {
			//nibo_assertMinVoltage(NIBO_ASSERT_VOLTAGE(4000));
			//nibo_checkMonitorVoltage();
		}
		//
		//	UART Terminal Aktivität erkennen
		//
		static	uint8_t terminal = 0;
		uart_login("  ", &terminal);
//		uart_login("top", &terminal);
 
 
		//
		//  Von der Timervariablen "status_interval" wird die Laufzeit der 
		//	Hauptschleife abgezogen (in "clock_get_event()"). 
		//  Ist der Inhalt der Timervariablen <= der Laufzeit, ist die 
		//	Wartezeit um; die Timervariable wird neu "aufgeladen" und die 
		//	zum Zeitpunkt fällige Aktion ausgeführt (Update der Statuszeile)
		//
		//	Statuszeile Update
		//
 
		if (!(status_interval = clock_get_event(status_interval,loop_duration))) {
			status_interval = STATUSZEILE_INTERVAL;
			if (terminal == RX_ACTIV) {
				statuszeile();
			}
			else {
				uart_txd_strP("\x1b[12;20H"	// Cursor Position
				"Zum Aktivieren des Menus 2 x Leertaste"
				);
			}
		}
 
 
//		analog_wait_update(); // Zeitverzögerung Testen
//		delay(5);
 
 
		//
		/////////////////////////////////////////////////////////////////
		//
		//												T E S T C A L L S
		#ifdef TEST_MENU_H_
		//
		if (terminal == RX_ACTIV) {
			test_menu(0);
 
//	eventuell den status_intervall in stauszeile() verlegen
//			statuszeile();
 
		}
		//
		#endif // TEST_MENU_H_
		//
 
 
 
#if 1
		// Blinken alte Version vor Entstehung clock_get_event()
		if (led2_interval > loop_duration) {
			led2_interval -= loop_duration;
		}
		else {
			led2_interval = LED2_INTERVAL;
			if (led_get(2) != 0) {
				led_set(2,0);
			} 
			else {
				led_set(2,1);
			}
 
		} // led2_interval
 
		if (led3_interval > loop_duration) {
			led3_interval -= loop_duration;
		}
		else {
			led3_interval = LED3_INTERVAL;
			if (led_get(3) != 0) {
				led_set(3,0);
				//led_set(1,0);
			} 
			else {
				led_set(3,1);
				//led_set(1,1);
			}
 
		} // led3_interval
#endif		
		
 
//////////////////////////////////////////////////////////////////////////
	} // while(1==1)	
	return 0;
} // main()

//////////////////////////////////////////////////////////////////////////
//
//	CLOCK2	Ergänzende Routinen zur clock.h/.c der niborobolib 3.3
//
//	(c) Birger Töpelmann	toepelmann(A)web.de  Version 160102a
//
////////////////////////////////////////////////////////////////////////////
//
/*  BSD-License:
 
Copyright (c) 2015 by Birger Töpelmann, contact BirgerT at roboter.cc, Germany
 
Modified programs to run the NIBO Burger Robot Kit by nicai-systems, 
 
based on and partially taken from the original niborobolib
Copyright (c) by Nils Springob, nicai-systems, Germany
 
All rights reserved.
 
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
 
  * Redistributions of source code must retain the above copyright notice,
    this list of conditions and the following disclaimer.
  * Redistributions in binary form must reproduce the above copyright notice,
    this list of conditions and the following disclaimer in the documentation
    and/or other materials provided with the distribution.
  * Neither the name nicai-systems nor the names of its contributors may be
    used to endorse or promote products derived from this software without
    specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
*/
//
 
 
#ifndef CLOCK2_H_
#define CLOCK2_H_

#include <niboburger/iodefs.h>
#include "avr_util.h"		// ein paar zusätzliche Helper von BirgerT
#include <niboburger/clock.h>

 
#ifdef __cplusplus
extern "C" {
#endif
//
/////////////////////////////////////////////////////////////////////////
//
//extern	uint16_t	clock_loop_duration;
//
/////////////////////////////////////////////////////////////////////////
//
//		Liefert die Zeit 0..999ms, die seit dem letzten Aufruf der 
//		Funktion vergangen ist. Wird diese Funktion einmal zu Beginn
//		der main_loop aufgerufen (direkt hinter dem "while(1=1)), 
//		entspricht das Ergebnis der letzen Laufzeit der Hauptschleife.
//		 
//
	uint16_t clock_elapsed_ms();
//
//
/////////////////////////////////////////////////////////////////////////
//
//		Vergleichsfunktion liefert die Zeit (basetime - subtime) oder 0,
//		wenn subtime >= basetime war. Mit dieser Funktion können 
//		"Eieruhren" für zeitgesteuerte Aktionen realisiert werden.
//	
//		#define		LED1_OFF_TIME 400;
//		#define		LED1_ON_TIME 50;
//	
//		uint16_t led1_time = LED1_OFF_TIME;
//		:
//		// Dauer des letzten Schleifendurchlaufs
//		loop_duration = clock_elapsed_ms();
//		:
//		if (led1_time = clock_get_event(led1_time, loop_duration) == 0) {
//		// die Eieruhr ist abgelaufen
//			if (led_get(LED_1)) {
//				// LED leuchtet bereits -> abschalten
//				led_set(LED_1, 0);
//				// Aus-Zeit setzen
//				led1_time = LED1_OFF_TIME;	
//			} 
//			else {
//				// LED ist aus -> einschalten
//				led_set(LED_1, 0);
//				// Ein-Zeit setzen
//				led1_time = LED1_ON_TIME;	
//			} // if led_get
//		} // if clock_get_event
//
//
	uint16_t clock_get_event(uint16_t basetime, uint16_t subtime);
//
 
//
/////////////////////////////////////////////////////////////////////////
//
#ifdef __cplusplus
} // extern "C"
#endif
//
#endif /* CLOCK2_H_ */

//////////////////////////////////////////////////////////////////////////
//
//	CLOCK2	Ergänzende Routinen zur clock.h/.c der niborobolib 3.3
//
//	(c) Birger Töpelmann	toepelmann(A)web.de  Version 160102a
//
////////////////////////////////////////////////////////////////////////////
//
/*  BSD-License:
 
Copyright (c) 2015 by Birger Töpelmann, contact BirgerT at roboter.cc, Germany
 
Modified programs to run the NIBO Burger Robot Kit by nicai-systems, 
 
based on and partially taken from the original niborobolib
Copyright (c) by Nils Springob, nicai-systems, Germany
 
All rights reserved.
 
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
 
  * Redistributions of source code must retain the above copyright notice,
    this list of conditions and the following disclaimer.
  * Redistributions in binary form must reproduce the above copyright notice,
    this list of conditions and the following disclaimer in the documentation
    and/or other materials provided with the distribution.
  * Neither the name nicai-systems nor the names of its contributors may be
    used to endorse or promote products derived from this software without
    specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
*/
//
 
#include "clock2.h"

//
/////////////////////////////////////////////////////////////////////////
//
//		Liefert die Zeit 0..999ms, die seit dem letzten Aufruf der 
//		Funktion vergangen ist. Wird diese Funktion einmal zu Beginn
//		der main_loop aufgerufen (direkt hinter dem "while(1=1)), 
//		entspricht das Ergebnis der letzen Laufzeit der Hauptschleife.
//		 
//
uint16_t clock_elapsed_ms(){
 
	static uint16_t clock_last_read = 0;
	uint16_t tmp_time = clock_last_read;
 
	cli();
	// ATOMIC Read
	clock_last_read = clock_ms;
	// Clock funktioniert sowieso nur mit sei()
	sei();
	// Zeitdifferenz mit 1000er Überlauf berechnen
	if (tmp_time > clock_last_read) {
		// clock_ms zählt nur bis 1000 (oder 999 ?!)
		return 1000 - tmp_time + clock_last_read;
	} 
	else {
		return clock_last_read - tmp_time;
	}
} // clock_elapsed_ms
//
/////////////////////////////////////////////////////////////////////////
//
//		Vergleichsfunktion liefert die Zeit (basetime - subtime) oder 0,
//		wenn subtime >= basetime war. Mit dieser Funktion können 
//		"Eieruhren" für zeitgesteuerte Aktionen realisiert werden.
//	
//		#define		LED1_OFF_TIME 400;
//		#define		LED1_ON_TIME 50;
//	
//		uint16_t led1_time = LED1_OFF_TIME;
//		:
//		// Dauer des letzten Schleifendurchlaufs
//		loop_duration = clock_elapsed_ms();
//		:
//		if (led1_time = clock_get_event(led1_time, loop_duration) == 0) {
//		// die Eieruhr ist abgelaufen
//			if (led_get(LED_1)) {
//				// LED leuchtet bereits -> abschalten
//				led_set(LED_1, 0);
//				// Aus-Zeit setzen
//				led1_time = LED1_OFF_TIME;	
//			} 
//			else {
//				// LED ist aus -> einschalten
//				led_set(LED_1, 0);
//				// Ein-Zeit setzen
//				led1_time = LED1_ON_TIME;	
//			} // if led_get
//		} // if clock_get_event
//
//
uint16_t clock_get_event(uint16_t basetime, uint16_t subtime) {
 
		if (basetime > subtime) {
			return (basetime - subtime);
		} 
		else {
			return 0;
		}
	} // clock_get_event
//