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// <editor-fold defaultstate="collapsed" desc="Configuration Bits">

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

/* PIC32 Configuration Settings */

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

/* Oscillator Settings */

#pragma config FNOSC     = PRIPLL   // Oscillator Selection Bits

#pragma config POSCMOD   = EC       // Primary Oscillator Configuration

#pragma config FPLLIDIV  = DIV_2    // PLL Input Divider

#pragma config FPLLMUL   = MUL_20   // PLL Multiplier

#pragma config FPLLODIV  = DIV_1    // PLL Output Divider

#pragma config FPBDIV    = DIV_1    // Peripheral Clock Divisor (timers/UART/SPI/I2C)

#pragma config FSOSCEN   = OFF      // Secondary Oscillator Enable

/* Clock Control Settings */

#pragma config IESO      = OFF      // Internal/External Clock Switch Over

#pragma config FCKSM     = CSDCMD   // Clock Switching and Monitor Selection

#pragma config OSCIOFNC  = OFF      // CLKO Output Signal Active on the OSCO Pin

/* USB Settings */

#pragma config UPLLEN    = ON       // USB PLL Enable

#pragma config UPLLIDIV  = DIV_2    // USB PLL Input Divider

#pragma config FVBUSONIO = OFF      // USB VBUS ON Selection

#pragma config FUSBIDIO  = OFF      // USB USID Selection

/* Other Peripheral Device Settings */

#pragma config FWDTEN    = OFF      // Watchdog Timer Enable

#pragma config WDTPS     = PS1048576    // Watchdog Timer Postscaler (1048.576s)

#pragma config FSRSSEL   = PRIORITY_7   // SRS Interrupt Priority

#pragma config FCANIO    = OFF      // CAN I/O Pin Select (default/alternate)

#pragma config FETHIO    = ON       // Ethernet I/O Pin Select (default/alternate)

#pragma config FMIIEN    = OFF      // Ethernet MII/RMII select (OFF=RMII)

/* Code Protection Settings */

#pragma config CP        = OFF      // Code Protect

#pragma config BWP       = OFF      // Boot Flash Write Protect

#pragma config PWP       = OFF      // Program Flash Write Protect

/* Debug Settings */

#pragma config ICESEL = ICS_PGx1    // ICE/ICD Comm Channel Select (on-board debugger)

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

// </editor-fold>

#include "defines.h"

#include "UART1.h"

#include "SPI1.h"

#include "SPI4.h"

#include "I2C1.h"

#include "ETHERNET.h"

#include "TIMER4.h"

#include "TIMER5.h"

#include "CUBE.h"

#include "BTN.h"

#include "ANIMATIONS.h"

#include "CONTROLLERS.h"

#include "SNAKE.h"

#include "TRON.h"

void BTN1_Interrupt(void);

void BTN2_Interrupt(void);

void BTN3_Interrupt(void);

void Delay_MS(uint32_t delay_ms) {

    // Delays the CPU for the given amount of time.

    // Note: Watch out for integer overflow! (max delay_ms = 107374) ??

    uint32_t delay = delay_ms * MS_TO_CT_TICKS;

    uint32_t startTime = ReadCoreTimer();

    while ((uint32_t)(ReadCoreTimer() - startTime) < delay) {};

}

void Delay_US(uint32_t delay_us) {

    // Delays the CPU for the given amount of time.

    // Note: Watch out for integer overflow!

    uint32_t delay = delay_us * US_TO_CT_TICKS;

    uint32_t startTime = ReadCoreTimer();

    while ((uint32_t)(ReadCoreTimer() - startTime) < delay) {};

}

uint8_t Get_Reset_Condition(void) {

    uint8_t ret = 0;

    if (RCONbits.POR && RCONbits.BOR)

        ret = RESET_POR;

    else if (RCONbits.BOR)

        ret = RESET_BOR;

    else if (RCONbits.EXTR)

        ret = RESET_PIN;

    else if (RCONbits.SWR)

        ret = RESET_SWR;

    else if (RCONbits.CMR)

        ret = RESET_CFG;

    else if (RCONbits.WDTO)

        ret = RESET_WDT;

    // Clear the RCON register

    RCON = 0x0;

    return ret;

}

// Initialize a persistent operational state machine

volatile static uint8_t op_state __attribute__((persistent));

uint8_t Get_Board_State(void) {

    return op_state;

}

void Reset_Board(uint8_t next_state) {

    op_state = next_state;

    // Executes a software reset

    INTDisableInterrupts();

    SYSKEY = 0x00000000; // Write invalid key to force lock

    SYSKEY = 0xAA996655; // Write key1 to SYSKEY

    SYSKEY = 0x556699AA; // Write key2 to SYSKEY

    /* OSCCON is now unlocked */

    // Set SWRST bit to arm reset

    RSWRSTSET = 1;

    // Read RSWRST register to trigger reset

    uint32_t dummy;

    dummy = RSWRST;

    // Prevent any unwanted code execution until reset occurs

    while(1);

}

void main() {

    // WARNING!! THIS BOARD WILL RESET EVERY 1048.576s DUE TO THE WDT!!

    /* -------------------- BEGIN INITIALIZATION --------------------- */

    // Configure the target for maximum performance at 80 MHz.

    // Note: This overrides the peripheral clock to 80Mhz regardless of config

    SYSTEMConfigPerformance(CPU_CLOCK_HZ);

    // Configure the interrupts for multiple vectors

    INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);

    // Set all analog I/O pins to digital

    AD1PCFGSET = 0xFFFF;

    // Enable the watchdog timer with windowed mode disabled

    // WDT prescaler set to 1048576 (1048.576s) (see config bits)

    WDTCON = 0x00008000;

    // Configure onboard LEDs

    LED1_TRIS = 0;

    LED2_TRIS = 0;

    LED3_TRIS = 0;

    LED4_TRIS = 0;

    LED1_LAT = 0;

    LED2_LAT = 0;

    LED3_LAT = 0;

    LED4_LAT = 0;

    // Determine what to do at this point. We either choose to idle (on POR)

    // or go into a mode specified prior to the software reset event

    uint8_t last_reset = Get_Reset_Condition();

    if (last_reset == RESET_POR || last_reset == RESET_BOR ||

            last_reset == RESET_PIN || last_reset == RESET_WDT ||

            last_reset == RESET_CFG) {

        op_state = BOARD_MODE_IDLE;

    }

    // Initialize the SPI1 module

    SPI1_DATA spi_1_data;

    SPI1_Init(&spi_1_data, NULL);

    // Initialize the SPI4 module

    SPI4_DATA spi_4_data;

    SPI4_Init(&spi_4_data);

    // Initialize the I2C1 module

    I2C1_DATA i2c_1_data;

    I2C1_Init(&i2c_1_data, I2C1_400KHZ, 0x20);

//    // Initialize the UART1 module

//    UART1_DATA uart_data;

//    UART1_Init(&uart_data, &Cube_Data_In);

    // Initializs the PWM2 output to 20MHz

    PWM2_Init();

    // Initialize the cube variables

    CUBE_DATA cube_data;

    Cube_Init(&cube_data, 0x40);

    // Start the cube update layer interrupt

    // 2083 = 60Hz, 500 = 250Hz, 250 = 500Hz

    TIMER5_DATA timer_5_data;

    TIMER5_Init(&timer_5_data, &Cube_Timer_Interrupt, 500);

    // Start the controller polling and overlay rotation interrupt

    TIMER4_DATA timer_4_data;

    TIMER4_Init(&timer_4_data, NULL, NULL, 0);

    // Process button inputs

    BTN_DATA btn_data;

    BTN_Init(&btn_data, &BTN1_Interrupt, &BTN2_Interrupt, NULL);

    // Initialize controllers

    CONTROLLER_DATA ctrl_data;

    Controller_Init(&ctrl_data);

    // Initialize the Ethernet module

    if (op_state == BOARD_MODE_ETHERNET) {

        LED1_LAT = 1;

        ETH_DATA eth_data;

        ETH_Init(&eth_data, NULL, &Cube_Ethernet_Frame_In);

    }

    SNAKE_DATA snake_data;

    TRON_DATA tron_data;

    PWM2_Start();

    TIMER5_Start();

    /* -------------------- END OF INITIALIZATION -------------------- */

    /* ------------------------ BEGIN DISPLAY ------------------------ */

    // Figure out what to do at this point (depending on current state)

    switch (op_state) {

        case BOARD_MODE_IDLE:

            Idle_Animation_Sequence();

            break;

        case BOARD_MODE_SNAKE:;

            Controller_Init(&ctrl_data);

            TIMER4_Init(NULL, &Controller_Update, NULL, 0);

            TIMER4_Start();

            Snake_Init(&snake_data);

            Snake_Main();

            break;

        case BOARD_MODE_TRON:

            Controller_Init(&ctrl_data);

            TIMER4_Init(NULL, &Controller_Update, NULL, 0);

            TIMER4_Start();

            Tron_Init(&tron_data);

            Tron_Main();

            break;

        case BOARD_MODE_ETHERNET:

            TIMER4_Stop();

            LED2_LAT = 1;

            while(1);

            break;

    }

}

void Idle_Animation_Sequence(void) {

//    Cube_Set_All(RED);

//    Delay_MS(2000);

//    Cube_Set_All(GREEN);

//    Delay_MS(2000);

//    Cube_Set_All(BLUE);

//    Delay_MS(2000);

//    Animation_Pseudo_Random_Colors(200);

//    Animation_Pseudo_Random_Colors(200);

//    Animation_Pseudo_Random_Colors(200);

//    Animation_Pseudo_Random_Colors(200);

//    Animation_Pseudo_Random_Colors(200);

//    Animation_Pseudo_Random_Colors(200);

    // Start the scrolling text

    TIMER4_Stop();

    TIMER4_Init(NULL, NULL, &Cube_Text_Interrupt, 100);

//    TIMER4_Start();

//    int8_t start_text[] = "Cube Initialized\r\n";

//    UART1_Write(start_text, 18);

    // Set the overlay text

    uint8_t text_string[] = "Welcome to the CCM Lab     ";

    Cube_Text_Init(text_string, 27, 0xFF, 0xFF, 0xFF);

//    TIMER4_Start();

    // Loop through some preset animations

    while(1) {

        Animation_Sawtooth(100);

        Animation_Sawtooth(100);

        Animation_Sawtooth(100);

        Animation_Sphere(100);

        Animation_Sphere(100);

        Animation_Sphere(100);

        Animation_Sphere(100);

        Animation_Wave1(100);

        Animation_Wave1(100);

        Animation_Wave1(100);

        Animation_Wave1(100);

        Animation_Wave2(100);

        Animation_Wave2(100);

        Animation_Wave2(100);

        Animation_Wave2(100);

//        Animation_Solid_Colors(300);

//        Animation_Layer_Alternate(300);

//        Animation_Pixel_Alternate(200);

//        Animation_Full_Color_Sweep(1000);

        Animation_Row_Column_Sweep(40);

        Animation_Row_Column_Sweep(40);

        Animation_Cube_In_Cube(300);

        Animation_Cube_In_Cube(300);

        Animation_Cube_In_Cube(300);

        Animation_Double_Rotation(30);

        Animation_Double_Rotation(30);

        Animation_Double_Rotation(30);

        Animation_Double_Rotation(30);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

        Animation_Pseudo_Random_Colors(300);

//        Animation_Random_Colors(300);

//        ClearWDT(); // Clear the WDT if we dont want the board to reset

    }

}

// Function call on button 1 press to change cube operation

void BTN1_Interrupt(void) {

    switch (op_state) {

        case BOARD_MODE_IDLE:

            Reset_Board(BOARD_MODE_SNAKE);

            break;

        case BOARD_MODE_SNAKE:

            Reset_Board(BOARD_MODE_TRON);

            break;

        case BOARD_MODE_TRON:

            Reset_Board(BOARD_MODE_ETHERNET);

            break;

        case BOARD_MODE_ETHERNET:

            Reset_Board(BOARD_MODE_IDLE);

            break;

    }

    // Code to change refresh rate on button press

//    static uint8_t state;

//    state = (state == 4) ? 0 : state + 1;

//    TIMER5_Stop();

//    switch (state) {

//        case 0:

//            TIMER5_Init(NULL, &Cube_Timer_Interrupt, 500); // 250Hz

//            break;

//        case 1:

//            TIMER5_Init(NULL, &Cube_Timer_Interrupt, 2083); // 60Hz

//            break;

//        case 2:

//            TIMER5_Init(NULL, &Cube_Timer_Interrupt, 4166); // 30Hz

//            break;

//        case 3:

//            TIMER5_Init(NULL, &Cube_Timer_Interrupt, 12498); // 10Hz

//            break;

//        case 4:

//            TIMER5_Init(NULL, &Cube_Timer_Interrupt, 24996); // 5Hz

//            break;

//    }

//    TIMER5_Start();

}

// Function call on button 2 press to change brightness

void BTN2_Interrupt(void) {

    static uint8_t state = 6;

    state = (state == 6) ? 0 : state + 1;

    TIMER5_Stop();

    Delay_MS(1); // Need to wait for all SPI writes to complete

    uint8_t BC;

    switch (state) {

        case 0:

            BC = 0x01;

            break;

        case 1:

            BC = 0x08;

            break;

        case 2:

            BC = 0x10;

            break;

        case 3:

            BC = 0x20;

            break;

        case 4:

            BC = 0x40;

            break;

        case 5:

            BC = 0x80;

            break;

        case 6:

            BC = 0xFF;

            break;

    }

    Cube_Write_DCS(BC);

    TIMER5_Start();

}

//// Function call on button 3 press to change text scroll speed

//void BTN3_Interrupt(void)  {

//    static uint8_t state;

//    state = (state == 4) ? 0 : state + 1;

//    TIMER4_Stop();

//    switch (state) {

//        case 0:

//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 209712);

//            break;

//        case 1:

//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 180000);

//            break;

//        case 2:

//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 150000);

//            break;

//        case 3:

//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 120000);

//            break;

//        case 4:

//            TIMER4_Init(NULL, &Cube_Text_Interrupt, 90000);

//            break;

//    }

//    TIMER4_Start();

//}