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#include <xc.h>

#include <string.h>

#include "main.h"

#include "TIMER.h"

#include "INTERRUPT.h"

#include "UART.h"

#include "I2C.h"

#include "L3G.h"

#include "LSM303.h"

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

// CONFIG1

#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)

#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT disabled)

#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)

#pragma config MCLRE = ON       // MCLR Pin Function Select (MCLR/VPP pin function is MCLR)

#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)

#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)

#pragma config BOREN = ON       // Brown-out Reset Enable (Brown-out Reset enabled)

#pragma config CLKOUTEN = OFF   // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin)

#pragma config IESO = ON        // Internal/External Switchover (Internal/External Switchover mode is enabled)

#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled)

// CONFIG2

#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)

#pragma config PLLEN = ON       // PLL Enable (4x PLL disabled)

#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)

#pragma config BORV = LO        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.)

#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)

// </editor-fold>

UART_DATA uart_data;

I2C_DATA i2c_data;

char LED_R_ON = 0;

char LED_G_ON = 0;

char LED_B_ON = 0;

char timer_2_pwm = 0;

void Error(char ID) {

    while(1) {

        for (char i = 0; i < ID; i++) {

            LED_R_ON = 1;

            __delay_ms(120);

            LED_R_ON = 0;

            __delay_ms(150);

        }

        __delay_ms(1000);

    }

}

void Startup_Check(void) {

    char buffer[20];

    char result, length;

//    BLE_RESET_LAT = 0;

//    __delay_ms(3000);

//    BLE_RESET_LAT = 1;

//    __delay_ms(200);

//    // Check BLE Module

//    length = UART_Read(buffer);

//    if (memcmp(buffer, "\r\nBR-LE4.0-S2\r\n", 15)) {

//        Error(1);

//    }

//    UART_Write("AT\r", 3);

//    __delay_ms(10);

//    length = UART_Read(buffer);

//    if (memcmp(buffer, "\r\nOK\r\n", 6)) {

//        Error(1);

//    }

    // Check Battery Gauge

    I2C_Master_Restart(ADDRESS_LIPO, 0x0C, 2);

    do {

        result = I2C_Get_Status();

    } while (!result);

    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {

        Error(2);

    }

    length = I2C_Read_Buffer(buffer);

    if ((buffer[0] != 0x97) || (buffer[1] != 0x00) || (length != 2)) {

        Error(2);

    }

    // Check Gyroscope

    I2C_Master_Restart(ADDRESS_GYRO, 0x0F, 1);

    do {

        result = I2C_Get_Status();

    } while (!result);

    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {

        Error(3);

    }

    length = I2C_Read_Buffer(buffer);

    if ((buffer[0] != 0xD4) || (length != 1)) {

        Error(3);

    }

    // Check Accelerometer

    I2C_Master_Restart(ADDRESS_ACCL, 0x20, 1);

    do {

        result = I2C_Get_Status();

    } while (!result);

    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {

        Error(4);

    }

    length = I2C_Read_Buffer(buffer);

    if ((buffer[0] != 0x07) || (length != 1)) {

        Error(4);

    }

    // Check Magnometer

    I2C_Master_Restart(ADDRESS_MAGN, 0x0A, 1);

    do {

        result = I2C_Get_Status();

    } while (!result);

    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {

        Error(4);

    }

    length = I2C_Read_Buffer(buffer);

    if ((buffer[0] != 0x48) || (length != 1)) {

        Error(4);

    }

}

void Timer_2_Callback(void) {

    // Here we manually 'PWM' the LEDs

    // Note: this is terribly inefficient but we need to do this

    //  otherwise we will blow out the blue LED (max 10mA)

    if (timer_2_pwm == 0) {

        LED_R_LAT = (LED_R_ON) ? 0 : 1;

        LED_G_LAT = (LED_G_ON) ? 0 : 1;

        LED_B_LAT = (LED_B_ON) ? 0 : 1;

    }

    if (timer_2_pwm == LED_R_MAX_BRIGHTNESS) {

        LED_R_LAT = 1;

    }

    if (timer_2_pwm == LED_G_MAX_BRIGHTNESS) {

        LED_G_LAT = 1;

    }

    if (timer_2_pwm == LED_B_MAX_BRIGHTNESS) {

        LED_B_LAT = 1;

    }

    timer_2_pwm++;

}

void Timer_1_Callback(void) {

//    int A_X,A_Y,A_Z;

//    int G_X,G_Y,G_Z;

//    int M_X,M_Y,M_Z;

//    LSM303_Read_Accl(&A_X, &A_Y, &A_Z);

//    L3G_Read_Gyro(&G_X, &G_Y, &G_Z);

//    LSM303_Read_Magn(&output[6], &output[7], &output[8]);

//    UART_Write("Hello", 5);

}

int main() {

    OSCCON = 0xF0; // Software PLL enabled, 32MHz

    ANSELA = 0;

    ANSELB = 0;

    ANSELC = 0;

    LED_R_TRIS = 0;

    LED_R_LAT = 1;

    LED_G_TRIS = 0;

    LED_G_LAT = 1;

    LED_B_TRIS = 0;

    LED_B_LAT = 1;

    BLE_RESET_TRIS = 0;

    BLE_RESET_LAT = 1;

    UART_CTS_TRIS = 1;

    UART_RTS_TRIS = 0;

    UART_RTS_LAT = 0;

    // Initialize all peripherals

    TIMER_1_Init(&Timer_1_Callback);

    TIMER_2_Init(&Timer_2_Callback);

    UART_Init(&uart_data);

    I2C_Init(&i2c_data);

    INTERRUPT_Init();

    I2C_Configure_Master(I2C_400KHZ);

    INTERRUPT_Enable();

//    TIMER_1_Start();

    TIMER_2_Start();

    // A small delay is needed for the sensors to start up

    __delay_ms(10);

    // Run a check to ensure that all sensors are properly connected

    Startup_Check();

    // Initialze the sensors

    L3G_Init();

    LSM303_Init();

    char output[19] = {0};

    output[18] = '\n';

    LED_B_ON = 1;

    __delay_ms(3000);

    while(1) {

        LSM303_Read_Accl(&output[0], &output[1], &output[2], &output[3], &output[4], &output[5]);

        L3G_Read_Gyro(&output[6], &output[7], &output[8], &output[9], &output[10], &output[11]);

        LSM303_Read_Magn(&output[12], &output[13], &output[14], &output[15], &output[16], &output[17]);

        UART_Write((char *)&output[0], 19);

        __delay_ms(10);

//        LED_B_ON = 0;

//        LED_R_ON = 1;

//        __delay_ms(250);

//        LED_R_ON = 0;

//        LED_G_ON = 1;

//        __delay_ms(250);

//        LED_G_ON = 0;

//        LED_B_ON = 1;

//        __delay_ms(250);

    }

}