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#include <xc.h>
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#include <xc.h>
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#include <string.h>
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#include "main.h"
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#include "TIMER.h"
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#include "INTERRUPT.h"
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#include "UART.h"
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#include "I2C.h"
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// <editor-fold defaultstate="collapsed" desc="Configuration Bits">
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// CONFIG1
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// CONFIG1
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#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)
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#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)
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#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT disabled)
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#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT disabled)
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#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)
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#pragma config PWRTE = OFF      // Power-up Timer Enable (PWRT disabled)
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#pragma config MCLRE = ON       // MCLR Pin Function Select (MCLR/VPP pin function is MCLR)
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#pragma config MCLRE = ON       // MCLR Pin Function Select (MCLR/VPP pin function is MCLR)
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#pragma config IESO = ON        // Internal/External Switchover (Internal/External Switchover mode is enabled)
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#pragma config IESO = ON        // Internal/External Switchover (Internal/External Switchover mode is enabled)
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#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled)
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#pragma config FCMEN = ON       // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is enabled)
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// CONFIG2
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// CONFIG2
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#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)
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#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)
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#pragma config PLLEN = ON       // PLL Enable (4x PLL enabled)
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#pragma config PLLEN = ON       // PLL Enable (4x PLL disabled)
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#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)
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#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)
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#pragma config BORV = LO        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.)
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#pragma config BORV = LO        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), low trip point selected.)
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#pragma config LVP = ON        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)
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#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)
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// </editor-fold>
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UART_DATA uart_data;
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I2C_DATA i2c_data;
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void Error(char ID) {
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    while(1) {
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        for (char i = 0; i < ID; i++) {
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            LED_LAT = 1;
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            __delay_ms(120);
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            LED_LAT = 0;
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            __delay_ms(150);
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        }
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        __delay_ms(1000);
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    }
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}
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void Startup_Check(void) {
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    char buffer[20];
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    char result, length;
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    BLE_RESET_LAT = 0;
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    __delay_ms(3000);
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    BLE_RESET_LAT = 1;
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    __delay_ms(200);
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    // Check BLE Module
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    length = UART_Read(buffer);
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    if (memcmp(buffer, "\r\nBR-LE4.0-S2\r\n", 15)) {
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        Error(1);
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    }
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    UART_Write("AT\r", 3);
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    __delay_ms(10);
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    length = UART_Read(buffer);
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    if (memcmp(buffer, "\r\nOK\r\n", 6)) {
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        Error(1);
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    }
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    // Check Battery Gauge
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    I2C_Master_Restart(ADDRESS_LIPO, 0x0C, 2);
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    do {
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        result = I2C_Get_Status();
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    } while (!result);
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    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {
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        Error(2);
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    }
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    length = I2C_Read_Buffer(buffer);
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    if ((buffer[0] != 0x97) || (buffer[1] != 0x00) || (length != 2)) {
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        Error(2);
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    }
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    // Check Gyroscope
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    I2C_Master_Restart(ADDRESS_GYRO, 0x0F, 1);
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    do {
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        result = I2C_Get_Status();
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    } while (!result);
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    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {
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        Error(3);
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    }
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    length = I2C_Read_Buffer(buffer);
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    if ((buffer[0] != 0xD4) || (length != 1)) {
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        Error(3);
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    }
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    // Check Accelerometer
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    I2C_Master_Restart(ADDRESS_ACCL, 0x20, 1);
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    do {
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        result = I2C_Get_Status();
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    } while (!result);
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    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {
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        Error(4);
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    }
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    length = I2C_Read_Buffer(buffer);
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    if ((buffer[0] != 0x07) || (length != 1)) {
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        Error(4);
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    }
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    // Check Magnometer
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    I2C_Master_Restart(ADDRESS_MAGN, 0x0A, 1);
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    do {
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        result = I2C_Get_Status();
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    } while (!result);
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    if ((result != I2C_SEND_OK) && (result != I2C_RECV_OK)) {
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        Error(4);
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    }
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    length = I2C_Read_Buffer(buffer);
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    if ((buffer[0] != 0x48) || (length != 1)) {
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        Error(4);
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    }
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}
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int main() {
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int main() {
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    OSCCON = 0x70; // PLL disabled, 8MHz
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    ANSELA = 0;
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    ANSELB = 0;
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    ANSELC = 0;
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    LED_TRIS = 0;
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    LED_LAT = 0;
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    BLE_RESET_TRIS = 0;
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    BLE_RESET_LAT = 0;
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    BLE_SLEEP_TRIS = 0;
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    BLE_SLEEP_LAT = 0;
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    BLE_MODE_TRIS = 0;
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    BLE_MODE_LAT = 0;
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    TIMER_1_Init();
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    UART_Init(&uart_data);
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    I2C_Init(&i2c_data);
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    INTERRUPT_Init();
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    I2C_Configure_Master(I2C_100KHZ);
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    INTERRUPT_Enable();
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    Startup_Check();
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    TIMER_1_Start();
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    while(1);
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    while(1);
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}
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}
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