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#include "main.h"
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#include "main.h"
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#include "TIMER.h"
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#include "TIMER.h"
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#include "INTERRUPT.h"
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#include "INTERRUPT.h"
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#include "UART.h"
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#include "UART.h"
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#include "I2C.h"
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#include "I2C.h"
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#include "L3G.h"
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#include "LSM303.h"
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// <editor-fold defaultstate="collapsed" desc="Configuration Bits">
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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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I2C_DATA i2c_data;
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I2C_DATA i2c_data;
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char LED_R_ON = 0;
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char LED_R_ON = 0;
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char LED_G_ON = 0;
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char LED_G_ON = 0;
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char LED_B_ON = 0;
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char LED_B_ON = 0;
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char timer_2_pwm = 0;
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void Error(char ID) {
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void Error(char ID) {
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    while(1) {
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    while(1) {
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        for (char i = 0; i < ID; i++) {
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        for (char i = 0; i < ID; i++) {
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            LED_R_ON = 1;
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            LED_R_ON = 1;
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    if ((buffer[0] != 0x48) || (length != 1)) {
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    if ((buffer[0] != 0x48) || (length != 1)) {
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        Error(4);
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        Error(4);
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    }
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    }
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}
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}
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void Timer_2_Callback(void) {
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    // Here we manually 'PWM' the LEDs
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    // Note: this is terribly inefficient but we need to do this
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    //  otherwise we will blow out the blue LED (max 10mA)
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    if (timer_2_pwm == 0) {
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        LED_R_LAT = (LED_R_ON) ? 0 : 1;
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        LED_G_LAT = (LED_G_ON) ? 0 : 1;
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        LED_B_LAT = (LED_B_ON) ? 0 : 1;
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    }
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    if (timer_2_pwm == LED_R_MAX_BRIGHTNESS) {
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        LED_R_LAT = 1;
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    }
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    if (timer_2_pwm == LED_G_MAX_BRIGHTNESS) {
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        LED_G_LAT = 1;
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    }
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    if (timer_2_pwm == LED_B_MAX_BRIGHTNESS) {
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        LED_B_LAT = 1;
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    }
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    timer_2_pwm++;
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}
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void Timer_1_Callback(void) {
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//    int A_X,A_Y,A_Z;
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//    int G_X,G_Y,G_Z;
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//    int M_X,M_Y,M_Z;
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//    LSM303_Read_Accl(&A_X, &A_Y, &A_Z);
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//    L3G_Read_Gyro(&G_X, &G_Y, &G_Z);
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//    LSM303_Read_Magn(&output[6], &output[7], &output[8]);
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//    UART_Write("Hello", 5);
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}
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int main() {
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int main() {
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    OSCCON = 0xF0; // Software PLL enabled, 32MHz
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    OSCCON = 0xF0; // Software PLL enabled, 32MHz
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    ANSELA = 0;
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    ANSELA = 0;
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    ANSELB = 0;
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    ANSELB = 0;
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    UART_CTS_TRIS = 1;
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    UART_CTS_TRIS = 1;
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    UART_RTS_TRIS = 0;
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    UART_RTS_TRIS = 0;
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    UART_RTS_LAT = 0;
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    UART_RTS_LAT = 0;
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    // Initialize all peripherals
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    // Initialize all peripherals
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//    TIMER_1_Init();
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    TIMER_1_Init(&Timer_1_Callback);
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    TIMER_2_Init();
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    TIMER_2_Init(&Timer_2_Callback);
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    UART_Init(&uart_data);
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    UART_Init(&uart_data);
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    I2C_Init(&i2c_data);
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    I2C_Init(&i2c_data);
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    INTERRUPT_Init();
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    INTERRUPT_Init();
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    I2C_Configure_Master(I2C_100KHZ);
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    I2C_Configure_Master(I2C_400KHZ);
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    INTERRUPT_Enable();
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    INTERRUPT_Enable();
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//    TIMER_1_Start();
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//    TIMER_1_Start();
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    TIMER_2_Start();
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    TIMER_2_Start();
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    // A small delay is needed for the sensors to start up
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    // A small delay is needed for the sensors to start up
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    __delay_ms(10);
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    __delay_ms(10);
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    // Run a check to ensure that all sensors are properly connected
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    Startup_Check();
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    Startup_Check();
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    // Initialze the sensors
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//    LED_R_ON = 1;
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    L3G_Init();
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//    LED_G_ON = 1;
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    LSM303_Init();
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    char output[19] = {0};
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    output[18] = '\n';
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//    LED_B_ON = 1;
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    LED_B_ON = 1;
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    __delay_ms(3000);
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165 
    while(1) {
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    while(1) {
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        LSM303_Read_Accl(&output[0], &output[1], &output[2], &output[3], &output[4], &output[5]);
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        L3G_Read_Gyro(&output[6], &output[7], &output[8], &output[9], &output[10], &output[11]);
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        LSM303_Read_Magn(&output[12], &output[13], &output[14], &output[15], &output[16], &output[17]);
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        UART_Write("Hello World \r\n", 14);
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        UART_Write((char *)&output[0], 19);
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        __delay_ms(10);
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        LED_B_ON = 0;
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//        LED_B_ON = 0;
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        LED_R_ON = 1;
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//        LED_R_ON = 1;
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        __delay_ms(250);
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//        __delay_ms(250);
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        LED_R_ON = 0;
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//        LED_R_ON = 0;
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        LED_G_ON = 1;
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//        LED_G_ON = 1;
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        __delay_ms(250);
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//        __delay_ms(250);
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        LED_G_ON = 0;
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//        LED_G_ON = 0;
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        LED_B_ON = 1;
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//        LED_B_ON = 1;
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        __delay_ms(250);
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//        __delay_ms(250);
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    }
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    }
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}
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}
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