//*****************************************************************************
//
// uart_echo.c - Example for reading data from and writing data to the UART in
//               an interrupt driven fashion.
//
// Copyright (c) 2012 Texas Instruments Incorporated.  All rights reserved.
// Software License Agreement
// 
// Texas Instruments (TI) is supplying this software for use solely and
// exclusively on TI's microcontroller products. The software is owned by
// TI and/or its suppliers, and is protected under applicable copyright
// laws. You may not combine this software with "viral" open-source
// software in order to form a larger program.
// 
// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
// DAMAGES, FOR ANY REASON WHATSOEVER.
// 
// This is part of revision 9453 of the EK-LM4F120XL Firmware Package.
//
//*****************************************************************************

#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "driverlib/timer.h"

//*****************************************************************************
//
//! \addtogroup example_list
//! <h1>UART Echo (uart_echo)</h1>
//!
//! This example application utilizes the UART to echo text.  The first UART
//! (connected to the USB debug virtual serial port on the evaluation board)
//! will be configured in 115,200 baud, 8-n-1 mode.  All characters received on
//! the UART are transmitted back to the UART.
//
//*****************************************************************************


//*****************************************************************************
//
// The error routine that is called if the driver library encounters an error.
//
//*****************************************************************************
#ifdef DEBUG
void
__error__(char *pcFilename, unsigned long ulLine)
{
}
#endif

//*****************************************************************************
//
// The UART interrupt handler.
//
//*****************************************************************************

//*****************************************************************************
//
// Send a string to the UART.
//
//*****************************************************************************
void
UARTSend(const unsigned char *pucBuffer, unsigned long ulCount)
{
    //
    // Loop while there are more characters to send.
    //
    while(ulCount--)
    {
        //
        // Write the next character to the UART.
        //
        ROM_UARTCharPutNonBlocking(UART0_BASE, *pucBuffer++);
    }
}

#define DSET_SERVO1 'a'
#define DSET_SERVO2 'b'
#define DSET_DA     'c'
#define DEST_DB     'd'
#define DSET_DC     'e'

typedef unsigned char u8;
typedef char s8;
typedef unsigned int u32;

volatile u32 g_FiredTime = 0;

struct {
    struct {
        u32 Servo1 : 1,
            Servo2 : 1;
        struct {
            u32 A : 1,
                B : 1,
                C : 1;
        } Digital;
    } NextReceive;
    u8 Servo1;
    u8 Servo2;
    struct {
        u32 A : 1,
            B : 1,
            C : 1;
    } Digital;
} g_OutputControl;

void CommitState(void)
{
    // F4 = fire
    //GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, g_OutputControl.Digital.A ? GPIO_PIN_4 : 0); 
    GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, g_OutputControl.Digital.A ? GPIO_PIN_2 : 0); 
}

void ClearNext(void)
{
    g_OutputControl.NextReceive.Servo1 = 0;
    g_OutputControl.NextReceive.Servo2 = 0;
    g_OutputControl.NextReceive.Digital.A = 0;
    g_OutputControl.NextReceive.Digital.B = 0;
    g_OutputControl.NextReceive.Digital.C = 0;
}

volatile u32 Timer0Counter = 0;
volatile u32 MiliCounter = 0;
u32 MiliSubCounter = 0;
void Timer0Handler(void)
{
    ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
    MiliSubCounter++;
    if (MiliSubCounter >= 100)
    {
        MiliSubCounter = 0;
        MiliCounter++;
    }
    Timer0Counter++;

    if (Timer0Counter >= 2000)
        Timer0Counter = 0;

    if (Timer0Counter == 0)
    {
        GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2, GPIO_PIN_2);
        GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, GPIO_PIN_3);
    }

    if (Timer0Counter == 50 + g_OutputControl.Servo1)
        GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2, 0);

    if (Timer0Counter == 50 + g_OutputControl.Servo2)
        GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, 0);

    if (g_OutputControl.Digital.A)
    {
        if (MiliCounter > (g_FiredTime + 200))
        {
            g_OutputControl.Digital.A = 0;
            CommitState();
        }
    }
}

void
UARTIntHandler(void)
{
    unsigned long ulStatus;

    //
    // Get the interrrupt status.
    //
    ulStatus = ROM_UARTIntStatus(UART0_BASE, true);

    //
    // Clear the asserted interrupts.
    //
    ROM_UARTIntClear(UART0_BASE, ulStatus);

    //
    // Loop while there are characters in the receive FIFO.
    //
    while(ROM_UARTCharsAvail(UART0_BASE))
    {
        //
        // Read the next character from the UART and write it back to the UART.
        //
        u8 Data = ROM_UARTCharGetNonBlocking(UART0_BASE);
        u8 Sent = 0;
        if (g_OutputControl.NextReceive.Digital.A)
        {
            if (Data > 0)
            {
                UARTSend("start ", 6);
                g_FiredTime = MiliCounter;
                g_OutputControl.Digital.A = 1;
            }
            Sent = 1;
        }
        else if (g_OutputControl.NextReceive.Servo1)
        {
            UARTSend("s1 ", 3);
            g_OutputControl.Servo1 = (Data * 200) / 256;
            Sent = 1;
        }
        else if (g_OutputControl.NextReceive.Servo2)
        {
            UARTSend("s2, ", 4);
            g_OutputControl.Servo2 = (Data * 200) / 256;
            //UARTSend("b", 1);
            Sent = 1;
        }

        ClearNext();

        if (!Sent)
        {
            if (Data == 'a')
            {
                g_OutputControl.NextReceive.Servo1 = 1;
                //UARTSend("A", 1);
            }
            else if (Data == 'b')
            {
                g_OutputControl.NextReceive.Servo2 = 1;
                //UARTSend("B", 1);
            }
            else if (Data == 'c')
            {
                g_OutputControl.NextReceive.Digital.A = 1;
            }
            // else if (Data == 'r')
            // {
            //     UARTSend("R", 1);;
            // }
        }

        CommitState();
        
        //
        // Blink the LED to show a character transfer is occuring.
        //
        //GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_PIN_4);
        
        //
        // Delay for 1 millisecond.  Each SysCtlDelay is about 3 clocks.
        //
        //SysCtlDelay(SysCtlClockGet() / (1000 * 3));
        
        //
        // Turn off the LED
        //
        //GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
        
    }
}

//*****************************************************************************
//
// This example demonstrates how to send a string of data to the UART.
//
//*****************************************************************************
int
main(void)
{
    // initialize crap
    g_OutputControl.Servo1 = 0;
    g_OutputControl.Servo2 = 0;
    g_OutputControl.Digital.A = 0;
    g_OutputControl.Digital.B = 0;
    g_OutputControl.Digital.C = 0;

    g_OutputControl.NextReceive.Servo1 = 0;
    g_OutputControl.NextReceive.Servo2 = 0;
    g_OutputControl.NextReceive.Digital.A = 0;
    g_OutputControl.NextReceive.Digital.B = 0;
    g_OutputControl.NextReceive.Digital.C = 0;

    //
    // Enable lazy stacking for interrupt handlers.  This allows floating-point
    // instructions to be used within interrupt handlers, but at the expense of
    // extra stack usage.
    //
    ROM_FPUEnable();
    ROM_FPULazyStackingEnable();

    //
    // Set the clocking to run directly from the crystal.
    //
    ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
                       SYSCTL_XTAL_16MHZ);

    //
    // Enable the GPIO port that is used for the on-board LED.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

    //
    // Enable the GPIO pins for the LED (PF2).  
    //
    ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_2);

    // digital
    ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_4);

    // servos (PA2, PA3)
    ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_2);
    ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);

    //
    // Enable the peripherals used by this example.

    //
    // Enable processor interrupts.
    //
    ROM_IntMasterEnable();

    //
    // Set GPIO A0 and A1 as UART pins.
    //
    GPIOPinConfigure(GPIO_PA0_U0RX);
    GPIOPinConfigure(GPIO_PA1_U0TX);
    ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);

    //
    // Configure the UART for 115,200, 8-N-1 operation.
    //
    ROM_UARTConfigSetExpClk(UART0_BASE, ROM_SysCtlClockGet(), 115200,
                            (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
                             UART_CONFIG_PAR_NONE));

    ROM_TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
    ROM_TimerLoadSet(TIMER0_BASE, TIMER_A, ROM_SysCtlClockGet() / 100000);

    //
    // Enable the UART interrupt.
    //
    ROM_IntEnable(INT_UART0);
    ROM_IntEnable(INT_TIMER0A);

    ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
    ROM_UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);

    ROM_TimerEnable(TIMER0_BASE, TIMER_A);

    //
    // Loop forever echoing data through the UART.
    //
    while(1)
    {
    }
}