#include "common.h"

#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <util/delay.h>
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>

#include "i2c.h"
#include "uart.h"
#include "timer.h"
#include "gyro.h"
#include "accel.h"
#include "speaker.h"
#include "pwm.h"

static void cpuInit () {
	/* enter change prescaler mode */
	CLKPR = (1 << CLKPCE);
	/* write new prescaler */
#if F_CPU == 1000000
	CLKPR = 0b00000011;
#elif F_CPU == 4000000
	CLKPR = 0b00000001;
#elif F_CPU == 8000000
	CLKPR = 0b00000000;
#else
#error "cpu speed not supported"
#endif
}

int main () {
	cpuInit ();
	twInit ();
	uartInit ();
	gyroInit ();
	accelInit ();
	speakerInit ();
	pwmInit ();
	set_sleep_mode (SLEEP_MODE_IDLE);

	printf ("initialization done\n");

	/* global interrupt enable */
	sei ();
	gyroStart ();
	accelStart ();
	pwmStart ();

#if 0
	speakerStart ();
	_delay_ms (200);
	speakerStop ();
#endif

	timerStart ();
	bool checkGyro = false;
	while (1) {
		while (!timerHit ()) {
			for (uint8_t i = 0; i < 6; i++) {
				pwmSetBrightness (i, abs (gyroGetZTicks ()));
			}

			/* round-robin to prevent starvation */
			if (checkGyro) {
				gyroProcess ();
				accelProcess();
			} else {
				accelProcess ();
				gyroProcess ();
			}
			checkGyro = !checkGyro;
			sleep_enable ();
			sleep_cpu ();
			sleep_disable ();
		}

		printf ("t=%i, h=%i, s=%i\n", gyroGetZTicks (), accelGetHorizon (),
				accelGetShakeCount ());
#if 0
		volatile const int32_t *gyroval = gyroGetAccum ();
		volatile const int16_t *gyroraw = gyroGetRaw ();
		volatile const int8_t *accelval = accelGet ();
		printf ("%li/%li/%li - %i/%i/%i - %i/%i/%i\n",
				gyroval[0], gyroval[1], gyroval[2],
				gyroraw[0], gyroraw[1], gyroraw[2],
				accelval[1], accelval[3], accelval[5]);
#endif
	}
	timerStop ();
	pwmStop ();

	printf ("stopped\n");

	/* global interrupt disable */
	cli ();

	while (1);
}