/*---------------------------------------------------------------*
 * Automotive GPS logger                       (C)ChaN, 2014     *
 * Modified                                       k4be, 2022     *
 *---------------------------------------------------------------*/

#include "main.h"

/*FUSES = {0xFF, 0x11, 0xFE};*/		/* ATmega644PA fuses: Low, High, Extended.
This is the fuse settings for this project. The fuse bits will be included
in the output hex file with program code. However some old flash programmers
cannot load the fuse bits from hex file. If it is the case, remove this line
and use these values to program the fuse bits. */

volatile struct system_s System;
FATFS Fatfs;				/* File system object for each logical drive */
FIL gps_log;				/* File object */
FIL system_log;				/* System log file */
char Line[100];				/* Line buffer */
time_t utc;					/* current time */
struct location_s location;
struct auto_pause_s auto_pause;
volatile unsigned long int uptime_ms; /* milliseconds since MCU startup, for the system log */

/* Capture the reset cause before it is cleared by ioinit()/wdt_disable(),
 * and disable the watchdog immediately: otherwise a watchdog-triggered
 * reset with a short timeout could loop forever before main() re-enables it. */
volatile unsigned char reset_cause __attribute__((section(".noinit")));
void capture_reset_cause(void) __attribute__((naked, used, section(".init3")));
void capture_reset_cause(void) {
	reset_cause = MCUSR;
	MCUSR = 0;
	wdt_disable();
}

void start_bootloader(void) {
	typedef void (*do_reboot_t)(void);
	const do_reboot_t do_reboot = (do_reboot_t)((FLASHEND - 1023) >> 1);
	cli();
	uart1_deinit();
/*	close_files(0); // FIXME not working
	display_event(DISPLAY_EVENT_BOOTLOADER);*/
	LCD_Clear(); /* Do not call display.c here! */
	LCD_GoTo(0,0);
	LCD_WriteTextP(PSTR("Aktualizacja"));
	LCD_GoTo(8,1);
	LCD_WriteTextP(PSTR("softu..."));
	TCCR0A = TCCR1A = TCCR2A = 0; // make sure interrupts are off and timers are reset.
	do_reboot();
	wdt_enable(WDTO_15MS);
	while(1);
}

/*---------------------------------------------------------*/
/* 100Hz timer interrupt generated by OC1A                 */
/*---------------------------------------------------------*/

ISR(TIMER1_COMPA_vect)
{
	static WORD ivt_sync;
//	static BYTE led;
	static unsigned int power_sw;
	unsigned int *volatile ctimer;
	unsigned char i;
	unsigned char k;
	static unsigned char oldk;

	uptime_ms += 10; /* this ISR fires at 100Hz */

	for(i=0; i<sizeof(System.timers)/sizeof(unsigned int); i++){ // decrement every variable from timers struct unless it's already zero
		ctimer = ((unsigned int *)&System.timers) + i;
		if(*ctimer)
			(*ctimer)--;
	}

	/* Sync interval */
	if (IVT_SYNC && ++ivt_sync >= IVT_SYNC * 100) {
		ivt_sync = 0;
		FLAGS |= F_SYNC;
	}

	/* Green LED drive */
/*	if (FLAGS & F_POW) {
		if ((FLAGS & F_GPSOK) || (++led & 0x20)) {
			LEDG_ON();
		} else {
			LEDG_OFF();
		}
	} else {
		LEDG_OFF();
	}*/

	/* MMC/SD timer procedure */
	disk_timerproc();
	
	/* Switch off */
	if (POWER_SW_PRESSED()) {
		if (++power_sw == POWER_SW_TIME){
			FLAGS |= F_POWEROFF;
			power_sw++;
		}
		System.timers.backlight = ms(BACKLIGHT_TIME);
	} else {
		power_sw = 0;
	}
	
	if (uart1_test() && uart1_get() == '0' && uart1_get() == ' '){
		LEDB_ON();
		start_bootloader();
	}
	
	/* keyboard */
	k = ((~PIND) >> 4) & 0x0f;
	if (POWER_SW_PRESSED())
		k |= K_POWER;
	if (k && k != oldk) {
		System.keypress = k;
		oldk = k;
	}
	if (!k)
		oldk = 0;
}

unsigned char getkey(void) {
	unsigned char key = System.keypress;
	System.keypress = 0;
	return key;
}


/* Power supply monitor */
ISR(ADC_vect)
{
	float bat_volt;
	static unsigned int adc_buf;
	static unsigned char adc_cnt;
	static BYTE lvt;
	
	adc_buf += ADC;
	if(++adc_cnt < 15)
		return;

	bat_volt = (float)adc_buf/(float)(adc_cnt)/VI_MULT;
	adc_buf = 0;
	adc_cnt = 0;
	
	System.bat_volt = bat_volt;
	if (FLAGS & F_LVD) {
		if (bat_volt > VI_LVH) {
			FLAGS &= ~F_LVD;
			lvt = 0;
		}
	} else {
		if (bat_volt < VI_LVL) {
			if (++lvt >= 3)
				FLAGS |= F_LVD;
		} else {
			lvt = 0;
		}
	}
}

void sleep(void) {
	set_sleep_mode(SLEEP_MODE_IDLE);
	sleep_enable();
	sleep_cpu();
	sleep_disable();
}

/*--------------------------------------------------------------------------*/
/* Controls                                                                 */

void beep (UINT len, BYTE cnt)
{
	while (cnt--) {
		BEEP_ON();
		set_timer(beep, len);
		while(!timer_expired(beep)) {};
		BEEP_OFF();
		set_timer(beep, len);
		while(!timer_expired(beep)) {};
	}
}

#define LOG_SIZE	300

struct {
	char buf[LOG_SIZE+1];
	unsigned int len;
} logbuf;

void log_put(int c){
	UINT bw;
	if (System.conf.uart_log_mode != UART_LOG_MODE_NMEA)
		uart1_put(c);
	logbuf.buf[logbuf.len++] = c;
	if (logbuf.len >= LOG_SIZE && (FLAGS & F_FILEOPEN)) {
		if(!f_write(&system_log, logbuf.buf, logbuf.len, &bw))
			logbuf.len = 0;
	}
	if (logbuf.len > LOG_SIZE) {
		logbuf.len--;
	}
}

static
void ioinit (void)
{
	wdt_enable(WDTO_4S);
    MCUSR = 0;
	POWER_ON_DDR |= POWER_ON;
	PORTA |= POWER_ON;
	
	BUZZER_DDR |= BUZZER;
	GPS_OFF();
	GPS_DIS_DDR |= GPS_DIS;
	LEDR_DDR |= LEDR;

	OCR1A = F_CPU/8/100-1;		/* Timer1: 100Hz interval (OC1A) */
	TCCR1B = _BV(WGM12) | _BV(CS11);
	TIMSK1 = _BV(OCIE1A);		/* Enable TC1.oca interrupt */

	/* ADC */
//	ADMUX = 0;
	ADMUX = 1; // FIXME only testing battery voltage
	ADCSRA = _BV(ADEN)|_BV(ADATE)|_BV(ADIE)|_BV(ADPS2)|_BV(ADPS1)|_BV(ADPS0);
	
	/* uart1 (debug) */	
	uart1_init();
	
	I2C_init();
	expander_init(0, 0x00, 0x00); /* all as outputs */
	
	LCD_Initialize();
	LCD_Clear();

	LCD_GoTo(0,0);

	wdt_reset();

	sei();
	
	ADCSRA |= _BV(ADSC);
	
	/* unused pins */
	DDRA |= _BV(PA2) | _BV(PA4) | _BV(PA5);
	PRR0 |= _BV(PRTIM2) | _BV(PRTIM0);
	ACSR = _BV(ACD);		/* Disable analog comp */
}

void close_files(unsigned char flush_logs) {
	UINT bw;
	if (FLAGS & F_FILEOPEN) {
		if (flush_logs)
			log_session_summary(1);
		if (f_close(&gps_log)) {
			System.status = STATUS_FILE_CLOSE_ERROR;
			System.global_error |= ERROR_FILE_CLOSE;
		}
		if (gpx_close(&gpx_file)) {
			System.status = STATUS_FILE_CLOSE_ERROR;
			System.global_error |= ERROR_FILE_CLOSE;
		}
		if (flush_logs && logbuf.len && !f_write(&system_log, logbuf.buf, logbuf.len, &bw)) {
			logbuf.len = 0;
		}
		if (f_close(&system_log)) {
			System.status = STATUS_FILE_CLOSE_ERROR;
			System.global_error |= ERROR_FILE_CLOSE;
		}
		xputs_P(PSTR("File closed\r\n"));
		display_event(DISPLAY_EVENT_FILE_CLOSED);
	}
	FLAGS &= ~F_FILEOPEN;
	disk_ioctl(0, CTRL_POWER, 0);
}

static inline void auto_unpause(void) {
	if (!System.tracking_auto_paused)
		return;
	System.tracking_auto_paused = 0;
	log_pause_event(0);
	beep(50, 4);
}

static inline void auto_pause_activate(void) {
	System.tracking_auto_paused = 1;
	log_pause_event(1);
	beep(50, 3);
}

static inline void auto_pause_process(void) {
	if (System.tracking_paused || !get_flag(CONFFLAG_AUTO_PAUSE)) { /* remove auto-pause */
		System.tracking_auto_paused = 0;
		auto_pause.prev_distance = System.distance;
		auto_pause.point_counter = 0;
		auto_pause.speed_counter = 0;
		return;
	}
	if (System.speed >= System.conf.auto_pause_speed) { /* unpause when set speed is exceeded for 3 consecutive measurements */
		if (++auto_pause.speed_counter >= 3) {
			auto_pause.point_counter = 0;
			auto_pause.speed_counter = 0;
			auto_unpause();
			return;
		}
	} else {
		auto_pause.speed_counter = 0;
	}
	if (++auto_pause.point_counter < System.conf.auto_pause_time)
		return;
	auto_pause.point_counter = 0;
	if ((System.distance - auto_pause.prev_distance)/100 > System.conf.auto_pause_dist) {
		if (System.tracking_auto_paused)
			auto_unpause(); /* unpause when distance exceeded */
	} else {
		if (!System.tracking_auto_paused)
			auto_pause_activate(); /* pause otherwise */
	}
	auto_pause.prev_distance = System.distance;
}

void reset_counters(void) {
	System.distance = 0;
	System.elevation_gain = 0;
	System.elevation_loss = 0;
	System.elevation_gain_raw = 0;
	System.elevation_loss_raw = 0;
	System.alt_max = 0;
	System.speed_accum_x100 = 0;
	System.speed_sample_count = 0;
	System.points_written = 0;
	System.rejected_count = 0;
	System.bat_volt_min = 99.0;
	System.time_start = 0;
	System.current_pause_start = 0;
	System.pause_time = 0;
}

unsigned int get_avg_speed_x100(void) {
	if (!System.speed_sample_count)
		return 0;
	return System.speed_accum_x100 / System.speed_sample_count;
}

time_t get_pause_time(void) {
	time_t res = System.pause_time;
	if (System.current_pause_start < System.time_start)
		System.current_pause_start = System.time_start; /* disallow negative pause time */
	if (is_paused() && System.current_pause_start)
		res += utc - System.current_pause_start;
	return res;
}

unsigned int get_logging_time(void) {
	if (!utc || !System.time_start)
		return 0;
	return utc - System.time_start - get_pause_time();
}

__flash const char __open_msg[] = "Open %s\r\n";

/*-----------------------------------------------------------------------*/
/* Main                                                                  */
/*-----------------------------------------------------------------------*/

int main (void)
{
	UINT bw, len;
	time_t tmp_utc, localtime;
	FRESULT res;
	unsigned char prev_status;
	unsigned char already_logging = 0;
	static unsigned char fix_ok_prev = 0;
	static unsigned char sbas_prev = 0xFF; /* 0xFF: not yet known, suppress the first (non-)transition */
	static unsigned long int last_summary_uptime = 0;

	ioinit();
	xdev_out(log_put);
	xputs_P(PSTR("STARTUP\r\n"));
	disp_init();
	display_event(DISPLAY_EVENT_STARTUP);
	settings_load();
	reset_counters();
	log_boot_record();

	menu_push(default_menu);

	for (;;) {
		wdt_reset();
		if (FLAGS & (F_POWEROFF | F_LVD)) {
			xputs_P(PSTR("POWEROFF\r\n"));
			display_event(DISPLAY_EVENT_POWEROFF);
			if (FLAGS & F_LVD) {
				display_event(DISPLAY_EVENT_LOW_BATTERY);
				_delay_ms(500);
			}
			POWEROFF();
			while (POWER_SW_PRESSED());
			_delay_ms(2000); /* wait for switch off */
			FLAGS &= ~F_POWEROFF; /* restart if power is not lost */
			POWERON();
			xputs_P(PSTR("RESTART\r\n"));
		}

		display_event(DISPLAY_EVENT_INITIALIZED);
		log_loop_status(System.status);
		utc = 0;
		localtime = 0;
		prev_status = System.status;
		System.status = STATUS_NO_POWER;

		beep(250, prev_status);	/* Error beep */

		/* Wait for supply voltage stabled */
		_delay_ms(500);
		if (FLAGS & F_LVD)
			continue;

		/* report error here ( prev_status) */

		if (disk_status(0) & STA_NODISK) {
			System.status = STATUS_NO_DISK;
			continue;
		}

		res = f_mount(&Fatfs, "", 1);
		if (res != FR_OK) {
			xprintf(PSTR("FS error %u\r\n"), res);
			System.status = STATUS_DISK_ERROR;
			System.global_error |= ERROR_DISK;
			continue;
		}
		System.status = STATUS_NO_GPS;
		xputs(PSTR("FS Ok\r\n"));
		display_event(DISPLAY_EVENT_CARD_INITIALIZED);
		beep(50, 1);				/* 1 beep */

		/* Initialize GPS receiver */
		GPS_ON();		/* GPS power on */
		FLAGS |= F_POW;
		_delay_ms(1);
		uart0_init();	/* Enable UART */
		_delay_ms(300);	/* Delay */
		System.gps_initialized = 0;
		gps_powered_on();


		if (!already_logging && !get_flag(CONFFLAG_LOGGING_AFTER_BOOT)) {
			tracking_pause(TRACKING_PAUSE_CMD_PAUSE, 0);
		}

		for (;;) { /* main loop */
			wdt_reset();
			gettemp();

			/* Check temperature sensor after initialization */
			if ((FLAGS & F_GPSOK) && !System.temperature_ok) {
				System.global_error |= ERROR_TEMPERATURE;
			}

			menu();
			check_error_and_jump();
			display_refresh(0);
			if (no_menu())
				menu_push(default_menu); /* returned from top-level */

			if (System.timers.backlight)
				LEDW_ON();
			else
				LEDW_OFF();

			len = get_line(Line, sizeof Line);	/* Receive a line from GPS receiver */
			if (!len){
				if (FLAGS & (F_LVD | F_POWEROFF))
					break; /* brownout */
				continue;
			}

			tmp_utc = gps_parse(Line);
			if (tmp_utc) {
				localtime = tmp_utc + local_time_diff(tmp_utc) * 3600L;	/* Local time */
				LEDG_ON();
				_delay_ms(2);
				LEDG_OFF();
			}

			/* Battery low-water mark, for the session summary */
			if (System.bat_volt > 0 && System.bat_volt < System.bat_volt_min)
				System.bat_volt_min = System.bat_volt;

			/* Fix acquired/lost events (a "fix" requires both a valid GPS status and enough satellites) */
			{
				unsigned char fix_ok_now = (FLAGS & F_GPSOK) && !System.sat_count_low;
				if (fix_ok_now != fix_ok_prev) {
					if (fix_ok_now)
						log_fix_event();
					else
						log_fix_lost();
					fix_ok_prev = fix_ok_now;
				}
			}

			/* SBAS/DGPS on-off transitions */
			if (System.sbas != sbas_prev) {
				if (sbas_prev != 0xFF)
					log_sbas_transition();
				sbas_prev = System.sbas;
			}

			if (timer_expired(status_log)) {
				set_timer(status_log, 60000);
				log_status_line();
			}

			if (get_uptime_ms() - last_summary_uptime >= 3600000UL) {
				last_summary_uptime = get_uptime_ms();
				log_session_summary(0);
			}

			if (FLAGS & F_FILEOPEN) {
				f_write(&gps_log, Line, len-1, &bw);
				if (bw != len-1) {
					System.status = STATUS_FILE_WRITE_ERROR;
					System.global_error |= ERROR_FILE_WRITE;
					break;
				}
				if (System.location_valid == LOC_VALID_NEW) { /* a new point */
					gpx_process_point(&location, &gpx_file);
					auto_pause_process();				
				}
				wdt_reset();
				if (FLAGS & F_SYNC) {
					if (f_sync(&gps_log)) {
						System.status = STATUS_FILE_SYNC_ERROR;
						System.global_error |= ERROR_FILE_SYNC;
						break;
					}
					FLAGS &= ~F_SYNC;
				}
				if (System.open_new_file) {
					close_files(1);
					System.open_new_file = 0;
					if (!System.tracking_paused)
						tracking_pause(TRACKING_PAUSE_CMD_PAUSE, 0);
					if (get_flag(CONFFLAG_RESET_ON_NEW_FILE))
						reset_counters();
				}
				if (!System.tracking_paused)
					already_logging = 1; /* to avoid pausing on any reset caused by some error */
			}
			if (System.location_valid == LOC_VALID_NEW) {
				System.location_valid = LOC_VALID;
			}

			if (localtime && !(FLAGS & F_FILEOPEN)) {
				char *time = get_iso_time(utc, 1);
				iso_time_to_filename(time);
				xsprintf(Line, PSTR("%s-NMEA.LOG"), time);
				xprintf(__open_msg, Line);
				wdt_disable();
				if (f_open(&gps_log, Line, FA_WRITE | FA_OPEN_ALWAYS)		/* Open log file */
					|| f_lseek(&gps_log, f_size(&gps_log)) 					/* Append mode */
					|| f_write(&gps_log, "\r\n", 2, &bw))					/* Put a blank line as start marker */
				{
					System.status = STATUS_FILE_OPEN_ERROR;
					System.global_error |= ERROR_FILE_OPEN;
					break;	/* Failed to start logging */
				}

				xsprintf(Line, PSTR("%s.GPX"), time);
				xprintf(__open_msg, Line);
				if (f_open(&gpx_file, Line, FA_WRITE | FA_OPEN_ALWAYS)		/* Open log file */
					|| f_lseek(&gpx_file, f_size(&gpx_file)) 				/* Append mode */
					|| gpx_init(&gpx_file))									/* Put a blank line as start marker */
				{
					f_close(&gpx_file);
					System.status = STATUS_FILE_OPEN_ERROR;
					System.global_error |= ERROR_FILE_OPEN;
					break;	/* Failed to start logging */
				}

				xsprintf(Line, PSTR("%s-SYSTEM.LOG"), time);
				xprintf(__open_msg, Line);
				if (f_open(&system_log, Line, FA_WRITE | FA_OPEN_ALWAYS)	/* Open log file */
					|| f_lseek(&system_log, f_size(&system_log)) 			/* Append mode */
					|| f_write(&system_log, "\r\n", 2, &bw))				/* Put a blank line as start marker */
				{
					f_close(&gpx_file);
					f_close(&gps_log);
					System.status = STATUS_FILE_OPEN_ERROR;
					System.global_error |= ERROR_FILE_OPEN;
					break;	/* Failed to start logging */
				}
				wdt_enable(WDTO_4S);
				FLAGS |= F_FILEOPEN;
				System.status = STATUS_OK;
				set_timer(status_log, 60000);
				last_summary_uptime = get_uptime_ms();
				beep(50, System.tracking_paused?8:2);		/* Two beeps. Start logging. */
				display_event(DISPLAY_EVENT_FILE_OPEN);
				continue;
			}
		}
		
		wdt_enable(WDTO_4S);

		/* Stop GPS receiver */
		uart0_deinit();
		GPS_OFF();
		FLAGS &= ~F_POW;

		/* Close file */
		close_files(1);
		if (System.status != STATUS_FILE_CLOSE_ERROR)
			beep(500, 1);	/* Long beep on file close succeeded */
		
		settings_store(); /* save eeprom data */
	}

}