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/*
 * Project: S.Ha.R.K.
 *
 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>
 *
 * Authors     : Paolo Gai <pj@hartik.sssup.it>
 * (see authors.txt for full list of hartik's authors)
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://shark.sssup.it
 */

/*
 * Copyright (C) 2000 Paolo Gai
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

#include "servo.h"
#include <kernel/kern.h>
#include <drivers/scom.h>
#include <drivers/keyb.h>

/* COM Port Constants */
#define COM_PORT COM2
#define COM_SPEED 115200
#define COM_PARITY NONE
#define COM_LEN 8
#define COM_STOP 1

/* Real Servo Value */
#define TICK_ZERO       1600
#define TICK_ANG        (1800/180.0)
#define TICK_LEN        1.6
#define TICK_AL         ((float) TICK_ANG / TICK_LEN)

int init_serial()
{
        int err=0;
        err = servo_open(COM_PORT, COM_SPEED);
        //if (com_open(COM_PORT, COM_SPEED, COM_PARITY, COM_LEN, COM_STOP)==-1) err = 1;

        return err;
}

void end_serial()
{
        servo_close(COM_PORT);
        //com_close(COM_PORT);
}

TASK pic_generator()
{
        int angle = -90;
        int  n_tick;
        unsigned char buf, ech;

        while (1) {

                if (angle>90) angle = -90;

                servo_set_angle_sec(COM2, 0,ANGLE2SEC(angle,0,0));

                /*n_tick = TICK_AL * (signed char)angle;
                com_send(COM_PORT, 0);
                ech = com_receive(COM_PORT);

                buf = n_tick / 256;
                com_send(COM_PORT, buf);
                ech = com_receive(COM_PORT);

                buf = n_tick % 256;
                com_send(COM_PORT, buf);
                ech = com_receive(COM_PORT);*/


                angle += 5;

                task_endcycle();
        }
        return 0;
}


void endfun(KEY_EVT *k)
{
        cprintf("Ctrl-Brk pressed! Ending...\n");
        sys_end();
}

void my_close(void *arg)
{
        int i;
        TIME tmp;

        for (i=3; i<MAX_PROC; i++){
                if (!jet_getstat(i, NULL, &tmp, NULL, NULL))
                        kern_printf("Task Name : %s - Max Time  : %d\n", proc_table[i].name, (int)tmp);
        }

        end_serial();
}

int main(int argc, char **argv)
{
        KEY_EVT k;
        TIME seme;
        SOFT_TASK_MODEL mp;
        PID pid;

        k.flag = CNTR_BIT;
        k.scan = KEY_C;
        k.ascii = 'c';
        keyb_hook(k,endfun);

        k.flag = CNTL_BIT;
        k.scan = KEY_C;
        k.ascii = 'c';
        keyb_hook(k,endfun);

        seme = sys_gettime(NULL);
        srand(seme);

        sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);

        if (init_serial()) {
                perror("Could not initialize serial port.");
                sys_end();
        }

        soft_task_default_model(mp);
        soft_task_def_level(mp,1);
        soft_task_def_ctrl_jet(mp);
        soft_task_def_met(mp,700);
        soft_task_def_period(mp,10000);
        //soft_task_def_aperiodic(mp);
        soft_task_def_usemath(mp);
        pid = task_create("PIC_Generator", pic_generator, &mp, NULL);
        if (pid == NIL) {
                perror("Could not create task <Joystick>");
                sys_end();
        } else
                task_activate(pid);

        return 0;
}