#include <avr/io.h>
#include <stdio.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <string.h>
#include "GeneralSettings.h"
#include "uart.h"




// ###############################################
// UART COMMUNICATION

// general definition setting
uart_ready_flag = FALSE;


// UART initialization
void init_uart()
{
	// USART Initialization
	// USCSRB Register
	cli();	//that is needed essentially (turn of interrupts shortly)
	UCSRB = (0<<UCSZ2)|(1<<TXEN)|(1<<RXEN)|(1<<RXCIE);//|(1<<UDRIE);
	UCSRC = (1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0);
	// Need to be in line with the baudrate!
	// Baudrate: 2400 12 MHZ prozessor
	UBRRH = 0x01;
	UBRRL = 0x38;
	
	sei();	//that is needed essentially (turn on interrupts globally)
	// das UDR auslesen, falls daten drin sind und verwerfen
	do
    {
        UDR;
    }
    while (UCSRA & (1 << RXC));	//solange das receive bit gesetzt ist

}
// UART receive interrupt routine
ISR (USART_RXC_vect)
{
	// the UDR is read in number	
    uart_reading_ascii = UDR;
	// the ascii number will be converted to char
	uart_reading = (char) uart_reading_ascii;
	
	if ((uart_reading != '\r'))	/*as we are using the Carriage Return, the terminal program needs to end a transmission with CR to be detected */
	{
		uart_ready_flag = FALSE;
		// write the reading into the string array on the position of the counter
		uart_word[uart_counter] = uart_reading;
		// increase the counter (position of the string)
		uart_counter++;
	}
	else
	{
		
		// append a \0 to terminate the string
		uart_word[uart_counter] = '\0';
		// reset the counter
		uart_counter = 0;
		// show the main program that a string is available
		uart_ready_flag = TRUE;
		// check the reading
		//write_string(uart_word);
	}
	int data;
	switch(uart_reading)
	{
		
		case 'J':
			i2c_start();
			i2c_send_address_write(L3GD20_ADDRESS_WRITE);
			i2c_send_registry(L3GD20_OUT_TEMP);
			i2c_repeated_start();
			i2c_send_address_read(L3GD20_ADDRESS_READ);
			i2c_read_data();
			i2c_stop();
		break;
		
		case 'Q':
			i2c_start();
			i2c_send_address_write(L3GD20_ADDRESS_WRITE);
			i2c_send_registry(L3GD20_OUT_X_H);
			i2c_repeated_start();
			i2c_send_address_read(L3GD20_ADDRESS_READ);
			i2c_read_data();
			i2c_stop();
		break;
		
		case 'R':
			i2c_start();
			i2c_send_address_write(L3GD20_ADDRESS_WRITE);
			i2c_send_registry(L3GD20_CTRL_REG1);
			i2c_send_data(0x0F);
			i2c_stop();
		break;
		
		case 'S':
			i2c_start();
		break;
		
		case 'T':
			i2c_send_address_read(L3GD20_ADDRESS_READ);
		break;
		
		case 'U':
			i2c_send_address_write(L3GD20_ADDRESS_WRITE);
		break;
		
		case 'V':
			i2c_send_registry(L3GD20_OUT_TEMP);
		break;
		
		case 'X':
			i2c_stop();
		break;
		
		case 'Y':
			data = i2c_read_data();
			write_var_ln(data);
		break;
		
		case 'Z':
			i2c_repeated_start();
		break;
			
	}
	
}

// UART write char
extern void write_char(char *c)
{	
    while (!(UCSRA & (1<<UDRE)))  /* wait to send */
    {
    }
    
    UDR = c;                      /* Send char */
    	
}

// UART write string
extern void	write_string(char *s)
{
	while(*s)
	{
		write_char(*s);
		s++;
	}
	
}

// UART write string with carriage return and line feed
extern void write_string_ln(char *s)
{
	while(*s)
	{
		write_char(*s);
		s++;
	}
	write_string("\r\n");
}

// UART write signed Integer 16bit
extern void write_var(int16_t num)
{
	char k[7];			// define a byte
	itoa(num, k, 10);	// convert integer to asci -> decimal system
	write_string(k);	// send the byte
}

extern void write_var_ln(int16_t num)
{
		char k[7];			// define a byte
		itoa(num, k, 10);	// convert integer to asci -> decimal system
		write_string(k);	// send the byte
		write_string("\r\n");
}

// END UART
// ###########################################################