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/** University of York Robotics Laboratory PsiSwarm Library: Eprom Functions Source File
 *
 * Copyright 2017 University of York
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and limitations under the License.
 *
 * File: eprom.cpp
 *
 * (C) Dept. Electronics & Computer Science, University of York
 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
 *
 * PsiSwarm Library Version: 0.9
 *
 * June 2017
 *
 * Functions for accessing the 64Kb EPROM chip and reading the reserved firmware block
 *
 * Example:
 * @code
 * #include "psiswarm.h"
 *
 * int main() {
 *     init();
 *     eprom.write_eeprom_byte(0,0xDD);    //Writes byte 0xDD in EPROM address 0
 *     char c = eprom.read_eeprom_byte(0); //c will hold 0xDD
 *     //Valid address range is from 0 to 65279
 * }
 * @endcode
 */

#include "psiswarm.h"

/** Write a single byte to the EPROM
 *
 * @param address The address to store the data, range 0-65279
 * @param data The character to store
 */
void Eprom::write_eeprom_byte ( int address, char data )
{
    char write_array[3];
    if(address > 65279) {
        psi.debug("WARNING: Attempt to write to invalid EPROM address: %X",address);
    } else {
        write_array[0] = address / 256;
        write_array[1] = address % 256;
        write_array[2] = data;
        primary_i2c.write(EEPROM_ADDRESS, write_array, 3, false);
        //Takes 5ms to write a page: ideally this could be done with a timer or RTOS
        wait(0.005);
    }
}

/** Read a single byte from the EPROM
 *
 * @param address The address to read from, range 0-65279
 * @return The character stored at address
 */
char Eprom::read_eeprom_byte ( int address )
{
    char address_array [2];
    address_array[0] = address / 256;
    address_array[1] = address % 256;
    char data [1];
    primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false);
    primary_i2c.read(EEPROM_ADDRESS, data, 1, false);
    return data [0];
}

/** Read the next byte from the EPROM, to be called after read_eeprom_byte
 *
 * @return The character stored at address after the previous one read from
 */
char Eprom::read_next_eeprom_byte ()
{
    char data [1];
    primary_i2c.read(EEPROM_ADDRESS, data, 1, false);
    return data [0];
}

void Eprom::write_firmware_byte ( int address, char data ){
    char write_array[3];
    write_array[0] = 255;
    write_array[1] = address % 256;
    write_array[2] = data;
    primary_i2c.write(EEPROM_ADDRESS, write_array, 3, false);
    //Takes 5ms to write a page: ideally this could be done with a timer or RTOS
    wait(0.005);
}
  
    
char Eprom::read_firmware_byte ( int address ){
    char address_array [2];
    address_array[0] = 255;
    address_array[1] = address % 256;
    char data [1];
    primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false);
    primary_i2c.read(EEPROM_ADDRESS, data, 1, false);
    return data [0];
}

/** Read the data stored in the reserved firmware area of the EPROM
 *
 * @return 1 if a valid firmware is read, 0 otherwise
 */
char Eprom::read_firmware ()
{
    char address_array [2] = {255,0};
    primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false);
    primary_i2c.read(EEPROM_ADDRESS, firmware_bytes, 80, false);

    if(firmware_bytes[0] == PSI_BYTE) {
        // Parse firmware
        char firmware_string [8];
        sprintf(firmware_string,"%d.%d",firmware_bytes[9],firmware_bytes[10]);
        firmware_version = atof(firmware_string);
        char pcb_version_string [8];
        sprintf(pcb_version_string,"%d.%d",firmware_bytes[7],firmware_bytes[8]);
        pcb_version = atof(pcb_version_string);
        char serial_number_string [8];
        if(firmware_bytes[6] > 9) sprintf(serial_number_string,"%d.%d",firmware_bytes[5],firmware_bytes[6]);
        else sprintf(serial_number_string,"%d.0%d",firmware_bytes[5],firmware_bytes[6]);
        serial_number = atof(serial_number_string);
        has_compass = firmware_bytes[11];
        has_side_ir = firmware_bytes[12];
        has_base_ir = firmware_bytes[13];
        has_base_colour_sensor= firmware_bytes[14];
        has_top_colour_sensor= firmware_bytes[15];
        has_wheel_encoders= firmware_bytes[16];
        has_audio_pic= firmware_bytes[17];
        has_ultrasonic_sensor= firmware_bytes[18];
        has_temperature_sensor= firmware_bytes[19];
        has_recharging_circuit= firmware_bytes[20];
        has_433_radio= firmware_bytes[21];
        if(firmware_version > 1.0) {
            motor_calibration_set = firmware_bytes[22];
            if(motor_calibration_set == 1) {
                left_motor_calibration_value = (float) firmware_bytes[23] * 65536;
                left_motor_calibration_value += ((float) firmware_bytes[24] * 256);
                left_motor_calibration_value += firmware_bytes[25];
                left_motor_calibration_value /= 16777216;
                right_motor_calibration_value = (float) firmware_bytes[26] * 65536;
                right_motor_calibration_value += ((float) firmware_bytes[27] * 256);
                right_motor_calibration_value += firmware_bytes[28];
                right_motor_calibration_value /= 16777216;
            } else motor_calibration_set = 0;
        } else motor_calibration_set = 0;
        if(firmware_version > 1.1) {
            base_ir_calibration_set = firmware_bytes[29];
            if(base_ir_calibration_set == 1){
              int white_values[5];
              int black_values[5];
              for(int i=0;i<5;i++){
                  int k_val = i+i;
                  white_values[i] = (firmware_bytes[30 + k_val] << 8) + firmware_bytes[31 + k_val];
                  black_values[i] = (firmware_bytes[40 + k_val] << 8) + firmware_bytes[41 + k_val];  
              }
              sensors.IF_set_base_calibration_values(white_values[0], white_values[1], white_values[2], white_values[3], white_values[4], black_values[0], black_values[1], black_values[2], black_values[3], black_values[4]);
            }else base_ir_calibration_set = 0;
            base_colour_calibration_set = firmware_bytes[50];
            if(base_colour_calibration_set == 1){
                int white_values[4];
                int black_values[4];
                for(int i=0;i<4;i++){
                   int k_val = i+i;
                  white_values[i] = (firmware_bytes[51 + k_val] << 8) + firmware_bytes[52 + k_val];
                  black_values[i] = (firmware_bytes[59 + k_val] << 8) + firmware_bytes[60 + k_val];  
                }
                colour.set_calibration_values(black_values[0],black_values[1],black_values[2],black_values[3],white_values[0],white_values[1],white_values[2],white_values[3]);
            }else base_colour_calibration_set = 0;
        } else {
            base_ir_calibration_set = 0;
            base_colour_calibration_set = 0;
        }
        return 1;
    }
    return 0;
}

void Eprom::IF_write_base_ir_calibration_values(short white_values[5], short black_values[5]){
    //Set calibration_set byte [29] to 1
    write_firmware_byte(29,1);
    for(int i=0;i<5;i++){
       write_firmware_byte(30+i+i,(char) (white_values[i] >> 8));
       write_firmware_byte(31+i+i,(char) (white_values[i] && 0xFF));
    }
     for(int i=0;i<5;i++){
       write_firmware_byte(40+i+i,(char) (black_values[i] >> 8));
       write_firmware_byte(41+i+i,(char) (black_values[i] && 0xFF));
    }
    sensors.IF_set_base_calibration_values(white_values[0], white_values[1], white_values[2], white_values[3], white_values[4], black_values[0], black_values[1], black_values[2], black_values[3], black_values[4]);
}

void Eprom::IF_write_base_colour_calibration_values(int white_values[4], int black_values[4]){
    //Set calibration_set byte [50] to 1
    write_firmware_byte(50,1);
    for(int i=0;i<4;i++){
       write_firmware_byte(51+i+i,(char) (black_values[i] >> 8));
       write_firmware_byte(52+i+i,(char) (black_values[i] && 0xFF));
    }
     for(int i=0;i<4;i++){
       write_firmware_byte(59+i+i,(char) (white_values[i] >> 8));
       write_firmware_byte(60+i+i,(char) (white_values[i] && 0xFF));
    }
    colour.set_calibration_values(black_values[0],black_values[1],black_values[2],black_values[3],white_values[0],white_values[1],white_values[2],white_values[3]);
}


void Eprom::update_firmware(){
    psi.debug("\n\nPsiSwarm Firmware Writer\n___________________________________\nUpdating firmware to version %1.1f\n",TARGET_FIRMWARE_VERSION);
    display.clear_display();
    display.set_position(0,0);
    display.write_string("UPDATING");
    display.set_position(1,0);
    display.write_string("FIRMWARE");
    char fv_big = (char) TARGET_FIRMWARE_VERSION;
    char fv_small = (char) ((float) (TARGET_FIRMWARE_VERSION - fv_big) * 10.0f);
  
    wait(0.5);
    eprom.write_firmware(firmware_bytes[1], FD_CREATE_DAY, FD_CREATE_MONTH, FD_CREATE_YEAR, firmware_bytes[5], firmware_bytes[6], firmware_bytes[7], firmware_bytes[8],fv_big, 
                         fv_small, has_compass, has_side_ir, has_base_ir, has_base_colour_sensor, has_top_colour_sensor, has_wheel_encoders, has_audio_pic, has_ultrasonic_sensor, has_temperature_sensor, has_recharging_circuit, 
                         has_433_radio, motor_calibration_set, base_ir_calibration_set, base_colour_calibration_set);
}



void Eprom::write_string(char value){
    if(value==1) pc.printf("YES\n");
    else pc.printf("NO\n");   
}

void Eprom::write_firmware(char _flash_count, char _create_day, char _create_month, char _create_year, char _batch_number, char _serial_number, char _pcb_version_big, char _pcb_version_little, char _firmware_version_big, 
                           char _firmware_version_little, char _has_compass, char _has_side_ir, char _has_base_ir, char _has_base_colour_sensor, char _has_top_colour_sensor, char _has_encoders, char _has_audio_pic, char _has_ultrasonic,
                           char _has_temperature, char _has_recharging, char _has_433_radio, char _motor_calibration_set, char _base_ir_calibration_set, char _base_colour_calibration_set){
    psi.debug("Writing new firmware:\n");
    write_firmware_byte(0,PSI_BYTE);
    _flash_count ++;
    pc.printf("Flash Count: %d\n",_flash_count);
    write_firmware_byte(1,_flash_count);
    pc.printf("Flash Date: %d-%d-%d\n",_create_day,_create_month,_create_year);
    write_firmware_byte(2,_create_day);
    write_firmware_byte(3,_create_month);
    write_firmware_byte(4,_create_year);
    pc.printf("Serial Number: %d-%d\n",_batch_number,_serial_number);
    write_firmware_byte(5,_batch_number);
    write_firmware_byte(6,_serial_number);
    pc.printf("PCB Version: %d.%d\n",_pcb_version_big,_pcb_version_little);
    write_firmware_byte(7,_pcb_version_big);
    write_firmware_byte(8,_pcb_version_little);
    pc.printf("Firmware Version: %d.%d\n",_firmware_version_big,_firmware_version_little);
    write_firmware_byte(9,_firmware_version_big);
    write_firmware_byte(10,_firmware_version_little);
    pc.printf("Has Compass: ");
    write_string(_has_compass);
    write_firmware_byte(11,_has_compass);
    pc.printf("Has Side IR Sensors: ");
    write_string(_has_side_ir);
    write_firmware_byte(12,_has_side_ir);
    pc.printf("Has Base IR Sensors: ");
    write_string(_has_base_ir);
    write_firmware_byte(13,_has_base_ir);
    pc.printf("Has Base Colour Sensor: ");
    write_string(_has_base_colour_sensor);
    write_firmware_byte(14,_has_base_colour_sensor);
    pc.printf("Has Top Colour Sensor: ");
    write_string(_has_top_colour_sensor);
    write_firmware_byte(15,_has_top_colour_sensor);
    pc.printf("Has Wheel Encoders: ");
    write_string(_has_encoders);
    write_firmware_byte(16,_has_encoders);
    pc.printf("Has Audio PIC: ");
    write_string(_has_audio_pic);
    write_firmware_byte(17,_has_audio_pic);
    pc.printf("Has Ultrasonic Sensor: ");
    write_string(_has_ultrasonic);
    write_firmware_byte(18,_has_ultrasonic);
    pc.printf("Has Temperature Sensor: ");
    write_string(_has_temperature);
    write_firmware_byte(19,_has_temperature);
    pc.printf("Has Recharging Circuit: ");
    write_string(_has_recharging);
    write_firmware_byte(20,_has_recharging);
    pc.printf("Has 433MHz Radio: ");
    write_string(_has_433_radio);
    write_firmware_byte(21,_has_433_radio);
    pc.printf("Motor calibration set: ");
    write_string(_motor_calibration_set);
    write_firmware_byte(22,_motor_calibration_set);
    pc.printf("Base IR calibration set: ");
    write_string(_base_ir_calibration_set);
    write_firmware_byte(29,_base_ir_calibration_set);
    pc.printf("Base colour calibration set: ");
    write_string(_base_colour_calibration_set);
    write_firmware_byte(50,_base_colour_calibration_set);
    wait(0.2);
    pc.printf("_________________________________________\n");
    wait(0.2);
    pc.printf("VERIFYING FIRMWARE...\n");
    if(read_firmware_byte(0) == PSI_BYTE
    && read_firmware_byte(1) == _flash_count
    && read_firmware_byte(2) == _create_day
    && read_firmware_byte(3) == _create_month
    && read_firmware_byte(4) == _create_year
    && read_firmware_byte(5) == _batch_number
    && read_firmware_byte(6) == _serial_number
    && read_firmware_byte(7) == _pcb_version_big
    && read_firmware_byte(8) == _pcb_version_little
    && read_firmware_byte(9) == _firmware_version_big
    && read_firmware_byte(10) == _firmware_version_little
    && read_firmware_byte(11) == _has_compass
    && read_firmware_byte(12) == _has_side_ir
    && read_firmware_byte(13) == _has_base_ir
    && read_firmware_byte(14) == _has_base_colour_sensor
    && read_firmware_byte(15) == _has_top_colour_sensor
    && read_firmware_byte(16) == _has_encoders
    && read_firmware_byte(17) == _has_audio_pic
    && read_firmware_byte(18) == _has_ultrasonic
    && read_firmware_byte(19) == _has_temperature
    && read_firmware_byte(20) == _has_recharging
    && read_firmware_byte(21) == _has_433_radio
    && read_firmware_byte(22) == _motor_calibration_set
    && read_firmware_byte(29) == _base_ir_calibration_set
    && read_firmware_byte(50) == _base_colour_calibration_set

    ){
        pc.printf("Flash successful.\n");
        display.clear_display();
    display.set_position(0,0);
    display.write_string("FIRMWARE");
    display.set_position(1,0);
    display.write_string("UPDATED");
    }
    else {pc.printf("ERROR: Corrupt data. Flashing failed.\n");
    display.clear_display();
    display.set_position(0,0);
    display.write_string("UPDATE");
    display.set_position(1,0);
    display.write_string("FAILED");
    wait(1);
    }
    
    wait(0.5);
    psi.debug("\nResetting...\n");
    wait(0.2);
    mbed_reset();    
}



//PCB Features
#define HAS_COMPASS 0
#define HAS_SIDE_IR 1
#define HAS_BASE_IR 1
#define HAS_ULTRASONIC 1
#define HAS_BASE_COLOUR_SENSOR 1
#define HAS_TOP_COLOUR_SENSOR 0
#define HAS_ENCODERS 0
#define HAS_AUDIO_PIC 0
#define HAS_TEMPERATURE 1
#define HAS_RECHARGING 1
#define HAS_433_RADIO 0

//Calibration
#define MOTOR_CALIBRATION_SET 0