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/* FXOS8700Q Example Program
 * Copyright (c) 2014-2015 ARM Limited
 *
 * 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.
 */

#include "mbed.h"
#include "FXOS8700Q.h"

Serial pc(USBTX, USBRX);
DigitalOut led_red(LED_RED);
DigitalOut led_green(LED_GREEN);
DigitalIn sw2(SW2);
DigitalIn sw3(SW3);

Ticker tick;
Timer t;
I2C i2c(PTE25, PTE24);
//FXOS8700Q fxos(i2c, FXOS8700CQ_SLAVE_ADDR1);
FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
//FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR0);    // Configured for use with the FRDM-MULTI shield
//FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR0);

static char sw2_debounce = 0;
static char sw3_debounce = 0;
static char sysEnable = 0;

void check_sw2(void)
{
    if (sw2 == 0) {
        sw2_debounce = 1;
        }
    else if((sw2_debounce == 1)&&(sw2 == 1))
    {
        sw2_debounce = 0;
        sysEnable = 1;
        pc.printf("SW2 button pressed SYSTEM : Enable. \n");
        led_red = 1;
        led_green = 0;
        
        acc.enable();
        mag.enable();
        pc.printf("FXOS8700QAccelerometer Who Am I= %X\r\n", acc.whoAmI());
        pc.printf("FXOS8700QMagnetometer Who Am I= %X\r\n", acc.whoAmI());
    }
}

void check_sw3(void)
{
    if (sw3 == 0) {
        sw3_debounce = 1;
        }
    else if((sw3_debounce == 1)&&(sw3 == 1))
    {
        sw3_debounce = 0;
        sysEnable = 0;
        pc.printf("SW3 button pressed SYSTEM : Disable. \n");
        led_red = 0;
        led_green = 0;
        
        acc.disable();
        mag.disable();
        pc.printf("FXOS8700QAccelerometer Who Am I= %X\r\n", acc.whoAmI());
        pc.printf("FXOS8700QMagnetometer Who Am I= %X\r\n", acc.whoAmI());

    }
}


motion_data_units_t motion_Data(void)
{
    motion_data_units_t acc_data, mag_data;
    motion_data_counts_t acc_raw, mag_raw;
    float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
    int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;

    //while (true) {
        // counts based results
        acc.getAxis(acc_raw);
        mag.getAxis(mag_raw);
        pc.printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", acc_raw.x, acc_raw.y, acc_raw.z, mag_raw.x, mag_raw.y, mag_raw.z);
        acc.getX(raX);
        acc.getY(raY);
        acc.getZ(raZ);
        mag.getX(rmX);
        mag.getY(rmY);
        mag.getZ(rmZ);
        pc.printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", raX, raY, raZ, rmX, rmY, rmZ);
        pc.printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", acc.getX(tmp_int), acc.getY(tmp_int), acc.getZ(tmp_int), mag.getX(tmp_int), mag.getY(tmp_int), mag.getZ(tmp_int));
        // unit based results
        acc.getAxis(acc_data);
        mag.getAxis(mag_data);
        pc.printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", acc_data.x, acc_data.y, acc_data.z, mag_data.x, mag_data.y, mag_data.z);
        acc.getX(faX);
        acc.getY(faY);
        acc.getZ(faZ);
        mag.getX(fmX);
        mag.getY(fmY);
        mag.getZ(fmZ);
        pc.printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", faX, faY, faZ, fmX, fmY, fmZ);
        pc.printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", acc.getX(tmp_float), acc.getY(tmp_float), acc.getZ(tmp_float), mag.getX(tmp_float), mag.getY(tmp_float), mag.getZ(tmp_float));
        //wait(5.0f);
        
        return(acc_data);
    //}
}
static float lastmotiondetect;
void flip()
{
    float currenttime = t.read();
    float timeDiff = lastmotiondetect - currenttime;
    if(timeDiff > 1.0)
    {
        led_red = 1;
        led_green = 0;
        }
}

void blink_GreenLED()
{
        led_red = 0;
        led_green = 1;
        wait(0.1);
        led_red = 0;
        led_green = 0;
    }

int checkData(motion_data_units_t cur, motion_data_units_t prev)
{
    if((cur.x == prev.x)  ||(cur.y == prev.y) ||(cur.z == prev.z))
    {
        return 0;
        }
        else 
        {
            blink_GreenLED();
            return 1;
            }
    }
int main(void)
{
    char motiondetect;
    pc.baud(115200);
    pc.printf("Hello from FRDM-K64F board.\n");
    tick.attach(&flip, 1.0); 
    t.start();
    static motion_data_units_t currentData, previousData;
    
    while(1)
    {
        check_sw2();
        check_sw3();
        if(sysEnable == 1)
        {
            currentData = motion_Data();
            motiondetect = checkData(currentData, previousData);
            if(motiondetect == 1)
            {
                lastmotiondetect = t.read();
                }
            //wait(0.2);
        }
    }
        
    
}