/*
 * Sunseeker Telemetry 2021
 *
* Last modified May 2021 by B. Bazuin
 *
 * Main CLK     :  MCLK  = XT2     = 20 MHz
 * Sub-Main CLK :  SMCLK = XT2/2   = 10  MHz
 * Aux CLK      :  ACLK  = XT1     = 32.768 kHz
 *
 */

#ifndef SUNSEEKER2021_H_
#define SUNSEEKER2021_H_

#include <msp430x54xa.h>
#include <stdio.h>
#include <stdlib.h>
#include <msp430x54xa.h>
#include <ctype.h>
#include <string.h>
#include <math.h>
#include <float.h>


void clock_init(void);
void timerB_init(void);
void io_init(void);

static inline void delay(void)
{
  volatile int jj;
  volatile int ii;
  for (ii = 0; ii < 4; ii++)
  {
    for (jj = 0; jj < 1000; jj++)
    {
      asm(" nop"); //The space is necessary or else the assember things nop is a label!
    }
  }
}

// Event timing
#define SMCLK_RATE		10000000	// Hz
#define ACLK_RATE		32768	// Hz
#define TICK_RATE		16		// Hz
#define TELEM_STATUS_COUNT	16			// Number of ticks per event:  5 sec
#define HS_COMMS_SPEED		16*5			// Number of ticks per event:  5 sec
#define LS_COMMS_SPEED		16*10			// Number of ticks per event: 15 sec
#define ST_COMMS_SPEED		16*20			// Number of ticks per event: 60 sec

// Constant Definitions
#define	TRUE				1
#define FALSE				0

#ifndef MODEM_BR1
#define MODEM_BR1 9600
#define MODEM_UCBRS1 0x04 // 2*ROUND(SMCLK_RATE/MODEM_BR-INT(SMCLK_RATE/MODEM_BR))*8
#endif

#ifndef MODEM_BR2
#define MODEM_BR2 115200
#define MODEM_UCBRS2 0x0A // 2*ROUND(SMCLK_RATE/MODEM_BR-INT(SMCLK_RATE/MODEM_BR))*8
#endif

#ifndef USB_BR
#define USB_BR 9600
#define USB_UCBRS 0x04 // 2*ROUND(SMCLK_RATE/UART_BR-INT(SMCLK_RATE/UART_BR))*8
#endif

#ifndef UART_BR
#define UART_BR 19200
#define UART_UCBRS 0x0D // 2*ROUND(SMCLK_RATE/UART_BR-INT(SMCLK_RATE/UART_BR))*8
#endif

#include "UART.h"
#include "MODEM.h"
#include "SPI.h"
#include "PACKET.h" //order important
#include "char_FIFO.h"
#include "message_FIFO.h"
#include "CAN.h"
#include "RTC.h"

/******************** Pin Definitions *************************/

// PORT 1
#define P10		      		0x01
#define P11			    	0x02
#define P12					0x04
#define P13 				0x08
#define P14	  		    	0x10
#define P15		        	0x20
#define RTC_MFP				0x40
#define IMU_INTn	    	0x80
#define P1_UNUSED			0x01 | 0x02 | 0x04 | 0x08 | 0x10 | 0x20

// PORT 2
#define CAN0_INTn			0x01
#define CAN0_RXB0n			0x02
#define CAN0_RXB1n			0x04
#define CAN1_INTn			0x08
#define CAN1_RXB0n			0x10
#define CAN1_RXB1n			0x20
#define GPS_INTn			0x40
#define P27	 				0x80
#define P2_UNUSED			0x80

// PORT 3
#define CAN0_SCLK		    0x01
#define SDC_SIMO			0x02
#define SDC_SOMI			0x04
#define SDC_SCLK			0x08
#define CAN0_MOSI		    0x10
#define CAN0_MISO		    0x20
#define CAN1_CLK		    0x40
#define IMU_SDA		        0x80
#define P3_UNUSED			0x00

// PORT 4
#define CAN0_RSTn			0x01
#define CAN0_CSn			0x02
#define CAN1_RSTn			0x04
#define CAN1_CSn			0x08
#define SDC_WPn				0x10
#define SDC_CDn				0x20
#define P46					0x40
#define P47				    0x80
#define P4_UNUSED			0x40 | 0x80

// PORT 5
#define P50					0x01
#define P51					0x02
#define XT2IN				0x04
#define XT2OUT				0x08
#define IMU_SCL		        0x10
#define P55				    0x20
#define CAN1_MOSI	        0x40
#define CAN1_MISO		    0x80
#define P5_UNUSED			0x01 | 0x02 | 0x20

// PORT 6
#define P60					0x01
#define P61			 		0x02
#define P62					0x04
#define P63					0x08
#define P64					0x10
#define P65					0x20
#define P66					0x40
#define P67				    0x80
#define P6_UNUSED			0x01 | 0x02 | 0x04 | 0x08 | 0x10 | 0x20 | 0x40 | 0x80

// PORT 7
#define XT1IN				0x01
#define XT1OUT				0x02
#define P72					0x04
#define P73					0x08
#define P74					0x10
#define P75					0x20
#define P76					0x40
#define P77					0x80
#define P7_UNUSED			0x04 | 0x08 | 0x10 | 0x20 | 0x40 | 0x80

// PORT 8
#define P80				    0x01
#define P81			    	0x02
#define P82			        0x04
#define LEDG				0x08
#define LEDR				0x10
#define LEDY0		    	0x20
#define LEDY1		    	0x40
#define Button0			    0x80
#define P8_UNUSED			0x01 | 0x02 | 0x04

// PORT 9
#define P90					0x01
#define RTC_SDA				0x02
#define RTC_SCL				0x04
#define P93					0x08
#define USB_TX			0x10
#define USB_RX			0x20
#define SDC_CSn				    0x40
#define GPS_CSn				    0x80
#define P9_UNUSED			0x40 | 0x80

// PORT 10
#define BT_CSn				0x01
#define BT_MOSI				0x02
#define BT_MISO				0x04
#define BT_SCLK				0x08
#define UART_TX				0x10
#define UART_RX				0x20
#define BT_EN				0x40
#define P107     			0x80
#define P10_UNUSED			0x80

// PORT 11
#define ACLK_TEST			0x01
#define MCLK_TEST			0x02
#define SMCLK_TEST		   	0x04

// PORT J
#define JTAG_TDO			0x01
#define JTAG_TDI			0x02
#define JTAG_TMS			0x04
#define JTAG_TCK			0x08

// Motor controller CAN base address and packet offsets
#define	MC_CAN_BASE1		0x400		// High = CAN1_SERIAL Number        Low = 0x00004003                    P=1s
#define	MC_CAN_BASE2		0x420		// High = CAN1_SERIAL Number        Low = 0x00004003                    P=1s
#define MC_LIMITS			0x01		// High = CAN_Err,Active Motor      Low = Error & Limit flags           P=200ms
#define	MC_BUS				0x02		// High = Bus Current               Low = Bus Voltage                   P=200ms
#define MC_VELOCITY			0x03		// High = Velocity (m/s)            Low = Velocity (rpm)                P=200ms
#define MC_PHASE			0x04		// High = Phase C Current           Low = Phase B Current               P=200ms
#define MC_V_VECTOR			0x05		// High = Vd vector                 Low = Vq vector                     P=200ms
#define MC_I_VECTOR			0x06		// High = Id vector                 Low = Iq vector                     P=200ms
#define MC_BEMF_VECTOR	    0x07		// High = BEMFd vector              Low = BEMFq vector                  P=200ms
#define MC_RAIL1			0x08		// High = 15V                       Low = Reserved                      P=1s
#define MC_RAIL2			0x09		// High = 3.3V                      Low = 1.9V                          P=1s
//#define MC_FAN		    0x0A		// High = Reserved                  Low = Reserved                      P=
#define MC_TEMP1			0x0B		// High = Heatsink Temp (case)      Low = Motor Temp (internal)         P=1s
#define MC_TEMP2			0x0C		// High = Reserved                  Low = DSP Temp                      P=1s
//#define MC_TEMP3			0x0D		// High = Outlet Temp               Low = Capacitor Temp                P=
#define MC_CUMULATIVE	    0x0E		// High = DC Bus AmpHours (A-Hr)    Low = Odometer  (m)                 P=1s
#define MC_SLIPSPEED	    0x17		// High = Slip Speed (Hz       )    Low = Reserved                      P=200ms

// Driver controls CAN base address and packet offsets
#define DC_CAN_BASE			0x500		// High = CAN1_SERIAL Number        Low = "TRIb" string                 P=1s
#define DC_DRIVE			0x01		// High = Motor Current Setpoint    Low = Motor Velocity Setpoint       P=100ms
#define DC_POWER			0x02		// High = Bus Current Setpoint      Low = Unused                        P=100ms
#define DC_RESET			0x03		// High = Unused                    Low = Unused                        P=
#define DC_SWITCH			0x04		// High = Switch position           Low = Switch state change           P=100ms

//Battery Protection System base address and packet offsets
#define BP_CAN_BASE			0x580		// High = "BPV1" string or nulls    Low = CAN1_SERIAL Number            P=10s
#define BP_VMAX			    0x01		// High = Max. Voltage Value        Low = Max. Voltage Cell Num.        P=10s
#define BP_VMIN 			0x02		// High = Min. Voltage Value	    Low = Min. Voltage Cell Num.        P=10s
#define BP_TMAX			    0x03		// High = Max. Temperature		    Low = Max. Temperature Cell         P=10s
#define BP_PCDONE		    0x04		// High = "BPV2" or "0000" string	Low = CAN1_SERIAL Number			P=When Ready
#define BP_ISH	 		    0x05		// High = Shunt Current		        Low = Battery Voltage        		P=1s

//Battery Protection System base address and packet offsets
#define AC_CAN_BASE			0x5C0		// High = "ACV1" string or nulls    Low = CAN1_SERIAL Number            P=10s
#define AC_M1   			0x01		// High = Array Voltage Average	    Low = Array Current Average         P=10s
#define AC_M2   			0x02		// High = Array Voltage Average	    Low = Array Current Average         P=10s
#define AC_M3   			0x03		// High = Array Voltage Average	    Low = Array Current Average         P=10s
#define AC_ISH  		    0x04		// High = Shunt Current             Low = Battery Voltage        		P=1s
#define AC_TMAX			    0x05		// High = Max. Temperature		    Low = Max. Temperature MPPT         P=10s
#define AC_TVAL1 		    0x06		// High = Temp AC1   				Low = Temp AC2						P=10s
#define AC_TVAL2 		    0x06		// High = Temp AC3				 	Low = Reserved						P=10s
#define AC_BP_CHARGE	    0x07		// High = "ACV1" or "0000" string   Low = CAN1_SERIAL Number       		P=When Charge

static int addr_lookup[LOOKUP_ROWS][5] = {
  //address                           ASCII Offset      MSG_REC position        Packet(0-HF:1-LF:2-Status)		Filter Priority
  {MC_CAN_BASE1,					  0,                0x0001,                   3,							29},                    //0-0x400     High = CAN1_SERIAL Number        Low = "TRIa" string
  {MC_CAN_BASE1 + MC_LIMITS,	      0,                0x0001,                   3,							15},                    //1-0x01        High = Active Motor              Low = Error & Limit flags
  {MC_CAN_BASE1 + MC_BUS,	      	  0,                0x0002,                   0,							 1},                    //2-0x02	    High = Bus Current               Low = Bus Voltage
  {MC_CAN_BASE1 + MC_VELOCITY,	      1,                0x0004,                   0,							 2},                    //3-0x03	    High = Velocity (m/s)            Low = Velocity (rpm)
  {MC_CAN_BASE1 + MC_PHASE,           1,                0x0001,                   3,							30},                    //4-0x04	    High = Phase A Current           Low = Phase B Current
  {MC_CAN_BASE1 + MC_V_VECTOR,	      2,                0x0002,                   3,							31},                    //5-0x05	    High = Vd vector                 Low = Vq vector
  {MC_CAN_BASE1 + MC_I_VECTOR,	      3,                0x0004,                   3,							32},                    //6-0x06	    High = Id vector                 Low = Iq vector
  {MC_CAN_BASE1 + MC_BEMF_VECTOR,     4,                0x0008,                   3,							33},                    //7-0x07	    High = BEMFd vector              Low = BEMFq vector
  {MC_CAN_BASE1 + MC_RAIL1,	      	  1,                0x0002,                   3,							16},                    //8-0x08	    High = 15V                       Low = Reserved
  {MC_CAN_BASE1 + MC_RAIL2,	      	  2,                0x0004,                   3,							17},                    //9-0x09	    High = 3.3V                      Low = 1.9V
  {MC_CAN_BASE1 + MC_TEMP1,	      	  0,                0x0001,                   3,							 7},                    //10-0x0B	    High = Heatsink Temp             Low = Motor Temp
  {MC_CAN_BASE1 + MC_TEMP2,	      	  1,                0x0002,                   3,							 8},                    //11-0x0C	    High = Inlet Temp                Low = CPU Temp
  {MC_CAN_BASE1 + MC_CUMULATIVE,      3,                0x0008,                   3,							18},                    //12-x0E	    High = DC Bus AmpHours           Low = Odometer
  {MC_CAN_BASE1 + MC_SLIPSPEED,       5,                0x0010,                   3,							34},                    //13-0x17	    High =Slip Speed (Hz)            Low = Reserved
  {MC_CAN_BASE2,		      		  6,                0x0020,                   3,							35},                    //14-0x420    High = CAN1_SERIAL Number        Low = "TRIa" string
  {MC_CAN_BASE2 + MC_LIMITS,	      4,                0x0010,                   3,							19},                    //15-0x01       High = Active Motor              Low = Error & Limit flags
  {MC_CAN_BASE2 + MC_BUS,	      	  2,                0x0010,                   0,							 3},                    //16-0x02	    High = Bus Current               Low = Bus Voltage
  {MC_CAN_BASE2 + MC_VELOCITY,	      3,                0x0020,                   0,							 4},                    //17-0x03	    High = Velocity (m/s)            Low = Velocity (rpm)
  {MC_CAN_BASE2 + MC_PHASE,           7,                0x0040,                   3,							36},                    //18-0x04	    High = Phase A Current           Low = Phase B Current
  {MC_CAN_BASE2 + MC_V_VECTOR,	      8,                0x0080,                   3,							37},                    //19-0x05	    High = Vd vector                 Low = Vq vector
  {MC_CAN_BASE2 + MC_I_VECTOR,	      9,                0x0100,                   3,							38},                    //20-0x06	    High = Id vector                 Low = Iq vector
  {MC_CAN_BASE2 + MC_BEMF_VECTOR,    10,                0x0200,                   3,							39},                    //21-0x07	    High = BEMFd vector              Low = BEMFq vector
  {MC_CAN_BASE2 + MC_RAIL1,	      	  5,                0x0020,                   3,							20},                    //22-0x08	    High = 15V                       Low = Reserved
  {MC_CAN_BASE2 + MC_RAIL2,	      	  6,                0x0040,                   3,							21},                    //23-0x09	    High = 3.3V                      Low = 1.9V
  {MC_CAN_BASE2 + MC_TEMP1,	     	  2,                0x0004,                   3,							 9},                    //24-0x0B	    High = Heatsink Temp             Low = Motor Temp
  {MC_CAN_BASE2 + MC_TEMP2,	     	  3,                0x0008,                   3,							10},                    //25-0x0C	    High = Inlet Temp                Low = CPU Temp
  {MC_CAN_BASE2 + MC_CUMULATIVE,      7,                0x0080,                   3,							22},                    //26-0x0E	    High = DC Bus AmpHours           Low = Odometer
  {MC_CAN_BASE2 + MC_SLIPSPEED,      11,                0x0400,                   3,							40},                    //27-0x17	    High =Slip Speed (Hz)            Low = Reserved
  {DC_CAN_BASE,		              	 12,                0x0800,                   3,							41},                    //28-0x500    High = CAN1_SERIAL Number        Low = "TRIb" string
  {DC_CAN_BASE + DC_DRIVE,            4,                0x0800,                   0,							23},                    //29-0x01	    High = Motor Current Setpoint    Low = Motor Velocity Setpoint
  {DC_CAN_BASE + DC_POWER,            9,                0x0200,                   3,							24},                    //30-0x02	    High = Bus Current Setpoint      Low = Unused
  {DC_CAN_BASE + DC_RESET,	      	 13,                0x1000,                   3,							42},                    //31-0x03	    High = Unused                    Low = Unused
  {DC_CAN_BASE + DC_SWITCH,           5,                0x0080,                   0,							25},                    //32-0x04	    High = Switch position           Low = Switch state change
  {BP_CAN_BASE,                      14,                0x2000,                   3,							43},                    //33-0x580    High = BPV2" string or nulls     Low = CAN1_SERIAL Number
  {BP_CAN_BASE + BP_VMAX,             6,                0x0010,                   0,							11},                    //34-0x01       High = Max Voltage               Low = Cell Number
  {BP_CAN_BASE + BP_VMIN,             7,                0x0020,                   0,							12},                    //35-0x02	    High = Min Voltage               Low = Cell Number
  {BP_CAN_BASE + BP_TMAX,             8,                0x0040,                   0,							13},                    //36-0x03	    High = Temp Max                  Low = Cell Number
  {BP_CAN_BASE + BP_PCDONE,          15,                0x0200,                   3,							44},                    //37-0x04	    High = "BPV1" string             Low = CAN1_SERIAL Number
  {BP_CAN_BASE + BP_ISH,              9,                0x0010,                   0,						     5},                    //38-0x05	    High = Shunt Current  			 Low = Battery Voltage
  {AC_CAN_BASE,                      16,                0x8000,                   3,							45},                    //39-0x5C0    High = ACV1" string or nulls     Low = CAN1_SERIAL Number
  {AC_CAN_BASE + AC_M1,              11,                0x0800,                   3,							26},                    //40-0x01       High = Array Voltage Average	 Low = Array Current Average
  {AC_CAN_BASE + AC_M2,              12,                0x1000,                   3,							27},                    //41-0x02	    High = Array Voltage Average	 Low = Array Current Average
  {AC_CAN_BASE + AC_M3,              13,                0x2000,                   3,							28},                    //42-0x03	    High = Array Voltage Average	 Low = Array Current Average
  {AC_CAN_BASE + AC_ISH,              5,                0x0020,                   3,							 6},                    //43-0x04	    High = Shunt Current             Low = Battery Voltage
  {AC_CAN_BASE + AC_TMAX,             7,                0x0080,                   3,						    14},                    //44-0x05	    High = Max. Temperature		     Low = Max. Temperature MPPT
  {AC_CAN_BASE + AC_TVAL1,           17,                0x1000,                   3,							46},                    //45-0x03	    High = Temp AC1   				 Low = Temp AC2
  {AC_CAN_BASE + AC_TVAL2,           18,                0x2000,                   3,							47},                    //46-0x04	    High = Temp AC3   				 Low = Reserved
  {AC_CAN_BASE + AC_BP_CHARGE,       19,                0x4000,                   3,						    48},                    //47-0x05	    High = "ACV1" or "0000" string   Low = CAN1_SERIAL Number
};
// removed
//{MC_CAN_BASE1 + MC_FAN,	      	  -,                0x----,                   -,							--},                    //xx-0x0A	    High = Fan speed (rpm)           Low = Fan drive (%)
//{MC_CAN_BASE1 + MC_TEMP3,	      -,                0x----,                   -,							--},                    //xx-0x0D	    High = Outlet Temp               Low = Capacitor Temp
//{MC_CAN_BASE2 + MC_FAN,	      	  -,                0x----,                   -,							--},                    //xx-0x0A	    High = Fan speed (rpm)           Low = Fan drive (%)
//{MC_CAN_BASE2 + MC_TEMP3,	      -,                0x----,                   -,							--},                    //xx-0x0D	    High = Outlet Temp               Low = Capacitor Temp


//static char lut_blacklist[] = {32,11,4,5,11,12,13,14,15,23,24,25,3,26,27,28};
//static char lut_blacklist[] = {44};
static char lut_blacklist[] = {49};

static char *name_lookup[NAME_LOOKUP_ROWS] = {
  //name
  "MC1BAS", //MC_CAN_BASE1_
  "MC1LIM", //MC_CAN_BASE1 + MC_LIMITS
  "MC1BUS", //MC_CAN_BASE1 + MC_BUS
  "MC1VEL", //MC_CAN_BASE1 + MC_VELOCITY
  "MC1PHA", //MC_CAN_BASE1 + MC_PHASE
  "MC1VVC", //MC_CAN_BASE1 + MC_V_VECTOR
  "MC1IVC", //MC_CAN_BASE1 + MC_I_VECTOR
  "MC1BEM", //MC_CAN_BASE1 + MC_BEMF_VECTOR
  "MC1RL1", //MC_CAN_BASE1 + MC_RAIL1
  "MC1RL2", //MC_CAN_BASE1 + MC_RAIL2
  "MC1TP1", //MC_CAN_BASE1 + MC_TEMP1
  "MC1TP2", //MC_CAN_BASE1 + MC_TEMP2
  "MC1CUM", //MC_CAN_BASE1 + MC_CUMULATIVE
  "MC1SLS", //MC_CAN_BASE1 + MC_SLIPSPEED
  "MC2BAS", //MC_CAN_BASE2
  "MC2LIM", //MC_CAN_BASE2 + MC_LIMITS
  "MC2BUS", //MC_CAN_BASE2 + MC_BUS
  "MC2VEL", //MC_CAN_BASE2 + MC_VELOCITY
  "MC2PHA", //MC_CAN_BASE2 + MC_PHASE
  "MC2VVC", //MC_CAN_BASE2 + MC_V_VECTOR
  "MC2IVC", //MC_CAN_BASE2 + MC_I_VECTOR
  "MC2BEM", //MC_CAN_BASE2 + MC_BEMF_VECTOR
  "MC2RL1", //MC_CAN_BASE2 + MC_RAIL1
  "MC2RL2", //MC_CAN_BASE2 + MC_RAIL2
  "MC2TP1", //MC_CAN_BASE2 + MC_TEMP1
  "MC2TP2", //MC_CAN_BASE2 + MC_TEMP2
  "MC2CUM", //MC_CAN_BASE2 + MC_CUMULATIVE
  "MC2SLS", //MC_CAN_BASE2 + MC_SLIPSPEED
  "DC_BAS", //DC_CAN_BASE
  "DC_DRV", //DC_CAN_BASE + DC_DRIVE
  "DC_POW", //DC_CAN_BASE + DC_POWER
  "DC_RST", //DC_CAN_BASE + DC_RESET
  "DC_SWC", //DC_CAN_BASE + DC_SWITCH
  "BP_BAS", //BP_CAN_BASE
  "BP_VMX", //BP_CAN_BASE + BP_VMAX
  "BP_VMN", //BP_CAN_BASE + BP_VMIN
  "BP_TMX", //BP_CAN_BASE + BP_TMAX
  "BP_PCD", //BP_CAN_BASE + BP_PCDONE
  "BP_ISH", //BP_CAN_BASE + BP_ISH
  "AC_BAS", //AC_CAN_BASE
  "AC_MP1", //AC_CAN_BASE + AC_M1
  "AC_MP2", //AC_CAN_BASE + AC_M2
  "AC_MP3", //AC_CAN_BASE + AC_M3
  "AC_ISH", //AC_CAN_BASE + AC_ISH
  "AC_TMX", //AC_CAN_BASE + AC_TMAX
  "AC_TV1", //AC_CAN_BASE + AC_TVAL1
  "AC_TV2", //AC_CAN_BASE + AC_TVAL2
  "AC_BPC", //AC_CAN_BASE + AC_BP_CHARGE
};

// removed
// "MC1FAN", //MC_CAN_BASE1 + MC_FAN
// "MC1TP3", //MC_CAN_BASE1 + MC_TEMP3
// "MC2FAN", //MC_CAN_BASE2 + MC_FAN
//"MC2TP3", //MC_CAN_BASE2 + MC_TEMP3

#endif /* SUNSEEKER2021_H_ */
