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/*
 XBee sensor
 ZCL Temperature Measurement Cluster
*/
 
#define ledPin 13
 
#define lcdPin 6
#define temt6000Pin 3
 
 
#include <stdlib.h>
#include <math.h>
 
#include <Stdio.h>
#include <SoftwareSerial.h>
#include <avr/power.h>
#include <avr/sleep.h>
#include "XBeeLibrary.h"
#include "ds1620.h"
#include <Wire.h>
#include "hmc6352.h"
#include <math.h>
#include <float.h>
#include <limits.h>
 
 
 
int xaxis = 0;
int yaxis = 1;   
int zaxis = 2;   
 
float xa=0;
float ya=0;
float za=0;
 
 
 
 
int minx = INT_MAX;
int maxx = 0;
int miny = INT_MAX;
int maxy = 0;
int minz = INT_MAX;
int maxz = 0;
 
float g0x = 0;
float g0y = 0;
float g0z = 0;
 
//long time1 = 0;
//long time2 = 0;
 
 
// set up a new serial port
SoftwareSerial lcdSerial = SoftwareSerial(lcdPin,lcdPin);
byte pinState[16];
byte backlightValue = 0x9D;
 
// set up ds1620
Ds1620 ds1620 = Ds1620(7/*rst*/,8/*clk*/,9/*dq*/);
 
//set up hmc6352
Hmc6352 hmc6352;
 
 
void setup()  {  
  pinMode(ledPin, OUTPUT);
  pinMode(lcdPin, OUTPUT);
  pinMode(temt6000Pin,INPUT);
  pinMode(xaxis,INPUT);
  pinMode(yaxis,INPUT);
  pinMode(zaxis,INPUT);  
 
  // set the data rate for the SoftwareSerial port
  lcdSerial.begin(4800);
 
  Serial.begin(9600);
  delay(100);
 
  // configure ds1620
  ds1620.config();
 
  //initial calibration of the MMA7260q 
  minx = 173.0;
  miny = 192.0;  
  minz = 258.0;
 
  maxx = 766.0;  
  maxy = 720.0;  
  maxz = 914.0;
 
  g0x = 469.0;
  g0y = 456.0;
  g0z = 586.0;
 
  lcdPrint("RST\r\n");delay(100);  
}
 
long start =0;
 
void loop() 
{ 
  struct zigbee zb;
  unsigned long time;
  unsigned long time2;
 
  xbee_init(&zb);  
  zb.fgetTemperature = &readDs1620;
  zb.fprogress = &toggleLedPin;
  zb.ferror = &lcdPrint;
  zb.fprint = &lcdPrint;
  zb.fprintHex = &lcdPrintBuffer;
  zb.fgetHeading = &readHmc6352;
  zb.fgetIlluminance = &readTEMT6000;
  zb.fgetTilt = readMMA7260Q;
 
 
  XBee xbee(&zb);  
 
  time = 0;
  time2 = 0;
 
  //lcdPrintInt(millis());
  while(1) 
  {
    xbee.serve();
    if ((millis()-time) > 500) {
      time = millis();
      toggle(ledPin);
      //lcdSerial.print("ab\r\n");
    }
 
 
 
    int pfx /*valx*/ = analogRead(xaxis);    // read the value from the sensor
    int pfy /*valy*/ = analogRead(yaxis);    // read the value from the sensor
    int pfz /*valz*/ = analogRead(zaxis);    // read the value from the sensor
 
 
    autoZeroCalibration(pfx,pfy,pfz);
 
 
 
    if ((millis()-time2) > 25000) {
      goToSleep();
      time2 = millis();
    }
 
  }  
}
 
void goToSleep()
{
    /* Now is the time to set the sleep mode. In the Atmega8 datasheet
     * http://www.atmel.com/dyn/resources/prod_documents/doc2486.pdf on page 35
     * there is a list of sleep modes which explains which clocks and 
     * wake up sources are available in which sleep modus.
     *
     * In the avr/sleep.h file, the call names of these sleep modus are to be found:
     *
     * The 5 different modes are:
     *     SLEEP_MODE_IDLE         -the least power savings 
     *     SLEEP_MODE_ADC
     *     SLEEP_MODE_PWR_SAVE
     *     SLEEP_MODE_STANDBY
     *     SLEEP_MODE_PWR_DOWN     -the most power savings
     * 
     */  
 
  set_sleep_mode(SLEEP_MODE_IDLE);   // sleep mode is set here
 
  sleep_enable();          // enables the sleep bit in the mcucr register
                             // so sleep is possible. just a safety pin 
 
  power_adc_disable();
  power_spi_disable();
  power_timer0_disable();
  power_timer1_disable();
  power_timer2_disable();
  power_twi_disable();
 
  digitalWrite(ledPin, 0);
  lcdPrint("slp\r\n");
 
  sleep_mode();            // here the device is actually put to sleep!!
 
  digitalWrite(ledPin, 1);
 lcdPrint("wk\r\n");
 
                              // THE PROGRAM CONTINUES FROM HERE AFTER WAKING UP
  sleep_disable();         // first thing after waking from sleep:
                            // disable sleep...
 
  power_all_enable();
 
}
 
void toggleLedPin() {
  toggle(ledPin);
}
 
float readDs1620()
{
  ds1620.start_conv();
  int raw_data = ds1620.read_data();
  ds1620.stop_conv();
  float temp = raw_data / 2.0; 
  return temp;
}
 
float readHmc6352()
{
  hmc6352.wake();
  float a = hmc6352.getHeading();
  hmc6352.sleep();
 
  return a;
 
}
 
 
 
 
void toggle(int pinNum) {
  // set the LED pin using the pinState variable:
  digitalWrite(pinNum, pinState[pinNum]); 
  // if pinState = 0, set it to 1, and vice versa:
  pinState[pinNum] = !pinState[pinNum];
}
 
 
int readTEMT6000()
{
  int val = analogRead(temt6000Pin);   
  return val;
}
 
 
float readMMA7260Q(int a)
{
    int pfx /*valx*/ = analogRead(xaxis);    // read the value from the sensor
    int pfy /*valy*/ = analogRead(yaxis);    // read the value from the sensor
    int pfz /*valz*/ = analogRead(zaxis);    // read the value from the sensor
 
    autoZeroCalibration(pfx,pfy,pfz);
 
    int fx = (pfx - g0x);
    int fy = (pfy - g0y);
    int fz = (pfz - g0z);
 
    float ax = (fx*2.0)/((maxx-minx));    
    float ay = (fy*2.0)/((maxy-miny));
    float az = (fz*2.0)/((maxz-minz));
 
 
    float rho =   atan(ax/sqrt(pow(ay,2)+pow(az,2)))*(57.2957795129); //57.2957795129 degrees per rad  
    float phi =   atan(ay/sqrt(pow(ax,2)+pow(az,2)))*(57.2957795129);  
    float theta = atan(sqrt(pow(ay,2)+pow(ax,2))/az)*(57.2957795129);  
 
    switch (a)
    {
      case 1:
        return rho;
        break;
      case 2:
        return phi;
        break;
      case 3:
        return theta;
        break;
      default:        
        break;
    }
    return 0;
 
}
 
 
 
void autoZeroCalibration(int pfx, int pfy, int pfz)
{
    //if ((pfx < minx)||(pfy < miny)||(pfz < minz)||(pfx > maxx)||(pfy > maxy)||(pfz > maxz)) {
     // autozero calibration
     if (pfx < minx) minx = pfx;
     if (pfy < miny) miny = pfy;
     if (pfz < minz) minz = pfz;
 
     if (pfx > maxx) maxx = pfx;
     if (pfy > maxy) maxy = pfy;
     if (pfz > maxz) maxz = pfz;
 
     g0x = ((maxx - minx)/2)+minx;
     g0y = ((maxy - miny)/2)+miny;
     g0z = ((maxz - minz)/2)+minz;
 
     //printValues();
  //}
}
 
////////////////////////////////////
//// Print functions
//////////////////////////////////
 
 
//void lcdPrintError(char *msg)
//{
//  lcdSerial.print("err:");
//  lcdSerial.print(msg);
//}
 
void lcdPrint(char *msg)
{
  //lcdSerial.print(millis());
  //lcdSerial.print(":");
 // lcdSerial.print(msg);
 
}
 
//void lcdPrintInt(long i)
//{
//  lcdSerial.print(i, DEC);
//}
 
 
//void lcdPrintHex(byte *hex, int size) 
//{
//  for(int i=0;i<size;i++)
//  {
    //lcdPrintHex(hex[i]);
//  }
//}
 
void lcdPrintBuffer(byte *hex, int size)
{
  //lcdPrintHex(hex,size);
  //lcdPrintBuffer(hex,size,"buf");
}
 
//void lcdPrintBuffer(byte *hex, int size, char *msg)
//{
 
  //int i = 0;
  //while (i<size) {    
    //lcdSerial.print(msg);
    //lcdSerial.print(" ");
    //lcdSerial.print(i);
    //lcdSerial.print("-");
    //lcdSerial.print(i+7);
    //lcdSerial.print("\r\n");
    //int len = min(size-i,8);
    //lcdPrintHex(hex+i,len);
    //lcdSerial.print("\r\n");
    //i=i+8;
  //}
 // lcdSerial.print("\r\n");
//}
 
//void lcdPrintHex(byte hex) 
//{
//  lcdSerial.print((hex&0xF0)>>4,HEX);
//  lcdSerial.print((hex&0x0F),HEX);
//}