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#include <Wire.h>
#include <LiquidCrystal.h>
#include <PWM.h>

//Setup for Diags..
#define DIAGS   0
#define CNCMODE 1
#define NGRAVE  2

//frequency and pins used.
int32_t basefrequency = 5000; //5khz base freq
int8_t  PulsePin = 9;         //Pin 9 will control the laser. 
int8_t  BoardLED = 13;
int8_t  FireLED  = 12;
int8_t  PowerLED  = 5;
int8_t  Pot  = 4;
int8_t  Buttons  = 8;        //analogue and digital are same numbers..be carefull if you use other pins..
int8_t  Buttons1 = 10;
int8_t  CurButton = 0;       //currently pressed button
int8_t  CountMode = 0;       //the mode of the up/down counter..
bool    WaitButtonZero = false;
int8_t  OneMicro = 16;
int8_t  OpMode = 0;
volatile unsigned short SerialIn = 0;
volatile unsigned short LastSerial = 0;
//volatile unsigned long SpinOnCnt = 0;
//volatile unsigned long SpinOffCnt = 0;
//volatile bool SpindleOn = false; //remote spindle command..
//volatile bool SpindlePWM = false; //remote spindle command current state..

//vars for control
bool      PowerOn = false;
bool      Tickle = false; // On Off Safety watchdog .. monitor the tickle for laser health
volatile int16_t Duty = OneMicro; //this is the pulse to pulse firepower during a shot.
volatile int32_t cnt = 0;  //this is a global interrupt counter..
volatile bool FIRE = false;

//initialize the lcd..its on a0-a6 lines in my leonardo..
//LiquidCrystal  lcd( 23,22,21,20,19,18);  // set the LCD address to 0x27 for a 20 chars and 4 line display

// the main control variable for diags mode..
int16_t   Power =  50; //0 - 100%
unsigned long  PWMPower = 0;//0- 100% for the incoming PWM..
int16_t   Freq = 5000; // frequency of pulses..
int8_t    PotMode = 0;

volatile int32_t   FireCount = 0;   //number of pulses to fire in diags 
volatile int16_t   ReLoad = 1;

void setup()   
{

 // lcd.begin(20,4); // initialize the lcd 
 // lcd.setCursor(3,0);   
 // lcd.print("Gearotic Laser");
 // lcd.setCursor(0,2);   
 // lcd.print("Waiting for Unix.");

  InitTimers();    //start up the timers.
  bool timeron = SetPinFrequency( PulsePin, basefrequency ); //set pulsepin to 5Khz
  TIMSK1 |= (1 << TOIE1);  // enable timer overflow interrupt, we'll use this one for fastpwm

  attachInterrupt( 0, DUMMY, RISING ); //pulse external monitor 
  attachInterrupt( 4, DUMMY, CHANGE ); //sets the routine to call..    

  pwmWrite( PulsePin, 8); //set for 1us for laser tickle 
  if( timeron ) //if the timercall worked..
  {
    pinMode( BoardLED, INPUT); // board led life
    pinMode( FireLED,  OUTPUT); // fire button led
    pinMode( PowerLED, OUTPUT); //power control led & control

    pinMode( 2,   INPUT); //inputs from breakout board
    digitalWrite( 2, LOW );

    pinMode( 3,   INPUT); //inputs from breakout board
    digitalWrite( 3, LOW );

    pinMode( 11,    INPUT); //inputs from breakout board
    digitalWrite( 11, HIGH );
    digitalWrite( PowerLED, PowerOn); //turn off led for power at start
    pinMode( Pot, INPUT); //pot for variable control
    digitalWrite(4, HIGH); //set for a pullup resistor
    pinMode( Buttons, INPUT); //Jog buttons as analogue input
    digitalWrite(Buttons, HIGH); 
    pinMode( Buttons1, INPUT); //Rest of buttons
    digitalWrite(Buttons1, HIGH); 

  } 
  //SetDisplay( true ); //and draw the display mask
}

//main idle loop..

void loop() 
{
  HeartBeat(); //flash the board led if fire isnt flashing..
  FlashFire(); // flash the fire button if we are going to fire..
  WatchDog();  // ensure all is safe.
  DiagsOut();  //display test text if demanded..not used
  PotControl(); //use the pot for values..
  GetButton();   
  
  if( OpMode == DIAGS )  DiagFire();
  //if( OpMode == NGRAVE)  NGraveFire();
  LaserOnOff();
  DoButtonCount();  // make freq or firecount set by button if needed.
  //set power and other vars, then display..
  //SetDisplay( false );
}

void DoButtonCount()
{
  int8_t   Accel = 1; //this is the accel of button freq, adjust as needed.
  static   int16_t  Adder = Accel;
  int16_t  Freqmax  = 200;
  static   int32_t  Bres = Freqmax;  
  if( CurButton == 0)
  {
    Adder = Accel;
    Bres = Freqmax; 
    return;
  }
  int16_t oldfire = FireCount;
  Bres += Adder;
  while( Bres > Freqmax ) //not very ellegant, fix later. just a timer for easier button press
  {
    if( CurButton == 4 ) //left arrow, switch pot to count mode..
      CountMode--;
    if( CurButton == 6 ) //left arrow, switch pot to dutycyle..
      CountMode++;
    if( CountMode < 0) CountMode = 2; 
    if( CountMode > 2) CountMode = 0;

    Bres -= Freqmax;
    if( CountMode == 0  && CurButton == 5) Freq++;
    if( CountMode == 2  && CurButton == 5) FireCount++;
    if( CountMode == 0  && CurButton == 7) Freq--;
    if( CountMode == 2  && CurButton == 7) FireCount--;
    if( FireCount < 0 ) FireCount = 5000;
    if( FireCount >  5000 ) FireCount = 0;
    if( Freq <= 0 ) Freq = 1;
    if( Freq > 5000 ) Freq = 5000;
    int oldop = OpMode;
    if( CountMode == 1 && CurButton == 5 ) OpMode++;
    if( CountMode == 1 && CurButton == 7 ) OpMode--;
    if( OpMode > 2 ) OpMode = 0; //these two lines just make the opMode toggle up or down..
    if( OpMode < 0 ) OpMode = 2;

    //reopen file if required.
    if( OpMode == NGRAVE && oldop != NGRAVE)
    {
      //detach the spindle interrupts.
      detachInterrupt(4);
      attachInterrupt( 1, DUMMY, RISING ); //reattach the spindle interrupt

    }
    if( OpMode != NGRAVE && oldop == NGRAVE )
    {
      attachInterrupt( 4, DUMMY, CHANGE ); //reattach the spindle interrupt
      detachInterrupt(1);
    }

  }
  if( oldfire != FireCount ) ReLoad = FireCount;
  Adder += Accel;
  //faster..damnit..faster. :)
  if( Adder == 100 )   Adder *= 2;
  if( Adder == 400)    Adder *= 2;
  if( Adder == 1000)  Adder *= 2;
}

void DiagFire()
{
  if( CurButton == 2 ) FireCount = ReLoad;
  //FIRE!!!!
  if( CurButton == 1 && FireCount > 0 ) FIRE = true;
  if( CurButton == 0 && FIRE && OpMode == DIAGS ) FIRE = false; //turn it off if no button is pressed in Diags mode.
}

void LaserOnOff()
{
  //this controls Laser ON/OFF
  if( CurButton == 3 ) //power call , but only once per press
  { 
    if( !WaitButtonZero) PowerOn = !PowerOn; 
    digitalWrite( PowerLED, PowerOn); //Set Power condition;
    WaitButtonZero = true;
  }

}

void DUMMY()
{

}

int16_t FireLaser()
{
  int16_t ret = OneMicro; //usually we'll return 1 microsecond.
  static int16_t Counter = basefrequency;
  if( FIRE )
  {   
    if( OpMode == DIAGS )
      ret = Power << 5; //we'll return this power only if the counter says so..
    else 
      ret =  PWMPower << 5; //in CNC modes we return the duty cycle power

    if( ret > 3191 ) ret = 3191; //set a maximum pulse wdith here for your cpu speed
    //now decide on a frequcny basis is this is a shot time..
    Counter += Freq;
    if( Counter >= basefrequency )
    {
      Counter -= basefrequency;
      //if( SpindleOn && FireCount > 2000 ) FireCount = 2000;
      if( FireCount != 5000) FireCount--;
      if( FireCount <= 0 ) FIRE = false;
    }
    else
      ret = OneMicro;

  }
  if( ret < OneMicro ) ret = OneMicro; //no msaller than 1 microsecnd
  return ret;
}

//display the text
/////  Text Blockout

////////////////////////
//        Pwr         //
//Frq-hz  100  Pulses //
//  5000 <--->  5000  //
////////////////////////
//void SetDisplay( bool clear )
//{
 // if( clear ) 
 // {
  //  lcd.clear(); //x,y
  //  lcd.setCursor(8, 0);    
  //  lcd.print("Pwr");
  //  lcd.setCursor(0, 1);    
  //  lcd.print("Frq-hz");
  //  lcd.setCursor(14,1);    
  //  lcd.print("Pulses");
 // }
 // static int8_t slw = 0;
 // slw++;
 // if( slw % 8 )
 //   if( SpindleOn && OpMode == CNCMODE ) //display of remote power setting..
  //  {
   //   lcd.setCursor(11, 0);    
   //   lcd.print("-Rem:");
    //  lcd.setCursor(16, 0);    
   //   lcd.print("     ");
   //   lcd.setCursor(16, 0);    
    //  lcd.print(PWMPower,10);
   // }
  //  else
  //    if( OpMode == NGRAVE )
  //    {
   //     lcd.setCursor(11, 0);    
   //     lcd.print("-Rem:");
    //    lcd.setCursor(16, 0);    
    //    lcd.print("     ");
    //    lcd.setCursor(16, 0);    
   //     lcd.print(LastSerial,10);
   //   }
   //   else
   //   {   
   //     lcd.setCursor(11, 0);   
   //     lcd.print("        ");
   //     lcd.setCursor(16, 0);   
   //     lcd.print("     ");
   //   }

  //power
 // lcd.setCursor(8,1);
 // lcd.print( Power , 10 );
 // lcd.print( "%  " );
  //frequency
 // lcd.setCursor(3,3);
 // lcd.print( Freq , 10 );      
 // lcd.print("   ");
  //fire count
 // lcd.setCursor(15,3);

 // if( FireCount != 5000)
 // { 
 //   lcd.print( FireCount , 10 ); 
 //   lcd.print("   "); 
 // }
 // else
 //   lcd.print(" CW   ");

  //and count mode
  //lcd.setCursor(8,3);
 // switch( CountMode )
 // {
 //   case (0) : 
  //  lcd.print("<<---"); 
 //   break;
 //   case (1) : 
 //   lcd.print(" ^^^ "); 
 //   break;
 //   case (2) : 
  //  lcd.print("--->>"); 
  //  break;
 // }

  //static int toggle = 0;
 // static bool twinkle = true;
 // toggle++;
 // if( toggle > 20 )
 // {
 //   toggle = 0;
  //  twinkle = !twinkle;
  //  lcd.setCursor( 0,4 ); 
 //   if( twinkle ) lcd.print("*"); 
  //  else lcd.print("#");
 // }

  //erase the mopde line..
 // lcd.setCursor( 0,2 );
 // lcd.print("                    ");

//  if( SpindleOn && OpMode == DIAGS)
  //  OpMode = CNCMODE; //auto switch from Diags

 // switch (OpMode)
 // {
 //   case(0): 
 //   lcd.setCursor( 8,2 );  
 //   lcd.print("Diag"); 
 //   break;
  //  case(1): 
 //   lcd.setCursor( 7,2 ); 
  //  lcd.print("CNC-CW"); 
  //  break;
  //  case(2): 
  //  lcd.setCursor( 7,2 ); 
  //  lcd.print("NGRAVE"); 
  //  break;
  //}
//}

//helper functions

void FlashFire() 
{
  static int8_t Flashtime = 0;
  static bool   fireledstate;
  if( FireCount == 0 ) 
    fireledstate = false;
  if( Flashtime++ > 10 ) //this 10 should be change for a pleasant flash tempo..
  {
    digitalWrite( FireLED, fireledstate ); 
    fireledstate = !fireledstate;
    Flashtime = 0;
  }
}

//flash the board led to show we're alive
void HeartBeat() 
{
  static int8_t Beat = 0;
  static bool   beatstate;
  if( FireCount != 0 ) return; 

  if( Beat++ > 10 ) //this 10 should be change for a pleasant flash tempo..
  {
    //digitalWrite( BoardLED, beatstate ); 
    beatstate = !beatstate;
    Beat  = 0;
  }
}

//watchdog function, kill laser power if tickle stops..
//or other checks all of which can be put here..
void WatchDog()
{
  static int lastcnt = cnt; //activity monitor
  if( lastcnt != cnt ) Tickle = true; 
  else  Tickle = false;
  lastcnt = cnt;

  //set other checks here... too long a shot maybe...

  if( !Tickle )
  {
    PowerOn = false;
    digitalWrite( PowerLED, PowerOn); //turn off led for power at start
  }
}
//use of the pot for duty or frequency.
void PotControl()
{
  int32_t val = analogRead( Pot + 2 ); //the analogue for the pot pin
  if( PotMode == 0 ) // duty cycle.. only mode at present..
  {
    Power =  val / 10.23;
    if( Power < 1 ) Power = 1;
    if( Power > 100) Power = 100;
    Power = 101 - Power;
  }

}

//diags text for testing and debugging..
void DiagsOut()
{
  //just for testing pins..
  return; //only use if we demand it in setup..

  int16_t  d1 = 0, d2 = 0, d3 = 0;
  if( cnt > 2000)
  {
    cnt = 0;
    d1 = analogRead(Pot + 2);
    d2 = analogRead(8);
    d3 = analogRead(10);

    //Console.print("pins 6,8,10 --- " );
    //Console.print(" "); 
   // Console.print( d1 );
    //Console.print(" "); 
    //Console.print( d2 );
    //Console.print(" "); 
    //Console.print( d3 );
    //Console.print(" "); 
    //Console.print( CurButton );
    //Console.println();

  }
}
//figure out a button press, only one button 
//at any time with noise rejection. This uses 2 analogue pins
//which multiplexes many buttons on each pin.
void GetButton()
{
  int8_t setbounce = 4; //set a debounce here..
  static int8_t debounce = setbounce;
  static int8_t LastButton = 0;
  int8_t thisbut = 0;

  int16_t val = analogRead(Buttons); //fire,reload and laser
  if( val < 900 )
  {

    thisbut = 3 - (val >> 8);
  }
  val = analogRead(Buttons1); //ok, read the fire buttons then..
  if( val < 900 )
  {
    //figure out the button in the fire group
    thisbut = (val >> 8) + 4;
  }

  if( LastButton == thisbut ) debounce--;
  else   debounce = setbounce;    
  if( debounce == 0 )
  {
    CurButton = thisbut;
    debounce = setbounce;
  }

  if( WaitButtonZero && CurButton == 0)
    WaitButtonZero = false;

  LastButton = thisbut;
}

//make the frerq and count registers count by button.

//this gets called at timer reset time..
ISR(TIMER1_OVF_vect)
{
  cnt++;
  Duty = FireLaser();   //find the next power level..    
  OCR1A = Duty;         
}

//these three interrupts are for step/dir and spindle pwm. 
//used as direct vectors to get the speed required..
//this interrupt is for the step pulses..any step pulses, to 
//set a firepulse..

ISR(INT0_vect) 
{
  //step interrupt...very fast
  //if( (OpMode != DIAGS && SpindleOn)) 
  {
    FireCount = ReLoad;
    FIRE = true;
  }

}

//this is for recieving serial data power 
//for 16 slice sequences.
ISR(INT1_vect) 
{
  //count the X steps as well for future use
  if( PINB & ( 1 << 7))
    SerialIn |= 0x8000;
  if( (SerialIn & 0xf00f ) == 0xf00f)
  {
    // LastSerial = SerialIn & 0x0ff0;
    LastSerial = (SerialIn >> 4) & 0xff;
    SerialIn = 0;
    if( LastSerial < 100 )
    {
      static unsigned short prev = 0;
      if( prev == LastSerial )  //must be a repeated power..
        PWMPower = LastSerial;
      prev = LastSerial;
    }
    
  SerialIn = SerialIn >>  1; //we got a clock, so shift it..
}

}