/*
 Name:		B_FVI_AGV.ino
 Created:	2022-11-16 오전 13:32:00
 Author:	KIMCHK
 */

#include "motor.h"
#include "IO.h"
#include "HmiClass.h"
#include "UtilClass.h"
#include "VarClass.h"
#include "VarClass.h"
#include <SPI.h>

int debugportvalue = 0;
String version = "22.11.16.1716";
String debugmessage = "";
void(*resetFunc)(void) = 0;
unsigned long timesyncvalue = 0;
unsigned long startTime = 0;
void setup()
{
	Serial.begin(57600); //디버그 및 업로드 포트
	Serial1.begin(57600); //통신 포트

	/*while (!Serial)
		true;

	while (!Serial1)
		true;*/

	pinMode(13,OUTPUT);	

	var.eeprom_load();	//플래그 우선 복원

	io.Setup();
	hmi.Setup();  //HMI 초기화
	var.Setup();
	mot.Setup();

	hmi.SendMessage(F("##:SETUP:OK"),false);
	hmi.SendMessage(String("##:VERSION:") + String(version), false);

	//TCCR1B = TCCR1B & B11111000 | B00000001;    // set timer 1 divisor to     1 for PWM frequency of 31372.55 Hz
	TCCR1B = TCCR1B & B11111000 | B00000010;    // set timer 1 divisor to     8 for PWM frequency of  3921.16 Hz
	TCNT1 = 0x0000;
	//TCCR1B = TCCR1B & B11111000 | B00000011;    // set timer 1 divisor to    64 for PWM frequency of   490.20 Hz

	PrintDebugCommand();
}

void loop()
{
	io.Update();  //DIO 상태 학인;
	var.Update(); //가변변수 업데이트
	mot.Update(); // 모터제어  
	hmi.Update(); //HMI Events

	//초기화
	if (var.runReset)
	{
		Serial.println("** RESET **");
		var.eeprom_incResetCount();
		var.runReset = false;
		resetFunc();
		delay(2000);
	}

	//경과시간
	unsigned long runtime = millis() - startTime;
	if (runtime > 60000) var.runtime = 60000;
	else var.runtime = (uint16_t)runtime;
	startTime = millis();

	if(startTime % 500 == 0)
	{
		if(digitalRead(13)==HIGH)
		digitalWrite(13,LOW);
		else
				digitalWrite(13,HIGH);
	}

}
void UpdateTime()
{
	//시간정보를 조회한다. 190319
	timesyncvalue = millis();
}
void PrintDebugCommand()
{
	String data =  "";
	data += String("====================================\n");
	data += String("##  AGV Z-Motor Controller\n");
	data += String("##  Version "+ version + "\n" );
	data += String("##  Created by ATK4-EET-1P\n");
	data += String("====================================\n");
	data += String(">> ZUP (z-axis move up)\n");
	data += String(">> ZUP (z-axis move up)\n");
	data += String(">> ZUP (z-axis move up)\n");
	data += String(">> ZUP (z-axis move up)\n");
	data += String(">> ZUP (z-axis move up)\n");
	data += String(">> ZUP (z-axis move up)\n");
	data += String("====================================\n");
	Serial.println(data);
}