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/* flood.c */
/*  {{{
 *
 * Copyright (C) 2008 Nélio Laranjeiro
 *
 * APBTeam:
 *        Web: http://apbteam.org/
 *      Email: team AT apbteam DOT org
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */
#include "common.h"
#include "io.h"
#include "modules/flash/flash.h"
#include "modules/trace/trace.h"
#include "modules/proto/proto.h"
#include "modules/utils/utils.h"
#include "modules/utils/byte.h"
#include "modules/uart/uart.h"

#include "events.h"

void
flood (void)
{
    uint32_t addr;
    uint32_t count;

    uint32_t speed;
    uint32_t position;
    uint16_t acc;
    uint16_t arg1;
    uint16_t arg2;
    uint32_t arg3;

    /* Initialise the trace module. */
    trace_init ();

    /* Get the start page address of the trace module. */
    addr = trace_addr_current ();
    proto_send3b ('a', addr >> 16, addr >> 8, addr);

    /* Flood the flash memory with traces. */
    /* A little more than 3 memory sectors, a sector is 4 kbytes. */
    for (count = 0; count < 2000; count ++)
      {
        /* Right motor. */
        speed = count;
        position = count + 1;
        acc = count + 2;
        arg1 = count;
        arg2 = count + 1;
        arg3 = count + 3;
        TRACE (TRACE_ASSERV__RIGHT_MOTOR, speed, position, acc);
        TRACE (TRACE_ASSERV__LEFT_MOTOR, speed, position, acc);
        TRACE (TRACE_IA__IA_CMD, arg1, arg2, arg3);
      }

    /* Print the end of the address. */
    addr = trace_addr_current ();
    proto_send3b ('a', addr >> 16, addr >> 8, addr);
}

void
proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
{
    /* May be unused. */
    uint32_t addr = v8_to_v32 (0, args[0], args[1], args[2]);
    uint8_t buf[16];
#define c(cmd, size) (cmd << 8 | size)
    switch (c (cmd, size))
      {
      case c ('z', 0):
        /* Reset */
        utils_reset ();
        break;
      case c ('e', 0):
        /* Erase full */
        flash_erase (FLASH_ERASE_FULL, 0);
        break;
      case c ('e', 3):
        /* Erase 4k:
         *  - 3b: address. */
        flash_erase (FLASH_ERASE_4K, addr);
        break;
      case c ('r', 3):
        /* Read one byte:
         *  - 3b: address. */
        proto_send1b ('r', flash_read (addr));
        break;
      case c ('r', 4):
        /* Read several bytes:
         *  - 3b: address.
         *  - 1b: number of bytes. */
        if (args[3] > sizeof (buf))
        {
          proto_send0 ('?');
          return;
        }
        else
          {
            flash_read_array (addr, buf, args[3]);
            proto_send ('r', args[3], buf);
          }
        break;
      case c ('f', 0):
        /* Flood the memory with 3 sectors.
        */
        flood ();
        break;
      default:
        /* Error */
        proto_send0 ('?');
        return;
      }
    /* Acknowledge what has been done */
    proto_send (cmd, size, args);
}

int
main (void)
{
    uart0_init ();
    proto_send0 ('z');

    while (1)
        proto_accept (uart0_getc ());
}