/************************************************************************
 * DRCtest.c - Test program for Drogon Remote Control. (DRC)
 *
 * On the first Arduino:
 * LEDs are connected to pins nine and eleven, with 560 Ohm current limiting resistors.
 * A push button switch is connected to pin five, with a 10K pull-down resistor.
 * A force sensitive resistor is connected to analog pin zero, with a 10K pull-down resistor.
 * The only connection to the RaspberryPi is the USB cable.
 * The program in the RaspberryPi is controling the Arduino.
 * The DRC.ino program must be installed and running.
 *
 * Nothing is connected to the second Arduino.
 *
 * On the RaspberryPi:
 * LEDs are connected to pins nine and eleven, with 560 Ohm current limiting resistors.
 * A push button switch is connected to pin five, with a 10K pull-down resistor.
 * The pin numbers for the RaspberryPi use the wiringPi pin numbering scheme.
 *
 * The loop() function does a digitalRead of the push button on the Arduino
 * and digitalWrites the value to the both red LEDs
 * Next it performs an analogRead of the force sensitive resistor, divides
 * the value by four, and pwmWrites the value to both green LEDs.
 * Then is does a digitalRead of the push button on the RaspberryPi
 * and digitalWrites the value to the both red LEDs
 *
 ************************************************************************/

#include <stdio.h>
#include <wiringPi.h>
#include <drcSerial.h>

#define	BASE	100
#define	BASE2	200

/*****************************************************************************
 * The second thread blinks the built in LED on pin 13 of the Second Arduino.  
 * The code here runs concurrently with the main program in an infinite loop.
 *****************************************************************************/
PI_THREAD(arduino2)
{
  for(;;)
  { 
    digitalWrite(BASE2+13, HIGH); // Turn pin 13 on.
    delay(500);
    digitalWrite(BASE2+13, LOW); // Turn pin 13 off.
    delay(500);
  }
}

/**************************************************************************
 * setup() function
 **************************************************************************/
void setup(void)
{
  wiringPiSetup();
  drcSetupSerial(BASE, 20, "/dev/ttyACM0", 115200);
  drcSetupSerial(BASE2, 20, "/dev/ttyACM1", 115200);

  int x = piThreadCreate(arduino2); // Start second thread.
  if (x != 0) printf("It didn't start.\n");

// Pins on Arduino:
  pinMode (BASE+11, PWM_OUTPUT);    // Reset pin to maximum value
  pwmWrite(BASE+11, 255);           // after PWM write.
 
  pinMode (BASE+5, INPUT);          // Pin 5 used for digitalRead.

  pinMode (BASE+9, PWM_OUTPUT);     // Pin 9 used for pwmWrite.
                                    // Pin A0 is used for analogRead.
// Pins on second Arduino:
  pinMode (BASE2+13, OUTPUT);       // Pin 13 used for digitalWrite.
   
// Pins on RaspberryPi:
  pinMode(0, OUTPUT);               // Pin 0 used for digitalWrite.              
  pinMode(5, INPUT);                // Pin 5 used for digitalRead.

  pinMode(1, PWM_OUTPUT);           // Pin 1 used for pwmWrite.
}

/**************************************************************************
 * loop() function
 **************************************************************************/
void loop(void)
{
  digitalWrite(BASE+11, digitalRead(BASE+5)); // If Arduino button is pressed
  digitalWrite(0, digitalRead(BASE+5));       // turn on both red LEDs.

  pwmWrite(BASE+9, (analogRead(BASE)/4));     // Varies the brightness of both green
  pwmWrite(1, (analogRead(BASE)/4));          // LEDs according to pressure applied 
                                              // to the force sensitive resistor.

  digitalWrite(BASE+11, digitalRead(5));      // If RaspberryPi button is pressed
  digitalWrite(0, digitalRead(5));            // turn on both red LEDs.
}

/**************************************************************************
 * main() function
 **************************************************************************/
int main (void)
{
  setup();

  for(;;)
  {
    loop();
  }
  return 0 ;
}