#include "stm32f10x.h"
#include <Driver_GPIO.h>
#include <MyTimer.h>
#include <MyADC.h>
#include <Plateau.h>
#include <Telecommande.h>
#include <Batterie.h>
#include <MyGirouette.h>
#include <MyVoile.h>
#include <MySPI.h>

/* Declarations */
int droite;
int b;
int testBatterie ;
int bat;
int ID_acc,ID_acc2; 
int counter = 0;
char* visuBatterie = "[-----]";

MyTimer_Struct_TypeDef TIM;
MyTimer_Struct_TypeDef * Data = &TIM;



void handler() {
	counter ++;
	
	/*fonctions joel gwen*/
	//
	//
	//
	//
	//
	//
	//
	//
	//
	//
	//
	//
	//
	//
	//
	//
	
	
	if (counter == 10) {
		bat = Get_Batterie();
		if (bat < 20) {
			visuBatterie = "[-----]";
		} else if (bat < 40) {
			visuBatterie = "[##---]";
		} else if (bat < 60) {
			visuBatterie = "[###--]";
		} else if (bat < 80) {
			visuBatterie = "[####-]";
		} else {
			visuBatterie = "[#####]";
		}

		Send_Message("Batterie : ");
		Send_Message(visuBatterie);
		Send_Message("\r");
		
		
		counter = 0;
	}
}


void f (char a) {


	if (a>> 7 & 1) {
		droite = 1;
		b = 256 - a;
		Set_Moteur_Plateau(HORRAIRE, b);
	}
	else {
		droite = 0;
		b = a;
		Set_Moteur_Plateau(ANTI_HORRAIRE, b);
	}
}



int main (void)
{


		
	/* Configuration du Timer */
	Data->Timer = TIM1;
	Data->ARR = 65535;
	Data->PSC = 548; 
	MyTimer_Base_Init(Data);
	MyTimer_Base_Start(TIM1);
	MyTimer_ActiveIT(TIM1, 1, &handler);
	
	/* Pour la telecommande */
	Init_USART(USART1);
	Init_Message_Reception(&f);
	Init_Plateau();
 	Init_Girouette();
 	MyVoile_Init();

	MySPI_Init(SPI1);
	MySPI_Clear_NSS();
	MySPI_Send(0x2D);
	MySPI_Send(1<<3);
	MySPI_Set_NSS();
	
	/* Batterie */
	Init_Batterie();
	while (1) {
		MySPI_Clear_NSS();
		MySPI_Send(0x37);
		MySPI_Set_NSS();
		
		MySPI_Clear_NSS();
		ID_acc = MySPI_Read();
		ID_acc2 = MySPI_Read();
		MySPI_Set_NSS();
	  Set_Voile(Get_Angle());
	}
}