/*
 * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#define DATALINK_C

#include BOARD_CONFIG
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/datalink/downlink.h"

#include "subsystems/datalink/datalink.h"

static inline void main_init(void);
static inline void main_periodic(void);
static inline void main_event(void);

int main(void)
{

  main_init();

  while (1) {
    if (sys_time_check_and_ack_timer(0)) {
      main_periodic();
    }
    main_event();
  }
  return 0;
}

static inline void main_init(void)
{
  mcu_init();
  sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
}

static inline void main_periodic(void)
{
  RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice,  16, MD5SUM);});
}

static inline void main_event(void)
{
  DatalinkEvent();
}

void dl_parse_msg(void)
{
  // FIXME : when i remove the datalink=0 line it stops working !!!!
  datalink_time = 0;
  uint8_t msg_id = dl_buffer[1];
  switch (msg_id) {

    case  DL_PING: {
      DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
    }
    break;
  }
}
