#include	"clock.h"

/** \file
	\brief Do stuff periodically
*/

#include	"pinio.h"
#include	"sersendf.h"
#include	"dda_queue.h"
#include	"watchdog.h"
#include	"temp.h"
#include	"timer.h"
#include	"debug.h"
#include	"heater.h"
#include	"serial.h"
#ifdef	TEMP_INTERCOM
	#include	"intercom.h"
#endif
#include	"memory_barrier.h"

/*!	do stuff every 1/4 second

	called from clock_10ms(), do not call directly
*/
void clock_250ms() {
	if (steptimeout > (30 * 4)) {
		power_off();
	}
	else if (heaters_all_off())	{
		uint8_t save_reg = SREG;
		cli();
		CLI_SEI_BUG_MEMORY_BARRIER();
		steptimeout++;
		MEMORY_BARRIER();
		SREG = save_reg;
	}

	ifclock(clock_flag_1s) {
		if (debug_flags & DEBUG_POSITION) {
			// current position
			sersendf_P(PSTR("Pos: %ld,%ld,%ld,%ld,%lu\n"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F);

			// target position
			sersendf_P(PSTR("Dst: %ld,%ld,%ld,%ld,%lu\n"), movebuffer[mb_tail].endpoint.X, movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z, movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F);

			// Queue
			print_queue();

			// newline
			serial_writechar('\n');
		}
		// temperature
		/*		if (temp_get_target())
		temp_print();*/
	}
	#ifdef	TEMP_INTERCOM
	start_send();
	#endif
}

/*! do stuff every 10 milliseconds

	call from ifclock(CLOCK_FLAG_10MS) in busy loops
*/
void clock_10ms() {
	// reset watchdog
	wd_reset();

	temp_tick();

	ifclock(clock_flag_250ms) {
		clock_250ms();
	}

	update_position();
}