//#define DTA2

#ifdef DTA2
 int device=2;
#else
 int device=1;
#endif

#define TEST1
//#define TEST

#include <LibPrintf.h>
#include <stdio.h>


#include "pico/stdlib.h"
#include "pico/multicore.h"
#include "hardware/spi.h"
#include "hardware/watchdog.h"

#include "program_defines.h"

String ids="DTA_board";



struct program_t{
         double paramdata;
   int param;
            };

struct program_t lastp={1e30,SHOLD}, program_s[PROGRAMSIZE];
struct program_t curprogram={1e30,SHOLD};

double tempzero=0;
double tempslope=1;
double tempparab=0;
double pa=0.6;
double pb=0;
double pc=0;
double q0=1;
int inttime=20;
double rfilter=0.001;
double rfiltert=0.001;

double t1_zero=0.0;
double t2_zero=0.0;
double t1_slope=1.0;
double t2_slope=1.0;
double dt_zero=0.0;
double dt_slope=1.0;
boolean testb=false;

int spinlock_num_count ;
spin_lock_t *spinlock_count ;

#include "utils.h"
#include "ad_da.h"
#include "read_save.h"

#include "period.h"





void setup() {
  int i;
  Serial.begin(115200); 
  Serial.setTimeout(100);
  delay(200);
  initdevice();
  start_littlefs();
  read_name();
  read_params();
  t_onestep=micros();
  delay(10);
  spinlock_num_count = spin_lock_claim_unused(true) ;
  spinlock_count = spin_lock_init(spinlock_num_count) ;
  spi_start();
  r_da(0, 0.0);
  setchannel(3);
  setgain(0);
  filter[0]=1;
  filter[1]=1;
  filter[2]=1;
  filter[3]=1;
 
}

//void setup1() 
//{
  //while (power_enabled==0)
     //delay(10);
  //spi_start();
  //r_da(0, 0.0);
  //setchannel(3);
  //setgain(0);
//}

void loop() {
  time_onestep();
  onestep();
  main_step();
  get_ads();
  sleep_us(10);
}

//void loop1()
//{
  //get_ads();
  //sleep_us(1000);
//}