CC2530: Samplelight device has spikes in current

/**************************************************************************************************
  Filename:       zcl_sampleLight.c
  Revised:        $Date: 2014-10-24 16:04:46 -0700 (Fri, 24 Oct 2014) $
  Revision:       $Revision: 40796 $


  Description:    Zigbee Cluster Library - sample device application.


  Copyright 2006-2014 Texas Instruments Incorporated. All rights reserved.

  IMPORTANT: Your use of this Software is limited to those specific rights
  granted under the terms of a software license agreement between the user
  who downloaded the software, his/her employer (which must be your employer)
  and Texas Instruments Incorporated (the "License").  You may not use this
  Software unless you agree to abide by the terms of the License. The License
  limits your use, and you acknowledge, that the Software may not be modified,
  copied or distributed unless embedded on a Texas Instruments microcontroller
  or used solely and exclusively in conjunction with a Texas Instruments radio
  frequency transceiver, which is integrated into your product.  Other than for
  the foregoing purpose, you may not use, reproduce, copy, prepare derivative
  works of, modify, distribute, perform, display or sell this Software and/or
  its documentation for any purpose.

  YOU FURTHER ACKNOWLEDGE AND AGREE THAT THE SOFTWARE AND DOCUMENTATION ARE
  PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED,
  INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, TITLE,
  NON-INFRINGEMENT AND FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL
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**************************************************************************************************/

/*********************************************************************
  This application implements a ZigBee HA 1.2 Light. It can be configured as an
  On/Off light, or as a dimmable light. The following flags must be defined in
  the compiler's pre-defined symbols.

  ZCL_ON_OFF
  ZCL_LEVEL_CTRL    (only if dimming functionality desired)
  HOLD_AUTO_START
  ZCL_EZMODE

  This device supports all mandatory and optional commands/attributes for the
  OnOff (0x0006) and LevelControl (0x0008) clusters.

  SCREEN MODES
  ----------------------------------------
  Main:
    - SW1: Toggle local light
    - SW2: Invoke EZMode
    - SW4: Enable/Disable local permit join
    - SW5: Go to Help screen
  ----------------------------------------
*********************************************************************/

/*********************************************************************
 * INCLUDES
 */
#include "ZComDef.h"
#include "OSAL.h"
#include "AF.h"
#include "ZDApp.h"
#include "ZDObject.h"
#include "MT_SYS.h"

#include "nwk_util.h"

#include "zcl.h"
#include "zcl_general.h"
#include "zcl_ha.h"
#include "zcl_ezmode.h"
#include "zcl_diagnostic.h"

#include "zcl_samplelight.h"

#include "onboard.h"

/* HAL */
#include "hal_lcd.h"
#include "hal_led.h"
#include "hal_key.h"

#if ( defined (ZGP_DEVICE_TARGET) || defined (ZGP_DEVICE_TARGETPLUS) \
      || defined (ZGP_DEVICE_COMBO) || defined (ZGP_DEVICE_COMBO_MIN) )
#include "zgp_translationtable.h"
  #if (SUPPORTED_S_FEATURE(SUPP_ZGP_FEATURE_TRANSLATION_TABLE))
    #define ZGP_AUTO_TT
  #endif
#endif

#if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)
#include "math.h"
#include "hal_timer.h"
#endif

#include "NLMEDE.h"

/*********************************************************************
 * MACROS
 */

/*********************************************************************
 * CONSTANTS
 */
#if (defined HAL_BOARD_ZLIGHT)
#define LEVEL_MAX                 0xFE
#define LEVEL_MIN                 0x0
#define GAMMA_VALUE               2
#define PWM_FULL_DUTY_CYCLE       1000
#elif (defined HAL_PWM)
#define LEVEL_MAX                 0xFE
#define LEVEL_MIN                 0x0
#define GAMMA_VALUE               2
#define PWM_FULL_DUTY_CYCLE       100
#endif

/*********************************************************************
 * TYPEDEFS
 */

/*********************************************************************
 * GLOBAL VARIABLES
 */
byte zclSampleLight_TaskID;
uint8 zclSampleLightSeqNum;


/*********************************************************************
 * GLOBAL FUNCTIONS
 */

/*********************************************************************
 * LOCAL VARIABLES
 */
afAddrType_t zclSampleLight_DstAddr;

#ifdef ZCL_EZMODE
static void zclSampleLight_ProcessZDOMsgs( zdoIncomingMsg_t *pMsg );
static void zclSampleLight_EZModeCB( zlcEZMode_State_t state, zclEZMode_CBData_t *pData );


// register EZ-Mode with task information (timeout events, callback, etc...)
static const zclEZMode_RegisterData_t zclSampleLight_RegisterEZModeData =
{
  &zclSampleLight_TaskID,
  SAMPLELIGHT_EZMODE_NEXTSTATE_EVT,
  SAMPLELIGHT_EZMODE_TIMEOUT_EVT,
  &zclSampleLightSeqNum,
  zclSampleLight_EZModeCB
};

#else
uint16 bindingInClusters[] =
{
  ZCL_CLUSTER_ID_GEN_ON_OFF
#ifdef ZCL_LEVEL_CTRL
  , ZCL_CLUSTER_ID_GEN_LEVEL_CONTROL
#endif
};
#define ZCLSAMPLELIGHT_BINDINGLIST (sizeof(bindingInClusters) / sizeof(bindingInClusters[0]))

#endif  // ZCL_EZMODE

// Test Endpoint to allow SYS_APP_MSGs
static endPointDesc_t sampleLight_TestEp =
{
  SAMPLELIGHT_ENDPOINT,
  &zclSampleLight_TaskID,
  (SimpleDescriptionFormat_t *)NULL,  // No Simple description for this test endpoint
  (afNetworkLatencyReq_t)0            // No Network Latency req
};

uint8 giLightScreenMode = LIGHT_MAINMODE;   // display the main screen mode first

uint8 gPermitDuration = 0;    // permit joining default to disabled

devStates_t zclSampleLight_NwkState = DEV_INIT;

#if ZCL_LEVEL_CTRL
uint8 zclSampleLight_WithOnOff;       // set to TRUE if state machine should set light on/off
uint8 zclSampleLight_NewLevel;        // new level when done moving
bool  zclSampleLight_NewLevelUp;      // is direction to new level up or down?
int32 zclSampleLight_CurrentLevel32;  // current level, fixed point (e.g. 192.456)
int32 zclSampleLight_Rate32;          // rate in units, fixed point (e.g. 16.123)
uint8 zclSampleLight_LevelLastLevel;  // to save the Current Level before the light was turned OFF
#endif

/*********************************************************************
 * LOCAL FUNCTIONS
 */
static void zclSampleLight_HandleKeys( byte shift, byte keys );
static void zclSampleLight_BasicResetCB( void );
static void zclSampleLight_IdentifyCB( zclIdentify_t *pCmd );
static void zclSampleLight_IdentifyQueryRspCB( zclIdentifyQueryRsp_t *pRsp );
static void zclSampleLight_OnOffCB( uint8 cmd );
static void zclSampleLight_ProcessIdentifyTimeChange( void );
#ifdef ZCL_LEVEL_CTRL
static void zclSampleLight_LevelControlMoveToLevelCB( zclLCMoveToLevel_t *pCmd );
static void zclSampleLight_LevelControlMoveCB( zclLCMove_t *pCmd );
static void zclSampleLight_LevelControlStepCB( zclLCStep_t *pCmd );
static void zclSampleLight_LevelControlStopCB( void );
static void zclSampleLight_DefaultMove( void );
static uint32 zclSampleLight_TimeRateHelper( uint8 newLevel );
static uint16 zclSampleLight_GetTime ( uint8 level, uint16 time );
static void zclSampleLight_MoveBasedOnRate( uint8 newLevel, uint32 rate );
static void zclSampleLight_MoveBasedOnTime( uint8 newLevel, uint16 time );
static void zclSampleLight_AdjustLightLevel( void );
#endif

// app display functions
static void zclSampleLight_LcdDisplayUpdate( void );
#ifdef LCD_SUPPORTED
static void zclSampleLight_LcdDisplayMainMode( void );
static void zclSampleLight_LcdDisplayHelpMode( void );
#endif
static void zclSampleLight_DisplayLight( void );

#if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)
void zclSampleLight_UpdateLampLevel( uint8 level );
#endif

// Functions to process ZCL Foundation incoming Command/Response messages
static void zclSampleLight_ProcessIncomingMsg( zclIncomingMsg_t *msg );
#ifdef ZCL_READ
static uint8 zclSampleLight_ProcessInReadRspCmd( zclIncomingMsg_t *pInMsg );
#endif
#ifdef ZCL_WRITE
static uint8 zclSampleLight_ProcessInWriteRspCmd( zclIncomingMsg_t *pInMsg );
#endif
static uint8 zclSampleLight_ProcessInDefaultRspCmd( zclIncomingMsg_t *pInMsg );
#ifdef ZCL_DISCOVER
static uint8 zclSampleLight_ProcessInDiscCmdsRspCmd( zclIncomingMsg_t *pInMsg );
static uint8 zclSampleLight_ProcessInDiscAttrsRspCmd( zclIncomingMsg_t *pInMsg );
static uint8 zclSampleLight_ProcessInDiscAttrsExtRspCmd( zclIncomingMsg_t *pInMsg );
#endif

/*********************************************************************
 * STATUS STRINGS
 */
#ifdef LCD_SUPPORTED
const char sDeviceName[]   = "  Sample Light";
const char sClearLine[]    = " ";
const char sSwLight[]      = "SW1: ToggleLight";  // 16 chars max
const char sSwEZMode[]     = "SW2: EZ-Mode";
char sSwHelp[]             = "SW5: Help       ";  // last character is * if NWK open
const char sLightOn[]      = "    LIGHT ON ";
const char sLightOff[]     = "    LIGHT OFF";
 #if ZCL_LEVEL_CTRL
 char sLightLevel[]        = "    LEVEL ###"; // displays level 1-254
 #endif
#endif

/*********************************************************************
 * ZCL General Profile Callback table
 */
static zclGeneral_AppCallbacks_t zclSampleLight_CmdCallbacks =
{
  zclSampleLight_BasicResetCB,            // Basic Cluster Reset command
  zclSampleLight_IdentifyCB,              // Identify command
#ifdef ZCL_EZMODE
  NULL,                                   // Identify EZ-Mode Invoke command
  NULL,                                   // Identify Update Commission State command
#endif
  NULL,                                   // Identify Trigger Effect command
  zclSampleLight_IdentifyQueryRspCB,      // Identify Query Response command
  zclSampleLight_OnOffCB,                 // On/Off cluster commands
  NULL,                                   // On/Off cluster enhanced command Off with Effect
  NULL,                                   // On/Off cluster enhanced command On with Recall Global Scene
  NULL,                                   // On/Off cluster enhanced command On with Timed Off
#ifdef ZCL_LEVEL_CTRL
  zclSampleLight_LevelControlMoveToLevelCB, // Level Control Move to Level command
  zclSampleLight_LevelControlMoveCB,        // Level Control Move command
  zclSampleLight_LevelControlStepCB,        // Level Control Step command
  zclSampleLight_LevelControlStopCB,        // Level Control Stop command
#endif
#ifdef ZCL_GROUPS
  NULL,                                   // Group Response commands
#endif
#ifdef ZCL_SCENES
  NULL,                                  // Scene Store Request command
  NULL,                                  // Scene Recall Request command
  NULL,                                  // Scene Response command
#endif
#ifdef ZCL_ALARMS
  NULL,                                  // Alarm (Response) commands
#endif
#ifdef SE_UK_EXT
  NULL,                                  // Get Event Log command
  NULL,                                  // Publish Event Log command
#endif
  NULL,                                  // RSSI Location command
  NULL                                   // RSSI Location Response command
};

/*********************************************************************
 * @fn          zclSampleLight_Init
 *
 * @brief       Initialization function for the zclGeneral layer.
 *
 * @param       none
 *
 * @return      none
 */
#define DATA_PIN P0_5
#define forward P0_7
#define backward P0_6
#define pin P0_3

#define time 110

static int no = 0;

#define PERIODIC_EVT 0x4000
#define PERIODIC_EVT2 0x0001

void zclSampleLight_Init( byte task_id )
{    
  zclSampleLight_TaskID = task_id;
  osal_start_timerEx( zclSampleLight_TaskID, PERIODIC_EVT, 10 );
  osal_start_timerEx( zclSampleLight_TaskID, PERIODIC_EVT2, 10 );

  // Set destination address to indirect
  zclSampleLight_DstAddr.addrMode = (afAddrMode_t)AddrNotPresent;
  zclSampleLight_DstAddr.endPoint = 0;
  zclSampleLight_DstAddr.addr.shortAddr = 0;

  // This app is part of the Home Automation Profile
  zclHA_Init( &zclSampleLight_SimpleDesc );

  // Register the ZCL General Cluster Library callback functions
  zclGeneral_RegisterCmdCallbacks( SAMPLELIGHT_ENDPOINT, &zclSampleLight_CmdCallbacks );

  // Register the application's attribute list
  zcl_registerAttrList( SAMPLELIGHT_ENDPOINT, zclSampleLight_NumAttributes, zclSampleLight_Attrs );

  // Register the Application to receive the unprocessed Foundation command/response messages
  zcl_registerForMsg( zclSampleLight_TaskID );

#ifdef ZCL_DISCOVER
  // Register the application's command list
  zcl_registerCmdList( SAMPLELIGHT_ENDPOINT, zclCmdsArraySize, zclSampleLight_Cmds );
#endif

  // Register for all key events - This app will handle all key events
  RegisterForKeys( zclSampleLight_TaskID );

  // Register for a test endpoint
  afRegister( &sampleLight_TestEp );

#ifdef ZCL_EZMODE
  // Register EZ-Mode
  zcl_RegisterEZMode( &zclSampleLight_RegisterEZModeData );

  // Register with the ZDO to receive Match Descriptor Responses
  ZDO_RegisterForZDOMsg(task_id, Match_Desc_rsp);
#endif


#if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)
  HalTimer1Init( 0 );
  halTimer1SetChannelDuty( WHITE_LED, 0 );
  halTimer1SetChannelDuty( RED_LED, 0 );
  halTimer1SetChannelDuty( BLUE_LED, 0 );
  halTimer1SetChannelDuty( GREEN_LED, 0 );

  // find if we are already on a network from NV_RESTORE
  uint8 state;
  NLME_GetRequest( nwkNwkState, 0, &state );

  if ( state < NWK_ENDDEVICE )
  {
    // Start EZMode on Start up to avoid button press
    osal_start_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_START_EZMODE_EVT, 500 );
  }
#if ZCL_LEVEL_CTRL
  zclSampleLight_DefaultMove();
#endif
#endif // #if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)

#ifdef ZCL_DIAGNOSTIC
  // Register the application's callback function to read/write attribute data.
  // This is only required when the attribute data format is unknown to ZCL.
  zcl_registerReadWriteCB( SAMPLELIGHT_ENDPOINT, zclDiagnostic_ReadWriteAttrCB, NULL );

  if ( zclDiagnostic_InitStats() == ZSuccess )
  {
    // Here the user could start the timer to save Diagnostics to NV
  }
#endif

#ifdef LCD_SUPPORTED
  HalLcdWriteString ( (char *)sDeviceName, HAL_LCD_LINE_3 );
#endif  // LCD_SUPPORTED

#ifdef ZGP_AUTO_TT
  zgpTranslationTable_RegisterEP ( &zclSampleLight_SimpleDesc );
#endif
  
  P0DIR |= 0x20;
  P0SEL &= ~BV(7);
  P0DIR |= BV(7);
  P0SEL &= ~BV(6);
  P0DIR |= BV(6);
  
    DATA_PIN = 0;
    forward = 0;
    backward = 1;

    for(int i=0; i<time; i++){
      Onboard_wait(10000);
    }      
    
    forward = 0;
    backward = 0;    
    DATA_PIN = 1;
    
    no = 1;  
    
  zclSampleLight_OnOff = LIGHT_ON;
  
  zclReportCmd_t rptcmd;
  rptcmd.numAttr = 1;
  rptcmd.attrList[0].attrID = ATTRID_ON_OFF;
  rptcmd.attrList[0].dataType = ZCL_DATATYPE_BOOLEAN;
  rptcmd.attrList[0].attrData = (uint8*)&zclSampleLight_OnOff;

  // Set destination address to indirect
  zclSampleLight_DstAddr.addrMode = (afAddrMode_t)Addr16Bit;
  zclSampleLight_DstAddr.addr.shortAddr = 0;
  zclSampleLight_DstAddr.endPoint=1;
  zcl_SendReportCmd(SAMPLELIGHT_ENDPOINT,&zclSampleLight_DstAddr, ZCL_CLUSTER_ID_GEN_ON_OFF, &rptcmd, ZCL_FRAME_CLIENT_SERVER_DIR, false, 0 );
  
}

/*********************************************************************
 * @fn          zclSample_event_loop
 *
 * @brief       Event Loop Processor for zclGeneral.
 *
 * @param       none
 *
 * @return      none
 */
#include <hal_adc.h>

#define KEYHOLD_EVT  0x0100    //define event for key hold
int KeyPressCnt=0;

uint16 adc_ain2=0; 

#define HAL_ADC_REF_125V    0x00    /* Internal 1.25V Reference */
#define HAL_ADC_DEC_064     0x00    /* Decimate by 64 : 8-bit resolution */
#define HAL_ADC_DEC_128     0x10    /* Decimate by 128 : 10-bit resolution */
#define HAL_ADC_DEC_512     0x30    /* Decimate by 512 : 14-bit resolution */
#define HAL_ADC_CHN_VDD3    0x0f    /* Input channel: VDD/3 */
#define HAL_ADC_CHN_TEMP    0x0e    /* Temperature sensor */
uint16 value_bat;
uint32        next;
halIntState_t intState;
uint8 ret;

#define TURNOFF_MOTOR_EVT 0x0400

#include <OSAL_PwrMgr.h>

int n=1;

uint16 zclSampleLight_event_loop( uint8 task_id, uint16 events )
{  
  if(n==1){
    ZDApp_ChangeState(DEV_NWK_DISC);
    // Restart scan for rejoin
    ZDApp_StartJoiningCycle();
    osal_start_timerEx( ZDAppTaskID, ZDO_REJOIN_BACKOFF, zgDefaultRejoinScan );
    n=0;
  }
  
  if(devState==DEV_NWK_BACKOFF){
    pwrmgr_attribute.pwrmgr_device = PWRMGR_BATTERY;
  }
  
  if( events & TURNOFF_MOTOR_EVT )
  {
    forward = 0;
    backward = 0;
    DATA_PIN = 1;
    return (events ^ TURNOFF_MOTOR_EVT);
  }
  
  if ( events & KEYHOLD_EVT )
  {
    if ( P2_0==1 )
    {
      if (KeyPressCnt>40){
        KeyPressCnt=0;
        extern void ZDApp_ResetTimerStart( uint16 delay );
        zgWriteStartupOptions(ZG_STARTUP_SET, (ZCD_STARTOPT_DEFAULT_NETWORK_STATE | ZCD_STARTOPT_DEFAULT_CONFIG_STATE) );
        
        SystemResetSoft();
      }    
      else{
        KeyPressCnt++;
        osal_start_timerEx( zclSampleLight_TaskID, KEYHOLD_EVT, 100);
      }
    }
    return ( events ^ KEYHOLD_EVT );
  }
  
  if( events & PERIODIC_EVT )
  {
    //Do things that need periodic processing here!
    /* Clear ADC interrupt flag */
    ADCIF = 0;
    ADCCON3 = (HAL_ADC_REF_125V| HAL_ADC_DEC_128 | HAL_ADC_CHN_VDD3);
    /* Wait for the conversion to finish */
    while ( !ADCIF ); 
    /* Get the result */
    value_bat = ADCL;
    value_bat |= ((uint16) ADCH) << 8;
    /*
    * value now contains measurement of Vdd/3
    * 0 indicates 0V and 32767 indicates 1.25V
    * voltage = (value*3*1.25)/32767 volts
    * we will multiply by this by 10 to allow units of 0.1 volts
    */
    value_bat = value_bat >> 6; // divide first by 2^6
    value_bat = (uint16)(value_bat * 37.5);
    value_bat = value_bat >> 9; // ...and later by 2^9...to prevent overflow during multiplication
    
    if(value_bat<=25){
      P0_4=1;    
    }
    else if(value_bat>25){
      P0_4=0;    
    }

    osal_start_timerEx( zclSampleLight_TaskID, PERIODIC_EVT, 720000 );
    return (events ^ PERIODIC_EVT);
  }
  
  afIncomingMSGPacket_t *MSGpkt;

  (void)task_id;  // Intentionally unreferenced parameter

  if ( events & SYS_EVENT_MSG )
  {
    while ( (MSGpkt = (afIncomingMSGPacket_t *)osal_msg_receive( zclSampleLight_TaskID )) )
    {
      switch ( MSGpkt->hdr.event )
      {
#ifdef ZCL_EZMODE
        case ZDO_CB_MSG:
          zclSampleLight_ProcessZDOMsgs( (zdoIncomingMsg_t *)MSGpkt );
          break;
#endif
        case ZCL_INCOMING_MSG:
          // Incoming ZCL Foundation command/response messages
          zclSampleLight_ProcessIncomingMsg( (zclIncomingMsg_t *)MSGpkt );
          break;

        case KEY_CHANGE:
          zclSampleLight_HandleKeys( ((keyChange_t *)MSGpkt)->state, ((keyChange_t *)MSGpkt)->keys );
          break;

        case ZDO_STATE_CHANGE:
          zclSampleLight_NwkState = (devStates_t)(MSGpkt->hdr.status);

          // now on the network
          if ( (zclSampleLight_NwkState == DEV_ZB_COORD) ||
               (zclSampleLight_NwkState == DEV_ROUTER)   ||
               (zclSampleLight_NwkState == DEV_END_DEVICE) )
          {
            giLightScreenMode = LIGHT_MAINMODE;
            zclSampleLight_LcdDisplayUpdate();
#ifdef ZCL_EZMODE
            zcl_EZModeAction( EZMODE_ACTION_NETWORK_STARTED, NULL );
#endif // ZCL_EZMODE
          }
          break;

        default:
          break;
      }

      // Release the memory
      osal_msg_deallocate( (uint8 *)MSGpkt );
    }

    // return unprocessed events
    return (events ^ SYS_EVENT_MSG);
  }

  if ( events & SAMPLELIGHT_IDENTIFY_TIMEOUT_EVT )
  {
    if ( zclSampleLight_IdentifyTime > 0 )
      zclSampleLight_IdentifyTime--;
    zclSampleLight_ProcessIdentifyTimeChange();

    return ( events ^ SAMPLELIGHT_IDENTIFY_TIMEOUT_EVT );
  }

  if ( events & SAMPLELIGHT_MAIN_SCREEN_EVT )
  {
    giLightScreenMode = LIGHT_MAINMODE;
    zclSampleLight_LcdDisplayUpdate();

    return ( events ^ SAMPLELIGHT_MAIN_SCREEN_EVT );
  }

#ifdef ZCL_EZMODE
#if (defined HAL_BOARD_ZLIGHT)
  // event to start EZMode on startup with a delay
  if ( events & SAMPLELIGHT_START_EZMODE_EVT )
  {
    // Invoke EZ-Mode
    zclEZMode_InvokeData_t ezModeData;

    // Invoke EZ-Mode
    ezModeData.endpoint = SAMPLELIGHT_ENDPOINT; // endpoint on which to invoke EZ-Mode
    if ( (zclSampleLight_NwkState == DEV_ZB_COORD) ||
         (zclSampleLight_NwkState == DEV_ROUTER)   ||
         (zclSampleLight_NwkState == DEV_END_DEVICE) )
    {
      ezModeData.onNetwork = TRUE;      // node is already on the network
    }
    else
    {
      ezModeData.onNetwork = FALSE;     // node is not yet on the network
    }
    ezModeData.initiator = FALSE;          // OnOffLight is a target
    ezModeData.numActiveOutClusters = 0;
    ezModeData.pActiveOutClusterIDs = NULL;
    ezModeData.numActiveInClusters = 0;
    ezModeData.pActiveOutClusterIDs = NULL;
    zcl_InvokeEZMode( &ezModeData );

    return ( events ^ SAMPLELIGHT_START_EZMODE_EVT );
  }
#endif // #if (defined HAL_BOARD_ZLIGHT)

  // going on to next state
  if ( events & SAMPLELIGHT_EZMODE_NEXTSTATE_EVT )
  {
    zcl_EZModeAction ( EZMODE_ACTION_PROCESS, NULL );   // going on to next state
    return ( events ^ SAMPLELIGHT_EZMODE_NEXTSTATE_EVT );
  }

  // the overall EZMode timer expired, so we timed out
  if ( events & SAMPLELIGHT_EZMODE_TIMEOUT_EVT )
  {
    zcl_EZModeAction ( EZMODE_ACTION_TIMED_OUT, NULL ); // EZ-Mode timed out
    return ( events ^ SAMPLELIGHT_EZMODE_TIMEOUT_EVT );
  }
#endif // ZLC_EZMODE

#ifdef ZCL_LEVEL_CTRL
  if ( events & SAMPLELIGHT_LEVEL_CTRL_EVT )
  {
    zclSampleLight_AdjustLightLevel();
    return ( events ^ SAMPLELIGHT_LEVEL_CTRL_EVT );
  }
#endif

  // Discard unknown events
  return 0;
}

/*********************************************************************
 * @fn      zclSampleLight_HandleKeys
 *
 * @brief   Handles all key events for this device.
 *
 * @param   shift - true if in shift/alt.
 * @param   keys - bit field for key events. Valid entries:
 *                 HAL_KEY_SW_5
 *                 HAL_KEY_SW_4
 *                 HAL_KEY_SW_2
 *                 HAL_KEY_SW_1
 *
 * @return  none
 */
static void zclSampleLight_HandleKeys( byte shift, byte keys )
{
  if ( (keys & HAL_KEY_SW_2) )
  {
    forward = 0;
    backward = 0;
    DATA_PIN = 1;
  }
  
  if ( keys & HAL_KEY_SW_6 )
  {
    if(devState==DEV_NWK_BACKOFF && zgDefaultRejoinScan == 10000){
    SystemResetSoft();
    }

    osal_start_timerEx( zclSampleLight_TaskID, TURNOFF_MOTOR_EVT, 5000);

    KeyPressCnt=0;
    osal_start_timerEx( zclSampleLight_TaskID, KEYHOLD_EVT, 100);
    
    // toggle local light immediately
    zclSampleLight_OnOff = zclSampleLight_OnOff ? LIGHT_OFF : LIGHT_ON;
    
    for(int i=0; i<30; i++){
      Onboard_wait(10000);
    } 
  }

  /*if ( keys & HAL_KEY_SW_6 )
  {
#if (defined HAL_BOARD_ZLIGHT)

    zclSampleLight_BasicResetCB();

#else

    giLightScreenMode = LIGHT_MAINMODE;

#ifdef ZCL_EZMODE
    {
      // Invoke EZ-Mode
      zclEZMode_InvokeData_t ezModeData;

      // Invoke EZ-Mode
      ezModeData.endpoint = SAMPLELIGHT_ENDPOINT; // endpoint on which to invoke EZ-Mode
      if ( (zclSampleLight_NwkState == DEV_ZB_COORD) ||
          (zclSampleLight_NwkState == DEV_ROUTER)   ||
            (zclSampleLight_NwkState == DEV_END_DEVICE) )
      {
        ezModeData.onNetwork = TRUE;      // node is already on the network
      }
      else
      {
        ezModeData.onNetwork = FALSE;     // node is not yet on the network
      }
      ezModeData.initiator = FALSE;          // OnOffLight is a target
      ezModeData.numActiveOutClusters = 0;
      ezModeData.pActiveOutClusterIDs = NULL;
      ezModeData.numActiveInClusters = 0;
      ezModeData.pActiveOutClusterIDs = NULL;
      zcl_InvokeEZMode( &ezModeData );
    }

#else // NOT EZ-Mode
    {
      zAddrType_t dstAddr;
      HalLedSet ( HAL_LED_4, HAL_LED_MODE_OFF );

      // Initiate an End Device Bind Request, this bind request will
      // only use a cluster list that is important to binding.
      dstAddr.addrMode = afAddr16Bit;
      dstAddr.addr.shortAddr = 0;   // Coordinator makes the match
      ZDP_EndDeviceBindReq( &dstAddr, NLME_GetShortAddr(),
                           SAMPLELIGHT_ENDPOINT,
                           ZCL_HA_PROFILE_ID,
                           ZCLSAMPLELIGHT_BINDINGLIST, bindingInClusters,
                           0, NULL,   // No Outgoing clusters to bind
                           TRUE );
    }
#endif // ZCL_EZMODE
#endif // HAL_BOARD_ZLIGHT
  }*/

  /*if ( keys & HAL_KEY_SW_3 )
  {
    NLME_SendNetworkStatus( zclSampleLight_DstAddr.addr.shortAddr,
                       NLME_GetShortAddr(), NWKSTAT_NONTREE_LINK_FAILURE, FALSE );
  }

  if ( keys & HAL_KEY_SW_4 )
  {
    giLightScreenMode = LIGHT_MAINMODE;

    if ( ( zclSampleLight_NwkState == DEV_ZB_COORD ) ||
          ( zclSampleLight_NwkState == DEV_ROUTER ) )
    {
      zAddrType_t tmpAddr;

      tmpAddr.addrMode = Addr16Bit;
      tmpAddr.addr.shortAddr = NLME_GetShortAddr();

      // toggle permit join
      gPermitDuration = gPermitDuration ? 0 : 0xff;

      // Trust Center significance is always true
      ZDP_MgmtPermitJoinReq( &tmpAddr, gPermitDuration, TRUE, FALSE );
    }
  }

  // Shift F5 does a Basic Reset (factory defaults)
  if ( shift && ( keys & HAL_KEY_SW_5 ) )
  {
    zclSampleLight_BasicResetCB();
  }
  else if ( keys & HAL_KEY_SW_5 )
  {
    giLightScreenMode = giLightScreenMode ? LIGHT_MAINMODE : LIGHT_HELPMODE;
  }*/

  // update the display, including the light
  zclSampleLight_LcdDisplayUpdate();
}

/*********************************************************************
 * @fn      zclSampleLight_LcdDisplayUpdate
 *
 * @brief   Called to update the LCD display.
 *
 * @param   none
 *
 * @return  none
 */
void zclSampleLight_LcdDisplayUpdate( void )
{
#ifdef LCD_SUPPORTED
  if ( giLightScreenMode == LIGHT_HELPMODE )
  {
    zclSampleLight_LcdDisplayHelpMode();
  }
  else
  {
    zclSampleLight_LcdDisplayMainMode();
  }
#endif
  
  zclReportCmd_t rptcmd;
  rptcmd.numAttr = 1;
  rptcmd.attrList[0].attrID = ATTRID_ON_OFF;
  rptcmd.attrList[0].dataType = ZCL_DATATYPE_BOOLEAN;
  rptcmd.attrList[0].attrData = (uint8*)&zclSampleLight_OnOff;

  // Set destination address to indirect
  zclSampleLight_DstAddr.addrMode = (afAddrMode_t)Addr16Bit;
  zclSampleLight_DstAddr.addr.shortAddr = 0;
  zclSampleLight_DstAddr.endPoint=1;
  zcl_SendReportCmd(SAMPLELIGHT_ENDPOINT,&zclSampleLight_DstAddr, ZCL_CLUSTER_ID_GEN_ON_OFF, &rptcmd, ZCL_FRAME_CLIENT_SERVER_DIR, false, 0 );

  zclSampleLight_DisplayLight();
}

#if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)
/*********************************************************************
 * @fn      zclSampleLight_UpdateLampLevel
 *
 * @brief   Update lamp level output with gamma compensation
 *
 * @param   level
 *
 * @return  none
 */
void zclSampleLight_UpdateLampLevel( uint8 level )

{
  uint16 gammaCorrectedLevel;

  // gamma correct the level
  gammaCorrectedLevel = (uint16) ( pow( ( (float)level / LEVEL_MAX ), (float)GAMMA_VALUE ) * (float)LEVEL_MAX);

  halTimer1SetChannelDuty(WHITE_LED, (uint16)(((uint32)gammaCorrectedLevel*PWM_FULL_DUTY_CYCLE)/LEVEL_MAX) );
}
#endif

/*********************************************************************
 * @fn      zclSampleLight_DisplayLight
 *
 * @brief   Displays current state of light on LED and also on main display if supported.
 *
 * @param   none
 *
 * @return  none
 */
static void zclSampleLight_DisplayLight( void )
{
  if ( zclSampleLight_OnOff == LIGHT_ON & no == 0 )
  {
    DATA_PIN = 0;
    forward = 0;
    backward = 1;

    no = 1;
  }
  else if ( zclSampleLight_OnOff == LIGHT_OFF & no == 1 )
  {
    DATA_PIN = 0;
    forward = 1;
    backward = 0;
    
    no = 0;
  }

#ifdef LCD_SUPPORTED
  if (giLightScreenMode == LIGHT_MAINMODE)
  {
#ifdef ZCL_LEVEL_CTRL
    // display current light level
    if ( ( zclSampleLight_LevelCurrentLevel == ATTR_LEVEL_MIN_LEVEL ) &&
         ( zclSampleLight_OnOff == LIGHT_OFF ) )
    {
      HalLcdWriteString( (char *)sLightOff, HAL_LCD_LINE_2 );
    }
    else if ( ( zclSampleLight_LevelCurrentLevel >= ATTR_LEVEL_MAX_LEVEL ) ||
              ( zclSampleLight_LevelCurrentLevel == zclSampleLight_LevelOnLevel ) ||
               ( ( zclSampleLight_LevelOnLevel == ATTR_LEVEL_ON_LEVEL_NO_EFFECT ) &&
                 ( zclSampleLight_LevelCurrentLevel == zclSampleLight_LevelLastLevel ) ) )
    {
      HalLcdWriteString( (char *)sLightOn, HAL_LCD_LINE_2 );
    }
    else    // "    LEVEL ###"
    {
      zclHA_uint8toa( zclSampleLight_LevelCurrentLevel, &sLightLevel[10] );
      HalLcdWriteString( (char *)sLightLevel, HAL_LCD_LINE_2 );
    }
#else
    if ( zclSampleLight_OnOff )
    {
      HalLcdWriteString( (char *)sLightOn, HAL_LCD_LINE_2 );
    }
    else
    {
      HalLcdWriteString( (char *)sLightOff, HAL_LCD_LINE_2 );
    }
#endif // ZCL_LEVEL_CTRL
  }
#endif // LCD_SUPPORTED
}

#ifdef LCD_SUPPORTED
/*********************************************************************
 * @fn      zclSampleLight_LcdDisplayMainMode
 *
 * @brief   Called to display the main screen on the LCD.
 *
 * @param   none
 *
 * @return  none
 */
static void zclSampleLight_LcdDisplayMainMode( void )
{
  // display line 1 to indicate NWK status
  if ( zclSampleLight_NwkState == DEV_ZB_COORD )
  {
    zclHA_LcdStatusLine1( ZCL_HA_STATUSLINE_ZC );
  }
  else if ( zclSampleLight_NwkState == DEV_ROUTER )
  {
    zclHA_LcdStatusLine1( ZCL_HA_STATUSLINE_ZR );
  }
  else if ( zclSampleLight_NwkState == DEV_END_DEVICE )
  {
    zclHA_LcdStatusLine1( ZCL_HA_STATUSLINE_ZED );
  }

  // end of line 3 displays permit join status (*)
  if ( gPermitDuration )
  {
    sSwHelp[15] = '*';
  }
  else
  {
    sSwHelp[15] = ' ';
  }
  HalLcdWriteString( (char *)sSwHelp, HAL_LCD_LINE_3 );
}

/*********************************************************************
 * @fn      zclSampleLight_LcdDisplayHelpMode
 *
 * @brief   Called to display the SW options on the LCD.
 *
 * @param   none
 *
 * @return  none
 */
static void zclSampleLight_LcdDisplayHelpMode( void )
{
  HalLcdWriteString( (char *)sSwLight, HAL_LCD_LINE_1 );
  HalLcdWriteString( (char *)sSwEZMode, HAL_LCD_LINE_2 );
  HalLcdWriteString( (char *)sSwHelp, HAL_LCD_LINE_3 );
}
#endif  // LCD_SUPPORTED

/*********************************************************************
 * @fn      zclSampleLight_ProcessIdentifyTimeChange
 *
 * @brief   Called to process any change to the IdentifyTime attribute.
 *
 * @param   none
 *
 * @return  none
 */
static void zclSampleLight_ProcessIdentifyTimeChange( void )
{
  if ( zclSampleLight_IdentifyTime > 0 )
  {
    osal_start_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_IDENTIFY_TIMEOUT_EVT, 1000 );
    HalLedBlink ( HAL_LED_4, 0xFF, HAL_LED_DEFAULT_DUTY_CYCLE, HAL_LED_DEFAULT_FLASH_TIME );
  }
  else
  {
#ifdef ZCL_EZMODE
    if ( zclSampleLight_IdentifyCommissionState & EZMODE_COMMISSION_OPERATIONAL )
    {
      HalLedSet ( HAL_LED_4, HAL_LED_MODE_ON );
    }
    else
    {
      HalLedSet ( HAL_LED_4, HAL_LED_MODE_OFF );
    }
#endif

    osal_stop_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_IDENTIFY_TIMEOUT_EVT );
  }
}

/*********************************************************************
 * @fn      zclSampleLight_BasicResetCB
 *
 * @brief   Callback from the ZCL General Cluster Library
 *          to set all the Basic Cluster attributes to default values.
 *
 * @param   none
 *
 * @return  none
 */
static void zclSampleLight_BasicResetCB( void )
{
  NLME_LeaveReq_t leaveReq;
  // Set every field to 0
  osal_memset( &leaveReq, 0, sizeof( NLME_LeaveReq_t ) );

  // This will enable the device to rejoin the network after reset.
  leaveReq.rejoin = FALSE;

  // Set the NV startup option to force a "new" join.
  zgWriteStartupOptions( ZG_STARTUP_SET, ZCD_STARTOPT_DEFAULT_NETWORK_STATE );

  // Leave the network, and reset afterwards
  if ( NLME_LeaveReq( &leaveReq ) != ZSuccess )
  {
    // Couldn't send out leave; prepare to reset anyway
    ZDApp_LeaveReset( FALSE );
  }
}

/*********************************************************************
 * @fn      zclSampleLight_IdentifyCB
 *
 * @brief   Callback from the ZCL General Cluster Library when
 *          it received an Identity Command for this application.
 *
 * @param   srcAddr - source address and endpoint of the response message
 * @param   identifyTime - the number of seconds to identify yourself
 *
 * @return  none
 */
static void zclSampleLight_IdentifyCB( zclIdentify_t *pCmd )
{
  zclSampleLight_IdentifyTime = pCmd->identifyTime;
  zclSampleLight_ProcessIdentifyTimeChange();
}

/*********************************************************************
 * @fn      zclSampleLight_IdentifyQueryRspCB
 *
 * @brief   Callback from the ZCL General Cluster Library when
 *          it received an Identity Query Response Command for this application.
 *
 * @param   srcAddr - requestor's address
 * @param   timeout - number of seconds to identify yourself (valid for query response)
 *
 * @return  none
 */
static void zclSampleLight_IdentifyQueryRspCB(  zclIdentifyQueryRsp_t *pRsp )
{
  (void)pRsp;
#ifdef ZCL_EZMODE
  {
    zclEZMode_ActionData_t data;
    data.pIdentifyQueryRsp = pRsp;
    zcl_EZModeAction ( EZMODE_ACTION_IDENTIFY_QUERY_RSP, &data );
  }
#endif
}

/*********************************************************************
 * @fn      zclSampleLight_OnOffCB
 *
 * @brief   Callback from the ZCL General Cluster Library when
 *          it received an On/Off Command for this application.
 *
 * @param   cmd - COMMAND_ON, COMMAND_OFF or COMMAND_TOGGLE
 *
 * @return  none
 */
static void zclSampleLight_OnOffCB( uint8 cmd )
{
  afIncomingMSGPacket_t *pPtr = zcl_getRawAFMsg();

  zclSampleLight_DstAddr.addr.shortAddr = pPtr->srcAddr.addr.shortAddr;


  // Turn on the light
  if ( cmd == COMMAND_ON )
  {
    zclSampleLight_OnOff = LIGHT_ON;
  }
  // Turn off the light
  else if ( cmd == COMMAND_OFF )
  {
    zclSampleLight_OnOff = LIGHT_OFF;
  }
  // Toggle the light
  else if ( cmd == COMMAND_TOGGLE )
  {
    if ( zclSampleLight_OnOff == LIGHT_OFF )
    {
      zclSampleLight_OnOff = LIGHT_ON;
    }
    else
    {
      zclSampleLight_OnOff = LIGHT_OFF;
    }
  }

#if ZCL_LEVEL_CTRL
  zclSampleLight_DefaultMove( );
#endif

  // update the display
  zclSampleLight_LcdDisplayUpdate( );
}

#ifdef ZCL_LEVEL_CTRL
/*********************************************************************
 * @fn      zclSampleLight_TimeRateHelper
 *
 * @brief   Calculate time based on rate, and startup level state machine
 *
 * @param   newLevel - new level for current level
 *
 * @return  diff (directly), zclSampleLight_CurrentLevel32 and zclSampleLight_NewLevel, zclSampleLight_NewLevelUp
 */
static uint32 zclSampleLight_TimeRateHelper( uint8 newLevel )
{
  uint32 diff;
  uint32 newLevel32;

  // remember current and new level
  zclSampleLight_NewLevel = newLevel;
  zclSampleLight_CurrentLevel32 = (uint32)1000 * zclSampleLight_LevelCurrentLevel;

  // calculate diff
  newLevel32 = (uint32)1000 * newLevel;
  if ( zclSampleLight_LevelCurrentLevel > newLevel )
  {
    diff = zclSampleLight_CurrentLevel32 - newLevel32;
    zclSampleLight_NewLevelUp = FALSE;  // moving down
  }
  else
  {
    diff = newLevel32 - zclSampleLight_CurrentLevel32;
    zclSampleLight_NewLevelUp = TRUE;   // moving up
  }

  return ( diff );
}

/*********************************************************************
 * @fn      zclSampleLight_MoveBasedOnRate
 *
 * @brief   Calculate time based on rate, and startup level state machine
 *
 * @param   newLevel - new level for current level
 * @param   rate16   - fixed point rate (e.g. 16.123)
 *
 * @return  none
 */
static void zclSampleLight_MoveBasedOnRate( uint8 newLevel, uint32 rate )
{
  uint32 diff;

  // determine how much time (in 10ths of seconds) based on the difference and rate
  zclSampleLight_Rate32 = rate;
  diff = zclSampleLight_TimeRateHelper( newLevel );
  zclSampleLight_LevelRemainingTime = diff / rate;
  if ( !zclSampleLight_LevelRemainingTime )
  {
    zclSampleLight_LevelRemainingTime = 1;
  }

  osal_start_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_LEVEL_CTRL_EVT, 100 );
}

/*********************************************************************
 * @fn      zclSampleLight_MoveBasedOnTime
 *
 * @brief   Calculate rate based on time, and startup level state machine
 *
 * @param   newLevel  - new level for current level
 * @param   time      - in 10ths of seconds
 *
 * @return  none
 */
static void zclSampleLight_MoveBasedOnTime( uint8 newLevel, uint16 time )
{
  uint16 diff;

  // determine rate (in units) based on difference and time
  diff = zclSampleLight_TimeRateHelper( newLevel );
  zclSampleLight_LevelRemainingTime = zclSampleLight_GetTime( newLevel, time );
  zclSampleLight_Rate32 = diff / time;

  osal_start_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_LEVEL_CTRL_EVT, 100 );
}

/*********************************************************************
 * @fn      zclSampleLight_GetTime
 *
 * @brief   Determine amount of time that MoveXXX will take to complete.
 *
 * @param   level = new level to move to
 *          time  = 0xffff=default, or 0x0000-n amount of time in tenths of seconds.
 *
 * @return  none
 */
static uint16 zclSampleLight_GetTime( uint8 level, uint16 time )
{
  // there is a hiearchy of the amount of time to use for transistioning
  // check each one in turn. If none of defaults are set, then use fastest
  // time possible.
  if ( time == 0xFFFF )
  {
    // use On or Off Transition Time if set (not 0xffff)
    if ( zclSampleLight_OnOff == LIGHT_ON )
    {
      time = zclSampleLight_LevelOffTransitionTime;
    }
    else
    {
      time = zclSampleLight_LevelOnTransitionTime;
    }

    // else use OnOffTransitionTime if set (not 0xffff)
    if ( time == 0xFFFF )
    {
      time = zclSampleLight_LevelOnOffTransitionTime;
    }

    // else as fast as possible
    if ( time == 0xFFFF )
    {
      time = 1;
    }
  }

  if ( !time )
  {
    time = 1; // as fast as possible
  }

  return ( time );
}

/*********************************************************************
 * @fn      zclSampleLight_DefaultMove
 *
 * @brief   We were turned on/off. Use default time to move to on or off.
 *
 * @param   zclSampleLight_OnOff - must be set prior to calling this function.
 *
 * @return  none
 */
static void zclSampleLight_DefaultMove( void )
{
  uint8  newLevel;
  uint32 rate;      // fixed point decimal (3 places, eg. 16.345)
  uint16 time;

  // if moving to on position, move to on level
  if ( zclSampleLight_OnOff )
  {
    if ( zclSampleLight_LevelOnLevel == ATTR_LEVEL_ON_LEVEL_NO_EFFECT )
    {
      // The last Level (before going OFF) should be used)
      newLevel = zclSampleLight_LevelLastLevel;
    }
    else
    {
      newLevel = zclSampleLight_LevelOnLevel;
    }

    time = zclSampleLight_LevelOnTransitionTime;
  }
  else
  {
    newLevel = ATTR_LEVEL_MIN_LEVEL;

    if ( zclSampleLight_LevelOnLevel == ATTR_LEVEL_ON_LEVEL_NO_EFFECT )
    {
      // Save the current Level before going OFF to use it when the light turns ON
      // it should be back to this level
      zclSampleLight_LevelLastLevel = zclSampleLight_LevelCurrentLevel;
    }

    time = zclSampleLight_LevelOffTransitionTime;
  }

  // else use OnOffTransitionTime if set (not 0xffff)
  if ( time == 0xFFFF )
  {
    time = zclSampleLight_LevelOnOffTransitionTime;
  }

  // else as fast as possible
  if ( time == 0xFFFF )
  {
    time = 1;
  }

  // calculate rate based on time (int 10ths) for full transition (1-254)
  rate = 255000 / time;    // units per tick, fixed point, 3 decimal places (e.g. 8500 = 8.5 units per tick)

  // start up state machine.
  zclSampleLight_WithOnOff = TRUE;
  zclSampleLight_MoveBasedOnRate( newLevel, rate );
}

/*********************************************************************
 * @fn      zclSampleLight_AdjustLightLevel
 *
 * @brief   Called each 10th of a second while state machine running
 *
 * @param   none
 *
 * @return  none
 */
static void zclSampleLight_AdjustLightLevel( void )
{
  // one tick (10th of a second) less
  if ( zclSampleLight_LevelRemainingTime )
  {
    --zclSampleLight_LevelRemainingTime;
  }

  // no time left, done
  if ( zclSampleLight_LevelRemainingTime == 0)
  {
    zclSampleLight_LevelCurrentLevel = zclSampleLight_NewLevel;
  }

  // still time left, keep increment/decrementing
  else
  {
    if ( zclSampleLight_NewLevelUp )
    {
      zclSampleLight_CurrentLevel32 += zclSampleLight_Rate32;
    }
    else
    {
      zclSampleLight_CurrentLevel32 -= zclSampleLight_Rate32;
    }
    zclSampleLight_LevelCurrentLevel = (uint8)( zclSampleLight_CurrentLevel32 / 1000 );
  }

#if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)
  zclSampleLight_UpdateLampLevel(zclSampleLight_LevelCurrentLevel);
#endif

  // also affect on/off
  if ( zclSampleLight_WithOnOff )
  {
    if ( zclSampleLight_LevelCurrentLevel > ATTR_LEVEL_MIN_LEVEL )
    {
      zclSampleLight_OnOff = LIGHT_ON;
#if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)
      ENABLE_LAMP;
#endif
    }
    else
    {
      zclSampleLight_OnOff = LIGHT_OFF;
#if (defined HAL_BOARD_ZLIGHT) || (defined HAL_PWM)
      DISABLE_LAMP;
#endif
    }
  }

  // display light level as we go
  zclSampleLight_DisplayLight( );

  // keep ticking away
  if ( zclSampleLight_LevelRemainingTime )
  {
    osal_start_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_LEVEL_CTRL_EVT, 100 );
  }
}

/*********************************************************************
 * @fn      zclSampleLight_LevelControlMoveToLevelCB
 *
 * @brief   Callback from the ZCL General Cluster Library when
 *          it received a LevelControlMoveToLevel Command for this application.
 *
 * @param   pCmd - ZigBee command parameters
 *
 * @return  none
 */
static void zclSampleLight_LevelControlMoveToLevelCB( zclLCMoveToLevel_t *pCmd )
{
  zclSampleLight_WithOnOff = pCmd->withOnOff;
  zclSampleLight_MoveBasedOnTime( pCmd->level, pCmd->transitionTime );
}

/*********************************************************************
 * @fn      zclSampleLight_LevelControlMoveCB
 *
 * @brief   Callback from the ZCL General Cluster Library when
 *          it received a LevelControlMove Command for this application.
 *
 * @param   pCmd - ZigBee command parameters
 *
 * @return  none
 */
static void zclSampleLight_LevelControlMoveCB( zclLCMove_t *pCmd )
{
  uint8 newLevel;
  uint32 rate;

  // convert rate from units per second to units per tick (10ths of seconds)
  // and move at that right up or down
  zclSampleLight_WithOnOff = pCmd->withOnOff;

  if ( pCmd->moveMode == LEVEL_MOVE_UP )
  {
    newLevel = ATTR_LEVEL_MAX_LEVEL;  // fully on
  }
  else
  {
    newLevel = ATTR_LEVEL_MIN_LEVEL; // fully off
  }

  rate = (uint32)100 * pCmd->rate;
  zclSampleLight_MoveBasedOnRate( newLevel, rate );
}

/*********************************************************************
 * @fn      zclSampleLight_LevelControlStepCB
 *
 * @brief   Callback from the ZCL General Cluster Library when
 *          it received an On/Off Command for this application.
 *
 * @param   pCmd - ZigBee command parameters
 *
 * @return  none
 */
static void zclSampleLight_LevelControlStepCB( zclLCStep_t *pCmd )
{
  uint8 newLevel;

  // determine new level, but don't exceed boundaries
  if ( pCmd->stepMode == LEVEL_MOVE_UP )
  {
    if ( (uint16)zclSampleLight_LevelCurrentLevel + pCmd->amount > ATTR_LEVEL_MAX_LEVEL )
    {
      newLevel = ATTR_LEVEL_MAX_LEVEL;
    }
    else
    {
      newLevel = zclSampleLight_LevelCurrentLevel + pCmd->amount;
    }
  }
  else
  {
    if ( pCmd->amount >= zclSampleLight_LevelCurrentLevel )
    {
      newLevel = ATTR_LEVEL_MIN_LEVEL;
    }
    else
    {
      newLevel = zclSampleLight_LevelCurrentLevel - pCmd->amount;
    }
  }

  // move to the new level
  zclSampleLight_WithOnOff = pCmd->withOnOff;
  zclSampleLight_MoveBasedOnTime( newLevel, pCmd->transitionTime );
}

/*********************************************************************
 * @fn      zclSampleLight_LevelControlStopCB
 *
 * @brief   Callback from the ZCL General Cluster Library when
 *          it received an Level Control Stop Command for this application.
 *
 * @param   pCmd - ZigBee command parameters
 *
 * @return  none
 */
static void zclSampleLight_LevelControlStopCB( void )
{
  // stop immediately
  osal_stop_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_LEVEL_CTRL_EVT );
  zclSampleLight_LevelRemainingTime = 0;
}
#endif

/******************************************************************************
 *
 *  Functions for processing ZCL Foundation incoming Command/Response messages
 *
 *****************************************************************************/

/*********************************************************************
 * @fn      zclSampleLight_ProcessIncomingMsg
 *
 * @brief   Process ZCL Foundation incoming message
 *
 * @param   pInMsg - pointer to the received message
 *
 * @return  none
 */
static void zclSampleLight_ProcessIncomingMsg( zclIncomingMsg_t *pInMsg )
{
  switch ( pInMsg->zclHdr.commandID )
  {
#ifdef ZCL_READ
    case ZCL_CMD_READ_RSP:
      zclSampleLight_ProcessInReadRspCmd( pInMsg );
      break;
#endif
#ifdef ZCL_WRITE
    case ZCL_CMD_WRITE_RSP:
      zclSampleLight_ProcessInWriteRspCmd( pInMsg );
      break;
#endif
#ifdef ZCL_REPORT
    // Attribute Reporting implementation should be added here
    case ZCL_CMD_CONFIG_REPORT:
      // zclSampleLight_ProcessInConfigReportCmd( pInMsg );
      break;

    case ZCL_CMD_CONFIG_REPORT_RSP:
      // zclSampleLight_ProcessInConfigReportRspCmd( pInMsg );
      break;

    case ZCL_CMD_READ_REPORT_CFG:
      // zclSampleLight_ProcessInReadReportCfgCmd( pInMsg );
      break;

    case ZCL_CMD_READ_REPORT_CFG_RSP:
      // zclSampleLight_ProcessInReadReportCfgRspCmd( pInMsg );
      break;

    case ZCL_CMD_REPORT:
      // zclSampleLight_ProcessInReportCmd( pInMsg );
      break;
#endif
    case ZCL_CMD_DEFAULT_RSP:
      zclSampleLight_ProcessInDefaultRspCmd( pInMsg );
      break;
#ifdef ZCL_DISCOVER
    case ZCL_CMD_DISCOVER_CMDS_RECEIVED_RSP:
      zclSampleLight_ProcessInDiscCmdsRspCmd( pInMsg );
      break;

    case ZCL_CMD_DISCOVER_CMDS_GEN_RSP:
      zclSampleLight_ProcessInDiscCmdsRspCmd( pInMsg );
      break;

    case ZCL_CMD_DISCOVER_ATTRS_RSP:
      zclSampleLight_ProcessInDiscAttrsRspCmd( pInMsg );
      break;

    case ZCL_CMD_DISCOVER_ATTRS_EXT_RSP:
      zclSampleLight_ProcessInDiscAttrsExtRspCmd( pInMsg );
      break;
#endif
    default:
      break;
  }

  if ( pInMsg->attrCmd )
    osal_mem_free( pInMsg->attrCmd );
}

#ifdef ZCL_READ
/*********************************************************************
 * @fn      zclSampleLight_ProcessInReadRspCmd
 *
 * @brief   Process the "Profile" Read Response Command
 *
 * @param   pInMsg - incoming message to process
 *
 * @return  none
 */
static uint8 zclSampleLight_ProcessInReadRspCmd( zclIncomingMsg_t *pInMsg )
{
  zclReadRspCmd_t *readRspCmd;
  uint8 i;

  readRspCmd = (zclReadRspCmd_t *)pInMsg->attrCmd;
  for (i = 0; i < readRspCmd->numAttr; i++)
  {
    // Notify the originator of the results of the original read attributes
    // attempt and, for each successfull request, the value of the requested
    // attribute
  }

  return ( TRUE );
}
#endif // ZCL_READ

#ifdef ZCL_WRITE
/*********************************************************************
 * @fn      zclSampleLight_ProcessInWriteRspCmd
 *
 * @brief   Process the "Profile" Write Response Command
 *
 * @param   pInMsg - incoming message to process
 *
 * @return  none
 */
static uint8 zclSampleLight_ProcessInWriteRspCmd( zclIncomingMsg_t *pInMsg )
{
  zclWriteRspCmd_t *writeRspCmd;
  uint8 i;

  writeRspCmd = (zclWriteRspCmd_t *)pInMsg->attrCmd;
  for ( i = 0; i < writeRspCmd->numAttr; i++ )
  {
    // Notify the device of the results of the its original write attributes
    // command.
  }

  return ( TRUE );
}
#endif // ZCL_WRITE

/*********************************************************************
 * @fn      zclSampleLight_ProcessInDefaultRspCmd
 *
 * @brief   Process the "Profile" Default Response Command
 *
 * @param   pInMsg - incoming message to process
 *
 * @return  none
 */
static uint8 zclSampleLight_ProcessInDefaultRspCmd( zclIncomingMsg_t *pInMsg )
{
  // zclDefaultRspCmd_t *defaultRspCmd = (zclDefaultRspCmd_t *)pInMsg->attrCmd;

  // Device is notified of the Default Response command.
  (void)pInMsg;

  return ( TRUE );
}

#ifdef ZCL_DISCOVER
/*********************************************************************
 * @fn      zclSampleLight_ProcessInDiscCmdsRspCmd
 *
 * @brief   Process the Discover Commands Response Command
 *
 * @param   pInMsg - incoming message to process
 *
 * @return  none
 */
static uint8 zclSampleLight_ProcessInDiscCmdsRspCmd( zclIncomingMsg_t *pInMsg )
{
  zclDiscoverCmdsCmdRsp_t *discoverRspCmd;
  uint8 i;

  discoverRspCmd = (zclDiscoverCmdsCmdRsp_t *)pInMsg->attrCmd;
  for ( i = 0; i < discoverRspCmd->numCmd; i++ )
  {
    // Device is notified of the result of its attribute discovery command.
  }

  return ( TRUE );
}

/*********************************************************************
 * @fn      zclSampleLight_ProcessInDiscAttrsRspCmd
 *
 * @brief   Process the "Profile" Discover Attributes Response Command
 *
 * @param   pInMsg - incoming message to process
 *
 * @return  none
 */
static uint8 zclSampleLight_ProcessInDiscAttrsRspCmd( zclIncomingMsg_t *pInMsg )
{
  zclDiscoverAttrsRspCmd_t *discoverRspCmd;
  uint8 i;

  discoverRspCmd = (zclDiscoverAttrsRspCmd_t *)pInMsg->attrCmd;
  for ( i = 0; i < discoverRspCmd->numAttr; i++ )
  {
    // Device is notified of the result of its attribute discovery command.
  }

  return ( TRUE );
}

/*********************************************************************
 * @fn      zclSampleLight_ProcessInDiscAttrsExtRspCmd
 *
 * @brief   Process the "Profile" Discover Attributes Extended Response Command
 *
 * @param   pInMsg - incoming message to process
 *
 * @return  none
 */
static uint8 zclSampleLight_ProcessInDiscAttrsExtRspCmd( zclIncomingMsg_t *pInMsg )
{
  zclDiscoverAttrsExtRsp_t *discoverRspCmd;
  uint8 i;

  discoverRspCmd = (zclDiscoverAttrsExtRsp_t *)pInMsg->attrCmd;
  for ( i = 0; i < discoverRspCmd->numAttr; i++ )
  {
    // Device is notified of the result of its attribute discovery command.
  }

  return ( TRUE );
}
#endif // ZCL_DISCOVER

#if ZCL_EZMODE
/*********************************************************************
 * @fn      zclSampleLight_ProcessZDOMsgs
 *
 * @brief   Called when this node receives a ZDO/ZDP response.
 *
 * @param   none
 *
 * @return  status
 */
static void zclSampleLight_ProcessZDOMsgs( zdoIncomingMsg_t *pMsg )
{
  zclEZMode_ActionData_t data;
  ZDO_MatchDescRsp_t *pMatchDescRsp;

  // Let EZ-Mode know of the Simple Descriptor Response
  if ( pMsg->clusterID == Match_Desc_rsp )
  {
    pMatchDescRsp = ZDO_ParseEPListRsp( pMsg );
    data.pMatchDescRsp = pMatchDescRsp;
    zcl_EZModeAction( EZMODE_ACTION_MATCH_DESC_RSP, &data );
    osal_mem_free( pMatchDescRsp );
  }
}

/*********************************************************************
 * @fn      zclSampleLight_EZModeCB
 *
 * @brief   The Application is informed of events. This can be used to show on the UI what is
*           going on during EZ-Mode steering/finding/binding.
 *
 * @param   state - an
 *
 * @return  none
 */
static void zclSampleLight_EZModeCB( zlcEZMode_State_t state, zclEZMode_CBData_t *pData )
{
#ifdef LCD_SUPPORTED
  char *pStr;
  uint8 err;
#endif

  // time to go into identify mode
  if ( state == EZMODE_STATE_IDENTIFYING )
  {
#ifdef LCD_SUPPORTED
    HalLcdWriteString( "EZMode", HAL_LCD_LINE_2 );
#endif

    zclSampleLight_IdentifyTime = ( EZMODE_TIME / 1000 );  // convert to seconds
    zclSampleLight_ProcessIdentifyTimeChange();
  }

  // autoclosing, show what happened (success, cancelled, etc...)
  if( state == EZMODE_STATE_AUTOCLOSE )
  {
#ifdef LCD_SUPPORTED
    pStr = NULL;
    err = pData->sAutoClose.err;
    if ( err == EZMODE_ERR_SUCCESS )
    {
      pStr = "EZMode: Success";
    }
    else if ( err == EZMODE_ERR_NOMATCH )
    {
      pStr = "EZMode: NoMatch"; // not a match made in heaven
    }
    if ( pStr )
    {
      if ( giLightScreenMode == LIGHT_MAINMODE )
      {
        HalLcdWriteString ( pStr, HAL_LCD_LINE_2 );
      }
    }
#endif
  }

  // finished, either show DstAddr/EP, or nothing (depending on success or not)
  if( state == EZMODE_STATE_FINISH )
  {
    // turn off identify mode
    zclSampleLight_IdentifyTime = 0;
    zclSampleLight_ProcessIdentifyTimeChange();

#ifdef LCD_SUPPORTED
    // if successful, inform user which nwkaddr/ep we bound to
    pStr = NULL;
    err = pData->sFinish.err;
    if( err == EZMODE_ERR_SUCCESS )
    {
      // already stated on autoclose
    }
    else if ( err == EZMODE_ERR_CANCELLED )
    {
      pStr = "EZMode: Cancel";
    }
    else if ( err == EZMODE_ERR_BAD_PARAMETER )
    {
      pStr = "EZMode: BadParm";
    }
    else if ( err == EZMODE_ERR_TIMEDOUT )
    {
      pStr = "EZMode: TimeOut";
    }
    if ( pStr )
    {
      if ( giLightScreenMode == LIGHT_MAINMODE )
      {
        HalLcdWriteString ( pStr, HAL_LCD_LINE_2 );
      }
    }
#endif
    // show main UI screen 3 seconds after binding
    osal_start_timerEx( zclSampleLight_TaskID, SAMPLELIGHT_MAIN_SCREEN_EVT, 3000 );
  }
}
#endif // ZCL_EZMODE

/****************************************************************************
****************************************************************************/