#include "b6x.h"
#include "regs.h"
#include "drvs.h"
#include "dbg.h"
#include "bledef.h"
#include "app.h"
#include "sftmr.h"

#include "prf_sess.h"
#include "sys_config.h"


void HardFault_Handler(void){
    debug("HardFault_Handler\r\n");
    NVIC_SystemReset();
}

#define FLASH_INFO_CODE_ADDR  (FLASH_BASE + 0x08)
#define OTA_BANK_A_BASE       (0x18004000)
#define OTA_BANK_B_BASE       (0x18020000)
#define OTA_BANK_A            (OTA_BANK_A_BASE - FLASH_BASE)
#define OTA_BANK_B            (OTA_BANK_B_BASE - FLASH_BASE)


BLE_GRB_Data_t BLE_WS2812_GRBs;

extern void app_ble_procedure(void);


//************************************************
#define IWDT_WINDOW        (2*32768)  //32.768KHz 1S 

// //看门狗配置
// void IWDT_IRQHandler(void)
// {
//     iwdt_feed();//喂狗
// }

static void iwdtInit(void)
{
    // iwdt_init(IWDT_INTEN_BIT | IWDT_CR_DFLT);
    iwdt_init(IWDT_CR_DFLT);
    iwdt_conf(IWDT_WINDOW);
    
    // NVIC_EnableIRQ(IWDT_IRQn);
    __enable_irq();    
}


static void sysInit(void)
{
    // Todo config, if need
    iwdt_disable();
#if (1 ==BLE_ENABLE)
		rcc_ble_en();
#endif
    rcc_adc_en();

    rcc_fshclk_set(FSH_CLK_DPSC42);
    APBMISC->XOSC16M_CTRL.XOSC16M_CAP_TR = 0x22;
}

static void devInit(void)
{
    uint16_t rsn = rstrsn();
	
    // dbgInit();
    // debug("Start(rsn:0x%X)...\r\n", rsn);    
#if (1 ==BLE_ENABLE)
    // Init BLE App
    app_init(rsn);
#endif
    sftmr_init();

    iwdtInit();
#if (1 ==BLE_ENABLE)
    rf_pa_set(0x0C);
#endif
}

#if (1 ==BLE_ENABLE)
uint16_t Front_data=0;
uint16_t Back_data=0;
#endif
#if (1 ==BLE_ENABLE)
uint8_t str[30]={0,0},str_len=0;
static tmr_tk_t test_timer_handler(tmr_id_t id){

    (void)(id);
//    uint16_t adc_data;

    // adc_data = sadc_read(SADC_CH_AIN3, 0);
    // str_len =sprintf((char *)str, "\nBAT0 = %.2f V /%d\n", get_bat_voltage(),adc_data);
    // uart_send(UART1_PORT,str_len,str);

    // adc_data = sadc_read(SADC_CH_AIN7, 0);
    // str_len =sprintf((char *)str, "ACC = %d %% /%d\n", get_in_acc_percent(),adc_data);
    // uart_send(UART1_PORT,str_len,str);

    
    // GRB_WS2812_Write_GRBs(WS2812_GRBs.len ,WS2812_GRBs.GRBs);
    // GRB_WS2812_Write_color(BLE_WS2812_GRBs.len,BLE_WS2812_GRBs.GRBs);
#if (1 ==BLE_ENABLE)
    str_len=0;
    str[str_len++]=0xa5;
    str[str_len++]=(Front_data)&0xff;
    str[str_len++]=(Front_data>>8)&0xff;
    str[str_len++]=(Back_data)&0xff;
    str[str_len++]=(Back_data>>8)&0xff;
    str[str_len]=0;
    for(uint8_t i=1;i<str_len;i++){
      str[str_len] +=str[i];
    }
    str_len++;
    str[str_len++]=0x5a;
    sess_txd_send(app_env.curidx, str_len, str);
#endif

    return 5;
}
#endif


uint32_t bank;
SYS_CONF_t sys_conf_info;

__attribute__((section("ram_func.fshc.")))
static void flash_sector_erase(uint32_t offset)
{
    GLOBAL_INT_DISABLE();
    
    while (SYSCFG->ACC_CCR_BUSY);
    
    fshc_erase(offset, FSH_CMD_ER_SECTOR);
    
    GLOBAL_INT_RESTORE();
}

void write_cfg(SYS_CONF_t *sys_config_info_t){
  flash_sector_erase(bank);
  flash_write(bank, (uint32_t *)sys_config_info_t,sizeof(SYS_CONF_t)/sizeof(uint32_t));
}

int main(void)
{
  sysInit();
  devInit();

  // Global Interrupt Enable
  GLOBAL_INT_START();

  uint32_t curr_code_addr = RD_32(FLASH_INFO_CODE_ADDR);
    if(curr_code_addr == OTA_BANK_A_BASE)
    {
        bank = OTA_BANK_B;
    }
    else if(curr_code_addr == OTA_BANK_B_BASE)
    {
        bank = OTA_BANK_A;
    }
  // read config
  // read flash
  flash_read(bank, (uint32_t *)(&sys_conf_info),sizeof(sys_conf_info)/sizeof(uint32_t));

  if(0xA5 !=sys_conf_info.HEAD){
    sys_conf_info.HEAD=0xA5;
    sys_conf_info.M_mode_sLim = M_DEFAULT_sLim,//read flash
    sys_conf_info.U_mode_sLim = U_DEFAULT_sLim,//read flash
    sys_conf_info.AUTO_Brake_Distance =DEF_AUTO_Brake_Distance,//自动刹车距离
    sys_conf_info.AUTO_Speed_Cut_Distance =DEF_AUTO_Speed_Cut_Distance,//自动减速距离
    sys_conf_info.AUTO_Brake_Distance_B =DEF_AUTO_Brake_Distance,//自动刹车距离
    sys_conf_info.AUTO_Speed_Cut_Distance_B =DEF_AUTO_Speed_Cut_Distance,//自动减速距离
    write_cfg(&sys_conf_info);
  }
  
  
  app_uart_Init(UART1_PORT,9600,PA06,PA07);//上位机//倒车雷达
  // app_uart_Init(UART2_PORT,9600,20,PA03);

  app_control_init();
  app_radar_init();
  Time_Event_Init();

  uint8_t str[50]={0,0},str_len=0;

  str_len =sprintf((char *)str, "HEAD=%#X,M_s=%d,U_s=%d\n Brake=%d,Speed_Cut=%d\n Brake_B=%d,Speed_Cut_B=%d\n OKzsxfly", 
                                                                                    sys_conf_info.HEAD, 
                                                                                    sys_conf_info.M_mode_sLim,
                                                                                    sys_conf_info.U_mode_sLim, 
                                                                                    sys_conf_info.AUTO_Brake_Distance,
                                                                                    sys_conf_info.AUTO_Speed_Cut_Distance, 
                                                                                    sys_conf_info.AUTO_Brake_Distance_B,
                                                                                    sys_conf_info.AUTO_Speed_Cut_Distance_B);
  uart_send(UART1_PORT,str_len,str);

  GRB_WS2812_Init();

  // GRB_WS2812_Write_color(WS2812_GRBs.len,0xff);
  // bootDelayMs(1000);
  // GRB_WS2812_Write_color(WS2812_GRBs.len,0x00);
  // bootDelayMs(1000);
  // GRB_WS2812_Write_color(WS2812_GRBs.len,0xff00);
  // bootDelayMs(1000);
  // GRB_WS2812_Write_color(WS2812_GRBs.len,0x00);
  // bootDelayMs(1000);
  // GRB_WS2812_Write_color(WS2812_GRBs.len,0xff0000);
  // bootDelayMs(1000);

  BAT_Message_Init();
#if (1 ==BLE_ENABLE)
  // ADC初始化
  sftmr_start(20, test_timer_handler);
#endif
  while(1){
    // SoftTimer Polling
    sftmr_schedule();
#if (1 ==BLE_ENABLE)
    // Schedule Messages & Events
    ble_schedule();
#endif
    // User's Procedure
    // app_ble_procedure();

    Control_procedure();
    iwdt_feed();//喂狗
  }
}