/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup PIOS_SYS System Functions
 * @brief PIOS System Initialization code
 * @{
 *
 * @file       pios_sys.c
 * @author     Michael Smith Copyright (C) 2011
 *                      The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Sets up basic STM32 system hardware, functions are called from Main.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program 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 3 of the License, or
 * (at your option) any later version.
 *
 * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "pios.h"

#ifdef PIOS_INCLUDE_SYS

__IO uint32_t VectorTable[48] __attribute__((section(".ram_vector_table")));

/* Private Function Prototypes */
void NVIC_Configuration(void);
void stopHandler();
/* Local Macros */
#define MEM8(addr)  (*((volatile uint8_t *)(addr)))
#define MEM16(addr) (*((volatile uint16_t *)(addr)))
#define MEM32(addr) (*((volatile uint32_t *)(addr)))

/**
 * Initialises all system peripherals
 */
void PIOS_SYS_Init(void)
{
    /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
    SystemInit();
    SystemCoreClockUpdate(); /* update SystemCoreClock for use elsewhere */

    /*
     * @todo might make sense to fetch the bus clocks and save them somewhere to avoid
     * having to use the clunky get-all-clocks API everytime we need one.
     */

    /* Initialise Basic NVIC */
    /* do this early to ensure that we take exceptions in the right place */
    NVIC_Configuration();

    /*
     * Turn on all the peripheral clocks.
     * Micromanaging clocks makes no sense given the power situation in the system, so
     * light up everything we might reasonably use here and just leave it on.
     */
    RCC_AHBPeriphClockCmd(
        RCC_AHBPeriph_GPIOA |
        RCC_AHBPeriph_GPIOB |
        RCC_AHBPeriph_GPIOC |
        RCC_AHBPeriph_FLITF |
        RCC_AHBPeriph_SRAM |
        RCC_AHBPeriph_DMA1 |
        RCC_AHBPeriph_CRC
        , ENABLE);

    RCC_APB1PeriphClockCmd(
        RCC_APB1Periph_USART2 |
        RCC_APB1Periph_USART3 |
        RCC_APB1Periph_WWDG |
        RCC_APB1Periph_PWR |
        RCC_APB1Periph_TIM2 |
        RCC_APB1Periph_TIM3 |
        RCC_APB1Periph_I2C1 |
        RCC_APB1Periph_I2C2 |
        RCC_APB1Periph_SPI2
        , ENABLE);

    RCC_APB2PeriphClockCmd(
        RCC_APB2Periph_SYSCFG |
        RCC_APB2Periph_USART1 |
        RCC_APB2Periph_SPI1 |
        RCC_APB2Periph_TIM1 |
        0, ENABLE);

    /* Init the delay system */
    PIOS_DELAY_Init();

    /*
     * Configure all pins as input / pullup to avoid issues with
     * uncommitted pins, excepting special-function pins that we need to
     * remain as-is.
     */
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_StructInit(&GPIO_InitStructure);
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input

    GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;

    GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14); // leave SWD pins alone
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;
    GPIO_Init(GPIOC, &GPIO_InitStructure);
}

/**
 * Shutdown PIOS and reset the microcontroller:<BR>
 * <UL>
 *   <LI>Disable all RTOS tasks
 *   <LI>Disable all interrupts
 *   <LI>Turn off all board LEDs
 *   <LI>Reset STM32
 * </UL>
 * \return < 0 if reset failed
 */
int32_t PIOS_SYS_Reset(void)
{
    /* Disable all RTOS tasks */
#if defined(PIOS_INCLUDE_FREERTOS)
    /* port specific FreeRTOS function to disable tasks (nested) */
    portENTER_CRITICAL();
#endif

    // disable all interrupts
    PIOS_IRQ_Disable();

    // turn off all board LEDs
#ifdef PIOS_INCLUDE_LED
# ifdef PIOS_LED_HEARTBEAT
    PIOS_LED_Off(PIOS_LED_HEARTBEAT);
# endif /* PIOS_LED_HEARTBEAT */
# ifdef PIOS_LED_ALARM
    PIOS_LED_Off(PIOS_LED_ALARM);
# endif /* PIOS_LED_ALARM */
# ifdef PIOS_BUZZER_ALARM
    PIOS_LED_Off(PIOS_BUZZER_ALARM);
# endif /* PIOS_BUZZER_ALARM */
#endif /* PIOS_INCLUDE_LED */

    /* Reset STM32 */
    NVIC_SystemReset();

    while (1) {
        ;
    }

    /* We will never reach this point */
    return -1;
}

/**
 * Returns the CPU's flash size (in bytes)
 */
uint32_t PIOS_SYS_getCPUFlashSize(void)
{
    return (uint32_t)MEM16(0x1fff7a22) * 1024; // it might be possible to locate in the OTP area, but haven't looked and not documented
}

/**
 * Returns the serial number as a string
 * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
 * (24 digits returned for STM32)
 * return < 0 if feature not supported
 */
int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
{
    int i;

    /* Stored in the so called "electronic signature" */
    for (i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
        uint8_t b = MEM8(0x1FFFF7AC + i);

        array[i] = b;
    }

    /* No error */
    return 0;
}

/**
 * Returns the serial number as a string
 * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
 * (24 digits returned for STM32)
 * return < 0 if feature not supported
 */
int32_t PIOS_SYS_SerialNumberGet(char *str)
{
    int i;

    /* Stored in the so called "electronic signature" */
    for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
        uint8_t b = MEM8(0x1FFFF7AC + (i / 2));
        if (!(i & 1)) {
            b >>= 4;
        }
        b &= 0x0f;

        str[i] = ((b > 9) ? ('A' - 10) : '0') + b;
    }
    str[i] = '\0';

    /* No error */
    return 0;
}

/**
 * Configures Vector Table base location and SysTick
 */
void NVIC_Configuration(void)
{
    /* Relocate by software the vector table to the internal SRAM at 0x20000000 ***/
    extern uint32_t pios_isr_vector_table_base;
    uint32_t *romTable = &pios_isr_vector_table_base;

    /* Copy the vector table from the Flash (mapped at the base of the application
       load address 0x0800X000) to the base address of the SRAM at 0x20000000. */

    for (uint32_t i = 0; i < 48; i++) {
        VectorTable[i] = romTable[i];
    }
    // Ensure all memory operation completes prior the remap
    __DSB();

    /* Enable the SYSCFG peripheral clock*/
    RCC_APB2PeriphResetCmd(RCC_APB2Periph_SYSCFG, ENABLE);
    /* Remap SRAM at 0x00000000 */
    SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SRAM);

    /* Configure HCLK clock as SysTick clock source. */
    SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
}

#ifdef USE_FULL_ASSERT
/**
 * Reports the name of the source file and the source line number
 *   where the assert_param error has occurred.
 * \param[in]  file pointer to the source file name
 * \param[in]  line assert_param error line source number
 * \retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
    /* When serial debugging is implemented, use something like this. */
    /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */

    /* Setup the LEDs to Alternate */
#if defined(PIOS_LED_HEARTBEAT)
    PIOS_LED_On(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
    PIOS_LED_Off(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */

    /* Infinite loop */
    while (1) {
#if defined(PIOS_LED_HEARTBEAT)
        PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
        PIOS_LED_Toggle(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
        for (int i = 0; i < 1000000; i++) {
            ;
        }
    }
}
#endif /* ifdef USE_FULL_ASSERT */

void NMI_Handler(void)
{
    stopHandler();
}

void HardFault_Handler(void)
{
    stopHandler();
}

void MemManage_Handler(void)
{
    stopHandler();
}

void BusFault_Handler(void)
{
    stopHandler();
}

void UsageFault_Handler(void)
{
    stopHandler();
}

void stopHandler()
{
    while (1) {}
}
#endif /* PIOS_INCLUDE_SYS */

/**
 * @}
 * @}
 */