/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup PIOS_SYS System Functions
 * @brief PIOS System Initialization code
 * @{
 *
 * @file       pios_sys.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 *              Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
 * @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

/* Private Function Prototypes */
void NVIC_Configuration(void);
void SysTick_Handler(void);

/* 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();

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

    /*
     * 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_DMA1 |
                          RCC_AHBPeriph_DMA2,
                          ENABLE);

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 |
                           RCC_APB1Periph_TIM3 |
                           RCC_APB1Periph_TIM4 |
                           RCC_APB1Periph_TIM5 |
                           RCC_APB1Periph_TIM6 |
                           RCC_APB1Periph_TIM7 |
                           RCC_APB1Periph_TIM12 |
                           RCC_APB1Periph_TIM13 |
                           RCC_APB1Periph_TIM14 |
                           RCC_APB1Periph_WWDG |
                           RCC_APB1Periph_SPI2 |
                           RCC_APB1Periph_SPI3 |
                           RCC_APB1Periph_USART2 |
                           RCC_APB1Periph_USART3 |
                           RCC_APB1Periph_UART4 |
                           RCC_APB1Periph_UART5 |
                           RCC_APB1Periph_I2C1 |
                           RCC_APB1Periph_I2C2 |
                           RCC_APB1Periph_USB |
// RCC_APB1Periph_CAN1 | /* bxCAN unfortunately interferes with USB */
// RCC_APB1Periph_CAN2 |
                           RCC_APB1Periph_BKP |
                           RCC_APB1Periph_PWR |
                           RCC_APB1Periph_DAC,
                           ENABLE);


    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA |
                           RCC_APB2Periph_GPIOB |
                           RCC_APB2Periph_GPIOC |
                           RCC_APB2Periph_GPIOD |
                           RCC_APB2Periph_GPIOE |
                           RCC_APB2Periph_ADC1 |
                           RCC_APB2Periph_ADC2 |
                           RCC_APB2Periph_ADC3 |
                           RCC_APB2Periph_TIM1 |
                           RCC_APB2Periph_TIM8 |
                           RCC_APB2Periph_TIM9 |
                           RCC_APB2Periph_TIM10 |
                           RCC_APB2Periph_TIM11 |
                           RCC_APB2Periph_TIM15 |
                           RCC_APB2Periph_TIM16 |
                           RCC_APB2Periph_TIM17 |
                           RCC_APB2Periph_SPI1 |
                           RCC_APB2Periph_USART1 |
                           RCC_APB2Periph_AFIO,
                           ENABLE);

#if (PIOS_USB_ENABLED)
    /*  Ensure that pull-up is active on detect pin */
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_StructInit(&GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Pin  = PIOS_USB_DETECT_GPIO_PIN;
    GPIO_Init(PIOS_USB_DETECT_GPIO_PORT, &GPIO_InitStructure);
#endif

    /* Initialise Basic NVIC */
    NVIC_Configuration();
}

/**
 * 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
#if defined(PIOS_LED_HEARTBEAT)
    PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
    PIOS_LED_Off(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */

    RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
    RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
    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(0x1FFFF7E0) * 1000;
}

/**
 * Returns the serial number as a string
 * param[out] uint8_t pointer to a string which can store at least 12 bytes
 * (12 bytes 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(0x1ffff7e8 + 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(0x1ffff7e8 + (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)
{
    /* Set the Vector Table base address as specified in .ld file */
    extern void *pios_isr_vector_table_base;

    NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);

    /* 4 bits for Interrupt priorities so no sub priorities */
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

    /* 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 */

#endif /* PIOS_INCLUDE_SYS */

/**
 * @}
 * @}
 */