/**
 ******************************************************************************
 * @addtogroup OpenPilotBL OpenPilot BootLoader
 * @{
 *
 * @file       pios_board.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Defines board specific static initialisers for hardware for the OpenPilot board.
 * @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>
//#include <openpilot.h>
//#include <uavobjectsinit.h>

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

/* AHRS Interface
 * 
 * NOTE: Leave this declared as const data so that it ends up in the 
 * .rodata section (ie. Flash) rather than in the .bss section (RAM).
 */
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg
		pios_spi_ahrs_cfg = {
				.regs = SPI2,
				.init = {
					.SPI_Mode = SPI_Mode_Master,
					.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
					.SPI_DataSize = SPI_DataSize_8b,
					.SPI_NSS = SPI_NSS_Soft,
					.SPI_FirstBit = SPI_FirstBit_MSB,
					.SPI_CRCPolynomial = 7,
					.SPI_CPOL = SPI_CPOL_High,
					.SPI_CPHA = SPI_CPHA_2Edge,
					.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
				},
				.use_crc = TRUE,
				.dma = {
					.ahb_clk = RCC_AHBPeriph_DMA1,

					.irq = {
						.handler = PIOS_SPI_ahrs_irq_handler,
						.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
						.init = {
							.NVIC_IRQChannel = DMA1_Channel4_IRQn,
							.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
							.NVIC_IRQChannelSubPriority = 0,
							.NVIC_IRQChannelCmd = ENABLE,
						},
					},

					.rx = {
						.channel = DMA1_Channel4,
						.init = {
							.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
							.DMA_DIR = DMA_DIR_PeripheralSRC,
							.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
							.DMA_MemoryInc = DMA_MemoryInc_Enable,
							.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
							.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
							.DMA_Mode = DMA_Mode_Normal,
							.DMA_Priority = DMA_Priority_Medium,
							.DMA_M2M = DMA_M2M_Disable,
						},
					},
					.tx = {
						.channel = DMA1_Channel5,
						.init = {
							.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
							.DMA_DIR = DMA_DIR_PeripheralDST,
							.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
							.DMA_MemoryInc = DMA_MemoryInc_Enable,
							.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
							.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
							.DMA_Mode = DMA_Mode_Normal,
							.DMA_Priority = DMA_Priority_Medium,
							.DMA_M2M = DMA_M2M_Disable,
						},
					},
				}, .ssel = {
					.gpio = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_12,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_Out_PP,
					},
				}, .sclk = {
					.gpio = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_13,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_AF_PP,
					},
				}, .miso = {
					.gpio = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_14,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_IN_FLOATING,
					},
				}, .mosi = {
					.gpio = GPIOB,
					.init = {
						.GPIO_Pin = GPIO_Pin_15,
						.GPIO_Speed = GPIO_Speed_50MHz,
						.GPIO_Mode = GPIO_Mode_AF_PP,
					},
				}, };

uint32_t pios_spi_ahrs_id;
void PIOS_SPI_ahrs_irq_handler(void) {
	/* Call into the generic code to handle the IRQ for this specific device */
	PIOS_SPI_IRQ_Handler(pios_spi_ahrs_id);
}

#endif	/* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_USART)

#include "pios_usart_priv.h"

/*
 * Telemetry USART
 */
void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
		.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
		.USART_BaudRate = 57600,
#endif
		.USART_WordLength = USART_WordLength_8b,
		.USART_Parity = USART_Parity_No,
		.USART_StopBits = USART_StopBits_1,
		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
	}, .irq = {
		.handler = PIOS_USART_telem_irq_handler,
		.init = {
			.NVIC_IRQChannel = USART2_IRQn,
			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
			.NVIC_IRQChannelSubPriority = 0,
			.NVIC_IRQChannelCmd = ENABLE,
		},
	}, .rx = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin = GPIO_Pin_3,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode = GPIO_Mode_IPU,
		},
	}, .tx = {
		.gpio = GPIOA,
		.init = {
			.GPIO_Pin = GPIO_Pin_2,
			.GPIO_Speed = GPIO_Speed_2MHz,
			.GPIO_Mode = GPIO_Mode_AF_PP,
		},
	}, };

static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void) {
	PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}

#endif	/* PIOS_INCLUDE_USART */

#if defined(PIOS_INCLUDE_COM)

#include "pios_com_priv.h"

#endif	/* PIOS_INCLUDE_COM */

extern const struct pios_com_driver pios_usb_com_driver;

uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;

#include "pios_opahrs.h"

/**
 * PIOS_Board_Init()
 * initializes all the core subsystems on this specific hardware
 * called from System/openpilot.c
 */
void PIOS_Board_Init(void) {

	/* Enable Prefetch Buffer */
	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

	/* Flash 2 wait state */
	FLASH_SetLatency(FLASH_Latency_2);

	/* Delay system */
	PIOS_DELAY_Init();

	/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
	if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
			pios_usart_telem_rf_id)) {
		PIOS_DEBUG_Assert(0);
	}
#endif	/* PIOS_INCLUDE_COM */

	PIOS_GPIO_Init();

#if defined(PIOS_INCLUDE_USB_HID)
	PIOS_USB_HID_Init(0);
#if defined(PIOS_INCLUDE_COM)
	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
		PIOS_DEBUG_Assert(0);
	}
#endif	/* PIOS_INCLUDE_COM */
#endif  /* PIOS_INCLUDE_USB_HID */

	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

	/* Set up the SPI interface to the AHRS */
	if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

	/* Bind the AHRS comms layer to the AHRS SPI link */
	PIOS_OPAHRS_Attach(pios_spi_ahrs_id);
}

/**
 * @}
 */