/** @file sys_main.c 
*   @brief Application main file
*   @date 11-Dec-2018
*   @version 04.07.01
*
*   This file contains an empty main function,
*   which can be used for the application.
*/

/* 
* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com 
* 
* 
*  Redistribution and use in source and binary forms, with or without 
*  modification, are permitted provided that the following conditions 
*  are met:
*
*    Redistributions of source code must retain the above copyright 
*    notice, this list of conditions and the following disclaimer.
*
*    Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in the 
*    documentation and/or other materials provided with the   
*    distribution.
*
*    Neither the name of Texas Instruments Incorporated nor the names of
*    its contributors may be used to endorse or promote products derived
*    from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
*  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
*  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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*  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/


/* USER CODE BEGIN (0) */
/* USER CODE END */

/* Include Files */

#include "sys_common.h"

/* USER CODE BEGIN (1) */
#include "system.h"
#include "gio.h"
#include "mibspi.h"
#include "can.h"
#include "rti.h"

#include "Common.h"
#include "CommBuffers.h"
#include "CPLD.h"
#include "MsgQueues.h"
#include "OperationModes.h"
#include "SafetyShutdown.h"
#include "SystemComm.h"
#include "TaskBG.h"
#include "Timers.h"

static void initSoftware( void );
static void initHardware( void );
static void initTasks( void );
/* USER CODE END */

/** @fn void main(void)
*   @brief Application main function
*   @note This function is empty by default.
*
*   This function is called after startup.
*   The user can use this function to implement the application.
*/

/* USER CODE BEGIN (2) */
/* USER CODE END */

int main(void)
{
/* USER CODE BEGIN (3) */

    initHardware();
    initSoftware();
    initTasks();

    // start task background (will no return)
    taskBackground();

/* USER CODE END */

    return 0;
}


/* USER CODE BEGIN (4) */

static void initSoftware( void )
{
    initTimers();
    initSafetyShutdown();
    initCPLD();
    initOperationModes();
    initCommBuffers();
    initMsgQueues();
    initSystemComm();
}

static void initHardware( void )
{
    gioInit();
    mibspiInit();   // re-purposing MIBSPI5 I/O/C pins as GPIO
    canInit();      // CAN1 = CAN, re-purposing CAN2 and CAN3 Rx and Tx pins as GPIO
}

static void initTasks( void )
{
    rtiInit();
    rtiEnableNotification( rtiNOTIFICATION_COMPARE0 | rtiNOTIFICATION_COMPARE1 | rtiNOTIFICATION_COMPARE3 );
    rtiStartCounter( rtiCOUNTER_BLOCK0 );
    _enable_FIQ();
    _enable_IRQ();
}

/* USER CODE END */