/** @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,
*  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
*  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
*  (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 "sys_dma.h"
#include "adc.h"
#include "can.h"
#include "i2c.h"
#include "etpwm.h"
#include "gio.h"
#include "mibspi.h"
#include "sci.h"
#include "rti.h"

#include "TDCommon.h"
#include "AirPump.h"
#include "AirTrap.h"
#include "BloodFlow.h"
#include "Bubbles.h"
#include "Buttons.h"
#include "CpldInterface.h"
#include "DDInterface.h"
#include "Ejector.h"
#include "FpgaTD.h"
#include "InternalADC.h"
#include "Interrupts.h"
#include "MsgQueues.h"
#include "OperationModes.h"
#include "Pressures.h"
#include "Switches.h"
#include "SystemCommTD.h"
#include "TaskBG.h"
#include "Timers.h"
#include "Utilities.h"
#include "Valves.h"
#include "Voltages.h"
#include "WatchdogMgmt.h"

static void initProcessor( void );
static void initSoftware( void );
static void initHardware( void );
static void initTasks( void );

/**
 *  @defgroup Main Main
 *  @brief General startup functionality and definitions common to entire TD app.
 *
 *  @addtogroup Main
 *  @{
 */

/* 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) */

    initProcessor();    // Configure processor
    initSoftware();     // Initialize software modules
    initTasks();        // Setup and start the scheduled tasks

    // Start task background (will not return)
    taskBackground();

/* USER CODE END */

    return 0;
}


/* USER CODE BEGIN (4) */

/*************************************************************************
 * @brief initProcessor
 * The initProcessor function initializes and configures the processor \n
 * peripherals.
 * @details Inputs: none
 * @details Outputs: Processor peripherals initialized and configured.
 * @return none
 *************************************************************************/
static void initProcessor( void )
{
    gioInit();      // Configure GPIO pins
    adcInit();      // Configure internal ADC channels
    mibspiInit();   // Re-purposing MIBSPI5 I/O/C pins as GPIO
    etpwmInit();    // Configure PWMs
        etpwmSetCmpA( etpwmREG1, 0 );
        etpwmSetCmpA( etpwmREG2, 0 );
        etpwmSetCmpA( etpwmREG3, 0 );
        etpwmSetCmpA( etpwmREG4, etpwmREG4->TBPRD / 3 );
        etpwmSetCmpA( etpwmREG6, etpwmREG6->TBPRD / 3 );
        etpwmSetCmpA( etpwmREG7, etpwmREG7->TBPRD / 3 );
        etpwmStartTBCLK();
    canInit();      // CAN1 = CAN, re-purposing CAN2 and CAN3 Rx and Tx pins as GPIO
    sciInit();      // SCI1 used for PC serial interface, SCI2 used for FPGA serial interface
    i2cInit();      // I2C used for battery charger interface.
    dmaEnable();    // Enable DMA
}

/*************************************************************************
 * @brief initSoftware
 * The initSoftware function calls all software unit initialization functions
 * to initialize and configure the TD application.
 * @details Inputs: none
 * @details Outputs: All software units initialized.
 * @return none
 *************************************************************************/
static void initSoftware( void )
{
    initSemaphores();
    // Initialize ms timer counter
    initTimers();
    // Initialize CPLD interface
    initCPLD();
    // Initialize alarm manager
    initAlarmMgmtTD();
    // Initialize drivers
    initInternalADC();
    // Initialize async interrupt handlers
    initInterrupts();
    // Initialize services
    initTestConfigs();
    initCommBuffers();
    initDDInterface();
//    initIntegrity();
    initFpgaTD();
    initMsgQueues();
//    initNVDataMgmt();
    initSystemCommTD();
    initWatchdogMgmt();
    // Initialize monitors
//    initBattery();
    initBubbles();
    initButtons();
    initPressure();
    initSwitches();
    initVoltagesMonitor();
    // Initialize controllers
    initAirPump();
    initAirTrap();
    initBloodFlow();
    initEjector();
    initValves();
    // Initialize modes
    initOperationModes();
}

/*************************************************************************
 * @brief initTasks
 * The initTasks function sets up and starts the scheduled tasks.
 * @details Inputs: none
 * @details Outputs: Scheduled tasks set up and started.
 * @return none
 *************************************************************************/
static void initTasks( void )
{
    // Initialize RTI to setup the 3 tasks
    rtiInit();
    rtiEnableNotification( rtiNOTIFICATION_COMPARE0 | rtiNOTIFICATION_COMPARE1 | rtiNOTIFICATION_COMPARE3 );
    rtiStartCounter( rtiCOUNTER_BLOCK0 );
    // The timer task requires FIQ enabled
    _enable_FIQ();
    // The general and priority tasks require IRQ enabled
    _enable_IRQ();
}

/**@}*/

/* USER CODE END */