/**
 * @copyright 2015 Indie Semiconductor.
 *
 * This file is proprietary to Indie Semiconductor.
 * All rights reserved. Reproduction or distribution, in whole
 * or in part, is forbidden except by express written permission
 * of Indie Semiconductor.
 *
 * @file systemInit.c
 * @Author: Jack.Pan
 * @E-mail:jack.pan@indiemicro.com
 * @Date: 2020/09/10
 */

#include <systemInit.h>
#include <meta.h>
#include <linSlaveTask.h>
#include <linStackTask.h>
#include <wdt_device.h>
#include <gpio_device.h>
#include <pwm_aux_device.h>
#include <gtimer_device.h>
#include <motorControlTask.h>
#include <adc_device.h>
   
void gpios_init(void);
void pmu_init(void);



void gpios_init(void)
{
#if control_type == Divide_2  
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_3, GPIO_DIR_OUTPUT,GPIO_PULL_DOWN); //Downpwm_ACoil Pos side upper arm: GPIO  
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_2, GPIO_DIR_OUTPUT,GPIO_PULL_NONE);//Downpwm_ACoil Pos side down arm: PWM
  
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_6, GPIO_DIR_OUTPUT,GPIO_PULL_NONE);//Downpwm_ACoil NEG side upper arm: GPIO
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_5, GPIO_DIR_OUTPUT,GPIO_PULL_DOWN); //Downpwm_ACoil Neg side down arm: PWM 
  
  
  GPIO_Init(GROUP_GPIOB,GPIO_PORT_2, GPIO_DIR_OUTPUT,GPIO_PULL_NONE);//Downpwm_BCoil Pos side upper arm: GPIO 
  GPIO_Init(GROUP_GPIOB,GPIO_PORT_1, GPIO_DIR_OUTPUT,GPIO_PULL_NONE);//Downpwm_BCoil Pos side down arm: PWM 
  
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_4, GPIO_DIR_OUTPUT,GPIO_PULL_DOWN); //Downpwm_BCoil Neg side upper arm: GPIO
  GPIO_Init(GROUP_GPIOB,GPIO_PORT_0, GPIO_DIR_OUTPUT,GPIO_PULL_NONE);//Downpwm_BCoil Neg side down arm: PWM    

#elif control_type == Divide_6   
  
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_3, GPIO_DIR_OUTPUT,GPIO_PULL_DOWN); //Downpwm_ACoil Pos side upper arm: GPIO    
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_6, GPIO_DIR_OUTPUT,GPIO_PULL_NONE);//Downpwm_ACoil NEG side upper arm: GPIO  
  GPIO_Init(GROUP_GPIOB,GPIO_PORT_2, GPIO_DIR_OUTPUT,GPIO_PULL_NONE);//Downpwm_BCoil Pos side upper arm: GPIO   
  GPIO_Init(GROUP_GPIOA,GPIO_PORT_4, GPIO_DIR_OUTPUT,GPIO_PULL_DOWN); //Downpwm_BCoil Neg side upper arm: GPIO  
  
  PWMAUX_Init(GROUP_GPIOA,GPIO_PORT_2,PWMAUX_CH5,PWMAUX_BASE_0,PWMAUX_CLK_DIV_1,PWMAUX_Period); //Downpwm_ACoil Pos side down arm: PWMAUX5
  PWMAUX_Init(GROUP_GPIOA,GPIO_PORT_5,PWMAUX_CH0,PWMAUX_BASE_0,PWMAUX_CLK_DIV_1,PWMAUX_Period); //Downpwm_ACoil Neg side down arm: PWMAUX0
  
  PWMAUX_Init(GROUP_GPIOB,GPIO_PORT_1,PWMAUX_CH2,PWMAUX_BASE_0,PWMAUX_CLK_DIV_1,PWMAUX_Period); //Downpwm_BCoil Neg side down arm: PWMAUX2 
  PWMAUX_Init(GROUP_GPIOB,GPIO_PORT_0,PWMAUX_CH1,PWMAUX_BASE_0,PWMAUX_CLK_DIV_1,PWMAUX_Period); //Downpwm_BCoil Pos side down arm: PWMAUX1
  
//  PWM_AUX_SFRS->INVERT = 0X3FU;
//  
//  PWMAUX_SetMatchValue(PWMAUX_CH5, 0, PWMAUX_Period/2);//PWMAUX5:PA2
//  PWMAUX_SetMatchValue(PWMAUX_CH0, 0, PWMAUX_Period/4);//PWMAUX0:PA5
//  PWMAUX_SetMatchValue(PWMAUX_CH2, 0, PWMAUX_Period/6);//PWMAUX2:PB1
//  PWMAUX_SetMatchValue(PWMAUX_CH1, 0, PWMAUX_Period/8);//PWMAUX1:PB0
  
#endif
  
  GPIO_Init(GROUP_GPIOB,GPIO_PORT_3, GPIO_DIR_INPUT,GPIO_PULL_NONE);//ADC Postion: Full scale
  GPIO_Init(GROUP_GPIOC,GPIO_PORT_4, GPIO_DIR_INPUT,GPIO_PULL_NONE);//ADC Postion: Resistance partial voltage value  
  GPIO_Init(GROUP_GPIOC,GPIO_PORT_3, GPIO_DIR_OUTPUT,GPIO_PULL_DOWN);
}

void pmu_init(void)
{
//    /* Init set BOR voltage level for cpu low voltage safety*/
//    PMU_BORInit(S_BOR_1P5V, BOR_3V3_THRS_2998mV);
//    /* Disable wake up timer */
//    PMU_WakeTimerInit(WAKEUP_TIMEER_DISABLE, WAKEUP_TIMEER_INTERVAL_32768ms);
}


void SYS_Init(void)
{
    /* Enable trim revise access enable*/
    HWCFG_TrimAccessUnlock();
    
    TRIMHV_SFRS->PMUTRIM.VDD1V5_LDO_TRIM = 3U;
    
    CRGA_SFRS->MODULERSTREQ = 0xFFU;
    /* Init system clock */
    Clock_SystemMainClockInit(SYS_MAIN_CLOCK_DIV);
    pmu_init();
    /* Init global timer engine for driving soft timer */
    SysTick_Init(SOFT_TIMER_INTERVAL *1000U * MAIN_CPU_CLOCK, SoftTimer_ExpireCallback);
#if WATCH_DOG_EN == 1U
      WDTA_Enable(WDTA_INTERVAL_18432MS); /* 8s */
#endif
    /* Init gpios settings */
    gpios_init();
    /*HWCFG_TrimAccessLockUntilReset();*/
    
    ADC_GeneralInit();

    TIMER_Init(TIMER1, HW_TIMER_PERIODIC_MODE, GTIMER_CLK_DIV_1,1000*16, Timer1_INTTest);//Time1_timing
   
    /* tasks init must be called before use. */
    TM_PostTask(TASK_ID_SOFT_TIMER);
    TM_PostTask(TASK_ID_SAFETY_MONITOR);
    TM_PostTask(TASK_ID_LINS);
    //TM_PostTask(TASK_ID_PDS);
    TM_PostTask(TASK_ID_ADC_MEASURE);
    TM_PostTask(TASK_ID_APPL);
}