/************************************************************
 * Utils.h
 * general module of system utility functions
 **************************************************************/

#include <inc/hw_ints.h>
#include <inc/hw_memmap.h>
#include <driverlib/rom.h>
#include <time.h>
#include "Common/Utilities/Utils.h"
//#include <driverlib/systick.h>
#include "driverlib/hibernate.h"

static const float speedCoef = 5.3051647697298445256294587790838f;//(200 micro steping)/2*Pi*Radius - 200 micro steping

//*****************************************************************************

bool DanserCheckPosition(uint16_t position , Danser_t danser, bool test)
{
    if (test == false) return true;
#ifdef DEBUG_DANCER
	ProfileType_t profileType = GetCurrentProfileType();
	if (position <  DANSER_POS_MIN)
	{
		if(danser == Winder)
		{
			if(profileType == Manual)
			{
				JigStopAllWithError("Thread torn in winder danser");//for stoping the system operation
			}
			else if (profileType == User)
			{
				//notify the UI about an error and pause the system
				SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread torn in winder danser");
				JigPauseAll();
			}
		}
		else
		{
			if(profileType == Manual)
			{
				JigStopAllWithError("Thread torn in pooler danser");//for stoping the system operation
			}
			else if (profileType == User)
			{
				//notify the UI about an error and pause the system
				SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread torn in pooler danser");
				JigPauseAll();
			}
		}
		return false;
	}

	if (position >  DANSER_POS_MAX)
	{
		if(danser == Pooler)
		{
			if(profileType == Manual)
			{
				JigStopAllWithError("Thread stocked in pooler danser");
			}
			else if (profileType == User)
			{
				SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread stuck in pooler danser");
				JigPauseAll();
			}
		}
		else
		{
			if(profileType == Manual)
			{
				JigStopAllWithError("Thread stocked in winder danser");
			}
			else if (profileType ==User)
			{
				SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread stuck in winder danser");
				JigPauseAll();
			}
		}
		return false;
	}
#endif
	return true;
}

//*****************************************************************************
//convert thread speed recieved in milimeters per second into motor steps of pps
//*****************************************************************************
uint16_t ConvertSpeed2Pps(uint16_t milimeterPerSecond)
{
	float res = speedCoef*(float)milimeterPerSecond;
	return (uint16_t)res;
}
//*****************************************************************************

uint16_t ConvertPpsToSpeed(uint16_t Pps)
{
	float res = (float)Pps/speedCoef;
	return (uint16_t)res;

}

//*****************************************************************************
//
// Init WD timer
//
//*****************************************************************************
void InitWatchdog(uint32_t clock)
{
	//
	// Enable the watchdog interrupt.
	//
	ROM_IntEnable(INT_WATCHDOG);

	//
	// Set the period of the watchdog timer.
	//
	ROM_WatchdogReloadSet(WATCHDOG0_BASE, clock);

	//
	// Enable reset generation from the watchdog timer.
	//
	ROM_WatchdogResetEnable(WATCHDOG0_BASE);

	//
	// Enable the watchdog timer.
	//
	ROM_WatchdogEnable(WATCHDOG0_BASE);
}
void utilsInit(uint32_t ui32SysClock)
{

    // Configure Hibernate module clock.
    //
    HibernateEnableExpClk(ui32SysClock);


    // Enable RTC mode.
    //
    HibernateRTCEnable();

    //
    // Configure the hibernate module counter to 24-hour calendar mode.
    //
    // HibernateCounterMode(HIBERNATE_COUNTER_24HR);
    // Configure the hibernate module counter to RTC counter mode.
    HibernateCounterMode(HIBERNATE_COUNTER_RTC);


}


uint32_t UsersysTickGet (void) {
    uint32_t tick = 0;
//    tick =  SysTickValueGet();
    tick = HibernateRTCSSGet()*10000/0x8000;
    return tick;
}

//*****************************************************************************
//
// The interrupt handler for the watchdog.  This feeds the dog (so that the
// processor does not get reset) and winks the LED connected to GPIO B3.
//
//*****************************************************************************
void WatchdogIntHandler(void)
{
     //
     // Clear the watchdog interrupt.
     //
     ROM_WatchdogIntClear(WATCHDOG0_BASE);
}

bool sendDataToHost = false;
void UtilsSetCommunicationOk(void)
{
    sendDataToHost = true;
}