#include <Container.h>
#include "include.h"
/*#include <stdbool.h>
#include <stdio.h>
#include <xdc/runtime/System.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
//#include <ti/drivers/USBMSCHFatFs.h>
#include <driverlib/sysctl.h>
#include <driverlib/interrupt.h>
#include <driverlib/rom_map.h>
#include <ti/sysbios/knl/Semaphore.h>
*/
#include <driverlib/sysctl.h>
#include "Drivers/USB_Communication/USBCDCD.h"
#include "PMR/common/MessageContainer.pb-c.h"
#include "Common/Sys_PinOut_Config/Pin.h"
#include "Common/Sys_PinOut_Config/Pin_config.h"
#include "Common/utilities/idle_task.h"
#include "Drivers/ADC_Sampling/ADC.h"
#include "Drivers/Peripheral_GPIO/GPIO.h"
#include "Drivers/Peripheral_GPIO/GPIO.h"
#include "drivers/Heater/Heater.h"

#include "Communication/CommunicationTask.h"

#include "drivers/twine_graphicslib/graphics_adapter.h"
#include <drivers/Flash_Memory/Flash_Memory.h>
#include <DataDef.h>

#include "Sys_PinOut_Config/MCU_MAIN_pinout.h"

/*
#include "Drivers/SPI_SDCARD/SDSPI.h"
#include "Drivers/SPI_SDCARD/SDCardSPI.h"
#include "Drivers/Ethernet_Config/EMACCommon.h"
#include "Drivers/USBStick_FileSys/USBstick.h"
#include "Drivers/USBStick_FileSys/USBMSCHFatFs.h"
*/
#include "Modules/Control/control.h"
#include "Modules/Heaters/Heaters_ex.h"
#include "StateMachines/Printing/PrintingSTM.h"
extern Semaphore_Handle sdCardSem;


#include "drivers/Danser_SSI/SSI_Comm.h"
#include "drivers/SPI/SPI_Comm.h"
#include "drivers/Uart_Comm/Uart.h"

#include "drivers/FPGA/FPGA.h"

#include "drivers/I2C_Communication/I2C.h"




//#define WATCHDOG
//*****************************************************************************
//
// The system tick rate expressed both as ticks per second and a millisecond
// period.
//
//*****************************************************************************
#define TICKS_PER_SECOND        1000

//*****************************************************************************
//
// Global system tick counter
//
//*****************************************************************************
static volatile uint32_t g_ui32SysTickCount = 0;

// Flags used to pass commands from interrupt context to the main loop.
static volatile uint32_t g_ui32Flags;

//MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*));

//*****************************************************************************
//
// Interrupt handler for the system tick counter.
//
//*****************************************************************************
void SysTickHandler(void)
{
    // Update our system time.
    g_ui32SysTickCount++;
}

void Init_EVB()
{

    InitPinOutPullUps();

    #ifdef Stub_Mode
    //MOTOR Driver L6470 SPI
    SPI2_Init();
    init_BUSY_Pin();

    //Danser_ENC:
    SSI1_Init(); // Read dancer ENC SSI

    #endif

}

int main(void)
{
    // Enable interrupts to the processor.
    //
    ROM_IntMasterDisable();
	//Set the clock 120MHz
	uint32_t ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), SYS_CLK_FREQ);

    // Set the system clock to run at 120MHz from the PLL.

    // Save the PLL rate used by this application.
    //SysCtlVCOGet(SYSCTL_XTAL_25MHZ, &ui32PLLRate);

    // Enable the system tick.
    ROM_SysTickPeriodSet(ui32SysClock / TICKS_PER_SECOND);
    ROM_SysTickIntEnable();
    ROM_SysTickEnable();

	PortFunctionInit();
    #ifdef EVALUATION_BOARD
        Init_EVB();
    #endif
	InitI2C();

	//ROM_GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, GPIO_PIN_1); // Green LED
    ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_1, GPIO_PIN_1); //Turn ON

    FPGA_Init();
	//ROM_GPIOPinTypeGPIOOutput(GPIO_PORTQ_BASE, GPIO_PIN_7); // set PQ7 to output (Green LED)
	//ROM_GPIOPinTypeGPIOOutput(GPIO_PORTQ_BASE, GPIO_PIN_4); // set PQ4 to output (Blue LED)
	//ROM_GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, GPIO_PIN_5); // set PN5 to output (RED LED)
    //ROM_GPIOPinTypeGPIOOutput(GPIO_PORTH_BASE, GPIO_PIN_2); // set PN5 to output (RED LED)
    //ROM_GPIOPinTypeGPIOOutput(GPIO_PORTH_BASE, GPIO_PIN_3); // set PN5 to output (RED LED)
	//DeActivateHeater(0);
	//DeActivateHeater(1);
    //ROM_IntDisable(INT_ADC0SS0);

    //FlashFS_Init();
	//
	// Enable lazy stacking for interrupt handlers.  This allows floating-point
	// instructions to be used within interrupt handlers, but at the expense of
	// extra stack usage.
	//
	MAP_FPULazyStackingEnable();

    SysCtlUSBPLLEnable();

#ifdef WATCHDOG
	InitWatchdog(ui32SysClock);
#endif

	CommunicationTaskInit();
	utilsInit(ui32SysClock);
//    init_graphics(ui32SysClock);
//    clear();

    //messageHostInit();
	//InitUSBMSCHFatFs();

    //----------------------------------------------------------
    //Debug_Start_PT00(); // temporary ------------------------------

    //-----------------------------------------------------------

	//EMAC_initEMAC();
    ControlInit();
    Heaters_Init();
    JobInit();
    PrintingsInit();
	//LoadManual();
	//Semaphore_post(sdCardSem);

    RegisterReceiveCallback(&receive_callback);
    //StartUSB(ui32SysClock);

    // Enable interrupts to the processor.
    //
    ROM_IntMasterEnable();


    IDLE_TASK_package_init();

    //ControlStart();

    BIOS_start();



    return (0);
    //while(1){};
}