#include "include.h"
//#include <stdbool.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/BIOS.h>

#include <driverlib/rom.h>
#include <driverlib/sysctl.h>
#include <driverlib/usb.h>
#include <usblib/usblib.h>
#include <usblib/device/usbdevice.h>
#include <inc/hw_nvic.h>
#include <inc/hw_types.h>
#include <inc/hw_memmap.h>

#include "Modules/Control/control.h"
#include "Modules/Control/MillisecTask.h"
#include "Modules/Heaters/Heaters_ex.h"

#include "Drivers/USB_Communication/USBCDCD.h"


extern Semaphore_Handle updateSem;


void UpdateUsb(void)
{
    //
    // Terminate the USB device and detach from the bus.
    //
    USBDCDTerm(0);

    //
    // Disable all interrupts.
    //
    ROM_IntMasterDisable();
#ifdef WATCHDOG
    ROM_WatchdogResetDisable(WATCHDOG0_BASE);
    uint32_t timeout = 0xFFFFFFFFU;
    ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
#endif
    ControlStop();
    MillisecStop();
    HeatersEnd();

    //
    // Disable SysTick and its interrupt.
    //
    ROM_SysTickIntDisable();
    ROM_SysTickDisable();

    //
    // Disable all processor interrupts.  Instead of disabling them one at a
    // time, a direct write to NVIC is done to disable all peripheral
    // interrupts.
    //
    HWREG(NVIC_DIS0) = 0xffffffff;
    HWREG(NVIC_DIS1) = 0xffffffff;
    HWREG(NVIC_DIS2) = 0xffffffff;
    HWREG(NVIC_DIS3) = 0xffffffff;
    HWREG(NVIC_DIS4) = 0xffffffff;

    //
    // Enable and reset the USB peripheral.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
    ROM_SysCtlPeripheralReset(SYSCTL_PERIPH_USB0);
    ROM_USBClockEnable(USB0_BASE, 8, USB_CLOCK_INTERNAL);

    //
    // Wait for about a second.
    //
    ROM_SysCtlDelay(SYS_CLK_FREQ / 3);

    //
    // Re-enable interrupts at the NVIC level.
    //
    ROM_IntMasterEnable();

    //
    // Call the USB boot loader.
    //
    ROM_UpdateUSB(0);

    //
    // Should never get here, but just in case.
    //
    while(1)
    {
    }
}

Void updateTask(UArg arg0, UArg arg1)
{

	//
	// Wait until new updTE ARRIVED
	//
	Semaphore_pend(updateSem, BIOS_WAIT_FOREVER);
	UpdateUsb();
}
extern Semaphore_Handle ReconnectSem;


void ReconnectUsb(void)
{
    //USBCDC_close();
}

Void ReconnectTask(UArg arg0, UArg arg1)
{

    //
    // Wait until new updTE ARRIVED
    //
    while (1)
    {
        Semaphore_pend(ReconnectSem, BIOS_WAIT_FOREVER);
        ReconnectUsb();
    }
}