<
using System;
using System.Collections.Generic;
using
#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 "Drivers/I2C_Communication/I2C.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/Heater/Heater.h"
#include "drivers/Motors/Motor.h"

#include "Communication/CommunicationTask.h"


#include <drivers/Flash_Memory/Flash_Memory.h>
#include "drivers/Flash_ram/FlashProgram.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/Control/MillisecTask.h"
#include "Modules/Heaters/Heaters_ex.h"
#include "Modules/Ids/Ids_ex.h"

#include "StateMachines/Printing/PrintingSTM.h"
#include "StateMachines/Initialization/InitSequence.h"

#include <Drivers/SSI_Comm/SSI_Comm.h>
#include "drivers/SPI/SPI_Comm.h"
#include "drivers/Uart_Comm/Uart.h"
#include "drivers/valves/valve.h"

#include "drivers/FPGA/FPGA.h"
#include <drivers/FPGA/FPGA_Comm.h>
#include <drivers/FPGA/FPGA_INTERRUPTS/fpga_interrupts.h>

#include "Drivers/I2C_Communication/I2C.h"

//#include "Drivers/I2C_Communication/Dispensers_EEPROM_MUX/Disp_EEPROM_MUX.h"

#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"

#include "drivers/Flash_Memory/FATFS/ff.h"
#include "drivers/Flash_Memory/FATFS/Control_File_System.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;

bool Machine_Idle_Mode = false;

//MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*));
uint32_t MainDummyFunction(uint32_t IfIndex, uint32_t ReadValue)
{
    return OK;
}
uint32_t HWControlId;

uint32_t MainHWInitCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
{
    RemoveControlCallback(HWControlId, MainHWInitCallBackFunction );
    HWConfigurationInit();
    return OK;
}
//*****************************************************************************
//
// 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);


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

//    FlashInit();

    Calculateinit();

	PortFunctionInit();

    #ifdef EVALUATION_BOARD
        Init_EVB();
    #endif

   Init_All_I2C();


    #ifndef EVALUATION_BOARD
        STATUS_GREEN_LED_ON;
	    FPGA_Init();
    #endif

	MAP_FPULazyStackingEnable();

    SysCtlUSBPLLEnable();

#ifndef EVALUATION_BOARD
    DeActivateAllSSR();
    Control_Dryer_Fan(STOP,0);//Preventing unwanted movement at power up, since the default from FPGA is "0" (= START)
#endif

#ifdef WATCHDOG
	InitWatchdog(ui32SysClock);
#endif

	CommunicationTaskInit();
	utilsInit(ui32SysClock);

#ifndef EVALUATION_BOARD
	//Turn_the_Blower_On();//Turn on with the Default_Voltage
	ActivateChiller();//SSR12
	//ActivateHeadMagnet();
#endif

	//EMAC_initEMAC();
    ControlInit();
    MillisecInit();
    ControlStart();
    Heaters_Init();
    MotorsInit();
    //IDS_ModuleInit();
    Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste);

    ////////////////////////////


    Check_Dispenser_Type();
    //FPGA_Read_limit_Switches_Registers();

    //calibration(); //test vme communication

    FRESULT iFResult = Init_Flash_File_System(false);
    if(iFResult != FR_OK)
    {
        LOG_ERROR (iFResult, "Error during init Flash File System");
        assert(iFResult);
    }
    //Control_File_System();// test file system
   //IDS_ModuleInit();

    //GetFiles(); - to start jtag
    //GetVmeByte();

    //I2C_NFC_Test();
    //
    //test_avi(); //example for shai

    //Test_ADS120_Internal_Temperature_Sensor(0);

    #ifndef EVALUATION_BOARD
        Init_Machine_Leds();
    #endif


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


    IDLE_TASK_package_init();

//    HWControlId = AddControlCallback( MainHWInitCallBackFunction, 2* eOneSecond/*eHundredMillisecond*/, MainDummyFunction,0,0, 0 );

    Start_InitSequence();

    BIOS_start();


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