/*
 * $LastChangedRevision: 3952 $
 * $LastChangedDate:: 2025-11-27 21:04:55 +0100#$
 *
 * This file is part of X2C. web: x2c.lcm.at
 *
 * Copyright (c) 2016, Linz Center of Mechatronics GmbH (LCM), web: x2c.lcm.at
 * All rights reserved.
 */
/*
 * This file is licensed according to the BSD 3-clause license as follows:
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the "Linz Center of Mechatronics GmbH" and "LCM" nor
 *       the names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL "Linz Center of Mechatronics GmbH" BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
#include "CommonFcts.h"
#include "TableStruct.h"
#include "LNet.h"
#include "Services.h"
#include "BlockServices.h"
#include "ServicesModelIdentifier.h"
#include "Hardware.h"
#include "X2C.h"
#include "Main.h"

/* labels from linker file for section ramfuncs */
extern uint16 RamfuncsLoadStart;
extern uint16 RamfuncsLoadEnd;
extern uint16 RamfuncsRunStart;

/* X2C maintenance structure */
volatile tTableStruct TheTableStruct;
volatile tTableStruct *TableStruct = &TheTableStruct;

/* LNet protocol buffersize & node identifier */
#define LNET_BUFFERSIZE ((uint16)255)
#define LNET_NODEID ((uint8)1)

static tSerial interface;
static tLNet protocol;
static uint8 bufferLNet[LNET_BUFFERSIZE];

uint16 CPU_Load = 0;
uint16 CPU_Scale = 0;


/* used by init version info */
const struct {
	uint8 date[11];
	uint8 time[8];
} compilationDate = { __DATE__, __TIME__ };

/* private prototypes */
static void initVersionInfo(volatile tTableStruct* tblStruct, uint16 appVersion);

/*
 * Main function.
 */
void main(void)
{
	memcpy(&RamfuncsRunStart,&RamfuncsLoadStart,&RamfuncsLoadEnd - &RamfuncsLoadStart);
	initFlash();

	initInterruptVector();

    /** - Initialize "integrated bootloader":
     *    - configuration of LNet protocol:
     *      - Node-ID: 1
     *      - Buffer size: 255
     *      .
     *    .
     *  - Initialize serial interface
     */
    initTableStruct();
    initSerialGeneric(&interface);
    initSerial(&interface);
    initLNet(&protocol, bufferLNet, LNET_BUFFERSIZE, LNET_NODEID);
    initServiceTable((tProtocol*)&protocol);
    addCoreServices((tProtocol*)&protocol);
    addBlockServices((tProtocol*)&protocol);
    addModelIdentifierServices((tProtocol*)&protocol);
    addTableStructProtocol((tProtocol*)&protocol);
    linkSerial((tProtocol*)&protocol, &interface);
	KICK_DOG;

    initVersionInfo(TableStruct, (uint16)0x0001);   /* software version 1 */
    TableStruct->DSPState = PRG_LOADED_STATE;

    /** - Initialize X2C */
    X2C_Init();
    KICK_DOG;

    /** - Initialize hardware */
	initHardware();
	KICK_DOG;

	/** - Initialize CPU load measurement */
	CPU_Scale = EPwm1Regs.TBPRD << 1;

    /** - Never ending loop -> interrupt driven algorithm */
    while(1)
	{
		/* communication */
		TableStruct->protocols[0]->pCommunicate((struct tProtocol *)TableStruct->protocols[0]);
	}
}

/**
 * @brief Main control task.
 *
 * The main control task is called by the ADC interrupt service routine with a frequency of 10kHz.
 */
void mainTask(void)
{
    START_CPU_MEASUREMENT;

    /** - Assign inports */
	/* read ADC-A0 and convert to Q15 format */
	x2cModel.inports.bAdc_A0 = AdcResult.ADCRESULT0 << 3;
	/* read ADC-B0 and convert to Q15 format */
	x2cModel.inports.bAdc_B0 = AdcResult.ADCRESULT1 << 3;
	if (GpioDataRegs.GPBDAT.bit.GPIO33 != 0)	/* read logic state of GPIO-33 */
	{
		x2cModel.inports.bGpio_33 = INT16_MAX;
	}
	else
	{
		x2cModel.inports.bGpio_33 = (int16)0;
	}

	/** - Update X2C */
	X2C_Update();

	/**  - Update outports */
	if (*x2cModel.outports.bLD2 != 0)
	{
		GpioDataRegs.GPBCLEAR.bit.GPIO34 = (uint16)1;	/* active low -> LED on */
	}
	else
	{
		GpioDataRegs.GPBSET.bit.GPIO34 = (uint16)1;	/* active low -> LED off */
	}

	KICK_DOG;
	END_CPU_MEASUREMENT;
}

/**
 * @brief Adds frame compilation date, time and version info to X2C maintenance structure.
 *
 * @param tblStruct     X2C maintenance structure
 * @param appVersion    Software version number
 */
static void initVersionInfo(volatile tTableStruct* tblStruct, uint16 appVersion)
{
	tblStruct->framePrgVersion = appVersion;
	tblStruct->framePrgCompDateTime = (uint8*)&compilationDate;
}
