/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <stdbool.h>
#include <stdint.h>

#include "platform.h"

#include "gpio.h"
#include "nvic.h"
#include "system.h"

#define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)

// from system_stm32f10x.c
void SetSysClock(bool overclock);

void systemReset(void)
{
    // Generate system reset
    SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}

void systemResetToBootloader(void)
{
    // 1FFFF000 -> 20000200 -> SP
    // 1FFFF004 -> 1FFFF021 -> PC

    *((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
    systemReset();
}

void enableGPIOPowerUsageAndNoiseReductions(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE);

    gpio_config_t gpio;

    gpio.mode = Mode_AIN;
    gpio.pin = Pin_All;
    gpioInit(GPIOA, &gpio);
    gpioInit(GPIOB, &gpio);
    gpioInit(GPIOC, &gpio);
}

bool isMPUSoftReset(void)
{
    if (cachedRccCsrValue & RCC_CSR_SFTRSTF)
        return true;
    else
        return false;
}

void systemInit(void)
{
    checkForBootLoaderRequest();

    SetSysClock(false);

#ifdef CC3D
    /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
    extern void *isr_vector_table_base;

    NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
#endif
    // Configure NVIC preempt/priority groups
    NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);

    // Turn on clocks for stuff we use
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);

    // cache RCC->CSR value to use it in isMPUSoftreset() and others
    cachedRccCsrValue = RCC->CSR;
    RCC_ClearFlag();

    enableGPIOPowerUsageAndNoiseReductions();

    // Set USART1 TX (PA9) to output and high state to prevent a rs232 break condition on reset.
    // See issue https://github.com/cleanflight/cleanflight/issues/1433
    gpio_config_t gpio;

    gpio.mode = Mode_Out_PP;
    gpio.speed = Speed_2MHz;
    gpio.pin = Pin_9;
    digitalHi(GPIOA, gpio.pin);
    gpioInit(GPIOA, &gpio);

    // Turn off JTAG port 'cause we're using the GPIO for leds
#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW            (0x2 << 24)
    AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;

    // Init cycle counter
    cycleCounterInit();

    // SysTick
    SysTick_Config(SystemCoreClock / 1000);
}

void checkForBootLoaderRequest(void)
{
    void(*bootJump)(void);

    if (*((uint32_t *)0x20004FF0) == 0xDEADBEEF) {

        *((uint32_t *)0x20004FF0) = 0x0;

        __enable_irq();
        __set_MSP(*((uint32_t *)0x1FFFF000));

        bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFF004));
        bootJump();
        while (1);
    }
}