/*
 * 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 <string.h>
#include <math.h>

#include "platform.h"

#include "blackbox/blackbox.h"

#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"

#include "drivers/nvic.h"

#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/dma.h"
#include "drivers/gpio.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
#include "drivers/timer.h"
#include "drivers/serial.h"
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/pwm_rx.h"
#include "drivers/pwm_output.h"
#include "drivers/adc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/sdcard.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
#include "drivers/io.h"
#include "drivers/exti.h"
#include "drivers/vtx_soft_spi_rtc6705.h"

#ifdef USE_BST
#include "bus_bst.h"
#endif

#include "fc/config.h"
#include "fc/fc_tasks.h"
#include "fc/fc_msp.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"

#include "msp/msp_serial.h"

#include "rx/rx.h"
#include "rx/spektrum.h"

#include "io/beeper.h"
#include "io/serial.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/motors.h"
#include "io/servos.h"
#include "io/gimbal.h"
#include "io/ledstrip.h"
#include "io/display.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/serial_cli.h"
#include "io/transponder_ir.h"
#include "io/cms_types.h"
#include "io/cms.h"
#include "io/osd.h"
#include "io/vtx.h"

#include "scheduler/scheduler.h"

#include "sensors/sensors.h"
#include "sensors/sonar.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/initialisation.h"

#include "telemetry/telemetry.h"

#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"

#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"

#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif

#include "build/build_config.h"
#include "build/debug.h"

extern uint8_t motorControlEnable;

#ifdef SOFTSERIAL_LOOPBACK
serialPort_t *loopbackPort;
#endif

#ifdef USE_DPRINTF
#include "common/printf.h"
#define DPRINTF_SERIAL_PORT SERIAL_PORT_USART3
serialPort_t *debugSerialPort = NULL;
#define dprintf(x) if (debugSerialPort) printf x
#else
#define dprintf(x)
#endif

typedef enum {
    SYSTEM_STATE_INITIALISING   = 0,
    SYSTEM_STATE_CONFIG_LOADED  = (1 << 0),
    SYSTEM_STATE_SENSORS_READY  = (1 << 1),
    SYSTEM_STATE_MOTORS_READY   = (1 << 2),
    SYSTEM_STATE_TRANSPONDER_ENABLED = (1 << 3),
    SYSTEM_STATE_READY          = (1 << 7)
} systemState_e;

static uint8_t systemState = SYSTEM_STATE_INITIALISING;

void init(void)
{
    printfSupportInit();

    initEEPROM();

    ensureEEPROMContainsValidData();
    readEEPROM();

    systemState |= SYSTEM_STATE_CONFIG_LOADED;

    systemInit();

    //i2cSetOverclock(masterConfig.i2c_overclock);

    // initialize IO (needed for all IO operations)
    IOInitGlobal();

    debugMode = masterConfig.debug_mode;

#ifdef USE_HARDWARE_REVISION_DETECTION
    detectHardwareRevision();
#endif

    // Latch active features to be used for feature() in the remainder of init().
    latchActiveFeatures();

#ifdef ALIENFLIGHTF3
    ledInit(hardwareRevision == AFF3_REV_1 ? false : true);
#else
    ledInit(false);
#endif
    LED2_ON;

#ifdef USE_EXTI
    EXTIInit();
#endif

#if defined(BUTTONS)
    gpio_config_t buttonAGpioConfig = {
        BUTTON_A_PIN,
        Mode_IPU,
        Speed_2MHz
    };
    gpioInit(BUTTON_A_PORT, &buttonAGpioConfig);

    gpio_config_t buttonBGpioConfig = {
        BUTTON_B_PIN,
        Mode_IPU,
        Speed_2MHz
    };
    gpioInit(BUTTON_B_PORT, &buttonBGpioConfig);

    // Check status of bind plug and exit if not active
    delayMicroseconds(10);  // allow GPIO configuration to settle

    if (!isMPUSoftReset()) {
        uint8_t secondsRemaining = 5;
        bool bothButtonsHeld;
        do {
            bothButtonsHeld = !digitalIn(BUTTON_A_PORT, BUTTON_A_PIN) && !digitalIn(BUTTON_B_PORT, BUTTON_B_PIN);
            if (bothButtonsHeld) {
                if (--secondsRemaining == 0) {
                    resetEEPROM();
                    systemReset();
                }
                delay(1000);
                LED0_TOGGLE;
            }
        } while (bothButtonsHeld);
    }
#endif

#ifdef SPEKTRUM_BIND
    if (feature(FEATURE_RX_SERIAL)) {
        switch (masterConfig.rxConfig.serialrx_provider) {
            case SERIALRX_SPEKTRUM1024:
            case SERIALRX_SPEKTRUM2048:
                // Spektrum satellite binding if enabled on startup.
                // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
                // The rest of Spektrum initialization will happen later - via spektrumInit()
                spektrumBind(&masterConfig.rxConfig);
                break;
        }
    }
#endif

    delay(100);

    timerInit();  // timer must be initialized before any channel is allocated

    dmaInit();

#if defined(AVOID_UART1_FOR_PWM_PPM)
    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM)
    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
            feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE);
#else
    serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif

#ifdef USE_DPRINTF
    // Setup debugSerialPort

    debugSerialPort = openSerialPort(DPRINTF_SERIAL_PORT, FUNCTION_NONE, NULL, 115200, MODE_RXTX, 0);
    if (debugSerialPort) {
        setPrintfSerialPort(debugSerialPort);
        dprintf(("debugSerialPort: OK\r\n"));
    }
#endif

    mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
#ifdef USE_SERVOS
    servoMixerInit(masterConfig.customServoMixer);
#endif

    uint16_t idlePulse = masterConfig.motorConfig.mincommand;
    if (feature(FEATURE_3D)) {
        idlePulse = masterConfig.flight3DConfig.neutral3d;
    }

    if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) {
        featureClear(FEATURE_3D);
        idlePulse = 0; // brushed motors
    }

#ifdef USE_QUAD_MIXER_ONLY
    motorInit(&masterConfig.motorConfig, idlePulse, QUAD_MOTOR_COUNT);
#else
    motorInit(&masterConfig.motorConfig, idlePulse, mixers[masterConfig.mixerMode].motorCount);
#endif

#ifdef USE_SERVOS
    if (isMixerUsingServos()) {
        //pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
        servoInit(&masterConfig.servoConfig);
    }
#endif

#ifndef SKIP_RX_PWM_PPM
    if (feature(FEATURE_RX_PPM)) {
        ppmRxInit(&masterConfig.ppmConfig, masterConfig.motorConfig.motorPwmProtocol);
    } else if (feature(FEATURE_RX_PARALLEL_PWM)) {
        pwmRxInit(&masterConfig.pwmConfig);        
    }
    pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
#endif

    mixerConfigureOutput();
    
    systemState |= SYSTEM_STATE_MOTORS_READY;

#ifdef BEEPER
    beeperInit(&masterConfig.beeperConfig);
#endif

#ifdef INVERTER
    initInverter();
#endif

#ifdef USE_BST
    bstInit(BST_DEVICE);
#endif

#ifdef USE_SPI
#ifdef USE_SPI_DEVICE_1
    spiInit(SPIDEV_1);
#endif
#ifdef USE_SPI_DEVICE_2
    spiInit(SPIDEV_2);
#endif
#ifdef USE_SPI_DEVICE_3
#ifdef ALIENFLIGHTF3
    if (hardwareRevision == AFF3_REV_2) {
        spiInit(SPIDEV_3);
    }
#else
    spiInit(SPIDEV_3);
#endif
#endif
#endif

#ifdef VTX
    vtxInit();
#endif

#ifdef USE_HARDWARE_REVISION_DETECTION
    updateHardwareRevision();
#endif

#if defined(NAZE)
    if (hardwareRevision == NAZE32_SP) {
        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
    } else  {
        serialRemovePort(SERIAL_PORT_USART3);
    }
#endif

#if defined(SPRACINGF3) && defined(SONAR) && defined(USE_SOFTSERIAL2)
    if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
        serialRemovePort(SERIAL_PORT_SOFTSERIAL2);
    }
#endif

#if defined(SPRACINGF3MINI) || defined(OMNIBUS) || defined(X_RACERSPI)
#if defined(SONAR) && defined(USE_SOFTSERIAL1)
    if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
        serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
    }
#endif
#endif

#ifdef USE_I2C
#if defined(NAZE)
    if (hardwareRevision != NAZE32_SP) {
        i2cInit(I2C_DEVICE);
    } else {
        if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
            i2cInit(I2C_DEVICE);
        }
    }
#elif defined(CC3D)
    if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) {
        i2cInit(I2C_DEVICE);
    }
#else
    i2cInit(I2C_DEVICE);
#endif
#endif

#ifdef USE_ADC
    drv_adc_config_t adc_params;

    adc_params.enableVBat = feature(FEATURE_VBAT);
    adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
    adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
    adc_params.enableExternal1 = false;
#ifdef OLIMEXINO
    adc_params.enableExternal1 = true;
#endif
#ifdef NAZE
    // optional ADC5 input on rev.5 hardware
    adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5);
#endif

    adcInit(&adc_params);
#endif


    initBoardAlignment(&masterConfig.boardAlignment);

#ifdef DISPLAY
    if (feature(FEATURE_DISPLAY)) {
        displayInit(&masterConfig.rxConfig);
    }
#endif

#ifdef USE_RTC6705
    if (feature(FEATURE_VTX)) {
        rtc6705_soft_spi_init();
        current_vtx_channel = masterConfig.vtx_channel;
        rtc6705_soft_spi_set_channel(vtx_freq[current_vtx_channel]);
        rtc6705_soft_spi_set_rf_power(masterConfig.vtx_power);
    }
#endif

#ifdef OSD
    if (feature(FEATURE_OSD)) {
        osdInit();
    }
#endif

#ifdef CMS
    cmsInit();
#endif

    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,
            masterConfig.acc_hardware,
            masterConfig.mag_hardware,
            masterConfig.baro_hardware,
            masterConfig.mag_declination,
            masterConfig.gyro_lpf,
            masterConfig.gyro_sync_denom)) {
        // if gyro was not detected due to whatever reason, we give up now.
        failureMode(FAILURE_MISSING_ACC);
    }

    systemState |= SYSTEM_STATE_SENSORS_READY;

    LED1_ON;
    LED0_OFF;
    LED2_OFF;

    for (int i = 0; i < 10; i++) {
        LED1_TOGGLE;
        LED0_TOGGLE;
        delay(25);
        if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
        delay(25);
        BEEP_OFF;
    }
    LED0_OFF;
    LED1_OFF;

#ifdef MAG
    if (sensors(SENSOR_MAG))
        compassInit();
#endif

    imuInit();

    mspSerialInit(mspFcInit());

#ifdef USE_CLI
    cliInit(&masterConfig.serialConfig);
#endif

    failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);

    rxInit(&masterConfig.rxConfig, masterConfig.modeActivationConditions);

#ifdef GPS
    if (feature(FEATURE_GPS)) {
        gpsInit(
            &masterConfig.serialConfig,
            &masterConfig.gpsConfig
        );
        navigationInit(
            &masterConfig.gpsProfile,
            &currentProfile->pidProfile
        );
    }
#endif

#ifdef SONAR
    if (feature(FEATURE_SONAR)) {
        sonarInit(&masterConfig.sonarConfig);
    }
#endif

#ifdef LED_STRIP
    ledStripInit(masterConfig.ledConfigs, masterConfig.colors, masterConfig.modeColors, &masterConfig.specialColors);

    if (feature(FEATURE_LED_STRIP)) {
        ledStripEnable();
    }
#endif

#ifdef TELEMETRY
    if (feature(FEATURE_TELEMETRY)) {
        telemetryInit();
    }
#endif

#ifdef USB_CABLE_DETECTION
    usbCableDetectInit();
#endif

#ifdef TRANSPONDER
    if (feature(FEATURE_TRANSPONDER)) {
        transponderInit(masterConfig.transponderData);
        transponderEnable();
        transponderStartRepeating();
        systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
    }
#endif

#ifdef USE_FLASHFS
#ifdef NAZE
    if (hardwareRevision == NAZE32_REV5) {
        m25p16_init(IO_TAG_NONE);
    }
#elif defined(USE_FLASH_M25P16)
    m25p16_init(IO_TAG_NONE);
#endif

    flashfsInit();
#endif

#ifdef USE_SDCARD
    bool sdcardUseDMA = false;

    sdcardInsertionDetectInit();

#ifdef SDCARD_DMA_CHANNEL_TX

#if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL)
    // Ensure the SPI Tx DMA doesn't overlap with the led strip
#ifdef STM32F4
    sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_STREAM;
#else
    sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
#endif
#else
    sdcardUseDMA = true;
#endif

#endif

    sdcard_init(sdcardUseDMA);

    afatfs_init();
#endif

    if (masterConfig.gyro_lpf > 0 && masterConfig.gyro_lpf < 7) {
        masterConfig.pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
        masterConfig.gyro_sync_denom = 1;
    }

    setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime

#ifdef BLACKBOX
    initBlackbox();
#endif

    if (masterConfig.mixerMode == MIXER_GIMBAL) {
        accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
    }
    gyroSetCalibrationCycles();
#ifdef BARO
    baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
#endif

    // start all timers
    // TODO - not implemented yet
    timerStart();

    ENABLE_STATE(SMALL_ANGLE);
    DISABLE_ARMING_FLAG(PREVENT_ARMING);

#ifdef SOFTSERIAL_LOOPBACK
    // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly
    loopbackPort = (serialPort_t*)&(softSerialPorts[0]);
    if (!loopbackPort->vTable) {
        loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED);
    }
    serialPrint(loopbackPort, "LOOPBACK\r\n");
#endif

    // Now that everything has powered up the voltage and cell count be determined.

    if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER))
        batteryInit(&masterConfig.batteryConfig);

#ifdef DISPLAY
    if (feature(FEATURE_DISPLAY)) {
#ifdef USE_OLED_GPS_DEBUG_PAGE_ONLY
        displayShowFixedPage(PAGE_GPS);
#else
        displayResetPageCycling();
        displayEnablePageCycling();
#endif
    }
#endif

#ifdef CJMCU
    LED2_ON;
#endif

    // Latch active features AGAIN since some may be modified by init().
    latchActiveFeatures();
    motorControlEnable = true;

    fcTasksInit();
    systemState |= SYSTEM_STATE_READY;
}

#ifdef SOFTSERIAL_LOOPBACK
void processLoopback(void) {
    if (loopbackPort) {
        uint8_t bytesWaiting;
        while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
            uint8_t b = serialRead(loopbackPort);
            serialWrite(loopbackPort, b);
        };
    }
}
#else
#define processLoopback()
#endif


void main_step(void)
{
    scheduler();
    processLoopback();
}

#ifndef NOMAIN
int main(void)
{
    init();
    while (true) {
        main_step();
    }
}
#endif


#ifdef DEBUG_HARDFAULTS
//from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/
/**
 * hard_fault_handler_c:
 * This is called from the HardFault_HandlerAsm with a pointer the Fault stack
 * as the parameter. We can then read the values from the stack and place them
 * into local variables for ease of reading.
 * We then read the various Fault Status and Address Registers to help decode
 * cause of the fault.
 * The function ends with a BKPT instruction to force control back into the debugger
 */
void hard_fault_handler_c(unsigned long *hardfault_args)
{
  volatile unsigned long stacked_r0 ;
  volatile unsigned long stacked_r1 ;
  volatile unsigned long stacked_r2 ;
  volatile unsigned long stacked_r3 ;
  volatile unsigned long stacked_r12 ;
  volatile unsigned long stacked_lr ;
  volatile unsigned long stacked_pc ;
  volatile unsigned long stacked_psr ;
  volatile unsigned long _CFSR ;
  volatile unsigned long _HFSR ;
  volatile unsigned long _DFSR ;
  volatile unsigned long _AFSR ;
  volatile unsigned long _BFAR ;
  volatile unsigned long _MMAR ;

  stacked_r0 = ((unsigned long)hardfault_args[0]) ;
  stacked_r1 = ((unsigned long)hardfault_args[1]) ;
  stacked_r2 = ((unsigned long)hardfault_args[2]) ;
  stacked_r3 = ((unsigned long)hardfault_args[3]) ;
  stacked_r12 = ((unsigned long)hardfault_args[4]) ;
  stacked_lr = ((unsigned long)hardfault_args[5]) ;
  stacked_pc = ((unsigned long)hardfault_args[6]) ;
  stacked_psr = ((unsigned long)hardfault_args[7]) ;

  // Configurable Fault Status Register
  // Consists of MMSR, BFSR and UFSR
  _CFSR = (*((volatile unsigned long *)(0xE000ED28))) ;

  // Hard Fault Status Register
  _HFSR = (*((volatile unsigned long *)(0xE000ED2C))) ;

  // Debug Fault Status Register
  _DFSR = (*((volatile unsigned long *)(0xE000ED30))) ;

  // Auxiliary Fault Status Register
  _AFSR = (*((volatile unsigned long *)(0xE000ED3C))) ;

  // Read the Fault Address Registers. These may not contain valid values.
  // Check BFARVALID/MMARVALID to see if they are valid values
  // MemManage Fault Address Register
  _MMAR = (*((volatile unsigned long *)(0xE000ED34))) ;
  // Bus Fault Address Register
  _BFAR = (*((volatile unsigned long *)(0xE000ED38))) ;

  __asm("BKPT #0\n") ; // Break into the debugger
}

#else
void HardFault_Handler(void)
{
    LED2_ON;

    // fall out of the sky
    uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
    if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
        stopMotors();
    }
#ifdef TRANSPONDER
    // prevent IR LEDs from burning out.
    uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED;
    if ((systemState & requiredStateForTransponder) == requiredStateForTransponder) {
        transponderIrDisable();
    }
#endif

    LED1_OFF;
    LED0_OFF;

    while (1) {
#ifdef LED2
        delay(50);
        LED2_TOGGLE;
#endif
    }
}
#endif