/* Standard Include Files. */
#include <stdint.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <math.h>

/* BIOS/XDC Include Files. */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/IHeap.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/Memory.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Event.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/sysbios/heaps/HeapBuf.h>
#include <ti/sysbios/heaps/HeapMem.h>
#include <ti/sysbios/knl/Event.h>
#include <ti/sysbios/family/arm/v7a/Pmu.h>

/* mmWave SDK Include Files: */
#include <ti/common/sys_common.h>
#include <ti/drivers/soc/soc.h>
#include <ti/drivers/esm/esm.h>
#include <ti/drivers/crc/crc.h>
#include <ti/drivers/uart/UART.h>
#include <ti/drivers/gpio/gpio.h>
#include <ti/drivers/mailbox/mailbox.h>
#include <ti/control/mmwave/mmwave.h>
#include <ti/control/mmwavelink/mmwavelink.h>
#include <ti/utils/cli/cli.h>
#include <ti/drivers/osal/DebugP.h>
#include <ti/drivers/osal/HwiP.h>
#include <ti/utils/cycleprofiler/cycle_profiler.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/osal/MemoryP.h>
#include <ti/utils/testlogger/logger.h>

SOC_Handle          socHandle;
Event_Handle        event;
uint8_t period = 0;
uint8_t buffer = 0;
uint8_t metka = 0;

UInt eventMask1 = Event_Id_00;
UInt eventMask2 = Event_Id_01;
UInt eventMask3 = Event_Id_02;

uint32_t BAUDRATE = 115200;
uint8_t STOPBITS = 1;
uint8_t DATALEN = 8;
uint8_t PARITY_VALUE = 4;
uint8_t gMCPIUARTPollingModeEnable = 0;

Event_Handle event1;

uint32_t gCPUClockFrequency = (200 * 1000000);

uint8_t uartDataLenths [] = {
                             0, // Padding
                             0,
                             0,
                             0,
                             0,
                             (uint8_t) UART_LEN_5,
                             (uint8_t) UART_LEN_6,
                             (uint8_t) UART_LEN_7,
                             (uint8_t) UART_LEN_8
};

uint8_t uartParityTypes [] = {
                              (uint8_t) UART_PAR_ZERO,
                              (uint8_t) UART_PAR_ONE,
                              (uint8_t) UART_PAR_EVEN,
                              (uint8_t) UART_PAR_ODD,
                              (uint8_t) UART_PAR_NONE
};

uint8_t uartStopBits [] = {
                           0,  // Padding
                           (uint8_t) UART_STOP_ONE,
                           (uint8_t) UART_STOP_TWO
};

void Flashing_LED(UArg arg0, UArg arg1)
{
    UInt flag;
    while (TRUE)
    {
        flag = Event_pend(event1, Event_Id_NONE, eventMask1 + eventMask2 + eventMask3, BIOS_WAIT_FOREVER);
        if(flag & eventMask1) {
            GPIO_write(arg0, 1U);
            continue;
        }
        else if(flag & eventMask3) {
            GPIO_write(arg0, 0U);
            continue;
        }
        while(TRUE){
            GPIO_toggle(arg0);
            if(Event_pend(event1, Event_Id_NONE, eventMask1 + eventMask3, period)) {
                break;
            }
        }
    }
}

void Work_UART(UArg arg0, UArg arg1)
{
    uint8_t index[128];
    UART_Params     params;
    UART_Handle     handle;
    uint8_t len;

    /* Setup the default UART Parameters */
    UART_Params_init(&params);
    params.writeDataMode = UART_DATA_TEXT;
    params.readDataMode = UART_DATA_TEXT;
    params.readReturnMode = UART_RETURN_NEWLINE;
    params.isPinMuxDone   = 1;
    params.baudRate = BAUDRATE;
    params.dataLength = (UART_LEN) uartDataLenths[DATALEN];
    handle = UART_open(0, &params);

    if (handle == NULL)
    {
        printf("Error: Unable to open the UART Instance\n");
        return;
    }

    while(TRUE)
    {
        len = UART_read(handle, index, sizeof(index)/sizeof(uint8_t)) - 1;
        if(len <= 13)
        {
            if(memcmp(index, "On", 2) == 0)
            {
                Event_post(event1, eventMask1);
                UART_write(handle, "\nOk\n", 4);
            }
            else if(memcmp(index, "Off", 3) == 0)
            {
                Event_post(event1, eventMask3);
                UART_write(handle, "\nOk\n", 4);
            }
            else if(memcmp(index, "Period ", 7) == 0) {
                int i;
                for(i = 7; i < len; i++)
                {
                    if(index[i] >= '0' && index[i] <= '9')
                    {
                        buffer = buffer * 10 + (index[i] - '0');
                    }
                    else {
                        metka = 1;
                        break;
                    }
                }
                if(metka == 1 || buffer == 0) {
                    UART_write(handle, "\nError\n", 7);
                    metka = 0;
                    continue;
                }
                UART_write(handle, "\nOk\n", 4);
                period = buffer;
                buffer = 0;
                Event_post(event1, eventMask2);
            }
            else {
                UART_write(handle, "\nError\n", 7);
            }
        }
        else {
            UART_write(handle, "\nError\n", 7);
        }
    }
}

static void InitTask(UArg arg0, UArg arg1)
{
    Task_Params taskParamsUART;

    Task_Params taskParamsLED;
    Task_Params_init(&taskParamsLED);
    taskParamsLED.stackSize = 4*1024;
    taskParamsLED.priority = 1;
    taskParamsLED.arg0 = (UArg)SOC_XWR16XX_GPIO_2;

    Task_create(Flashing_LED, &taskParamsLED, NULL);
    Event_Params eventParams;
    Event_Params_init(&eventParams);
    event1 = Event_create(&eventParams, NULL);
    /* Initialize the GPIO */
    GPIO_init ();

    /* Initialize the UART */
    UART_init();

    /* Test the GPIO Output: Configure pin K13 as GPIO_2 output */
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINK13_PADAZ, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINK13_PADAZ, SOC_XWR16XX_PINK13_PADAZ_GPIO_2);
    GPIO_setConfig (SOC_XWR16XX_GPIO_2, GPIO_CFG_OUTPUT);

    /* Setup the PINMUX to bring out the MSS UART-1 */
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINN5_PADBE, SOC_XWR16XX_PINN5_PADBE_MSS_UARTA_TX);
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN5_PADBE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINN4_PADBD, SOC_XWR16XX_PINN4_PADBD_MSS_UARTA_RX);
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN4_PADBD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);

    /* Initialize the Task Parameters. */
    Task_Params_init(&taskParamsUART);
    taskParamsUART.stackSize = 4*1024;
    taskParamsUART.priority = 2;
    Task_create(Work_UART, &taskParamsUART, NULL);
    return;
}


int main (void)
{
    int32_t     errCode;
    Task_Params   taskParams;
    SOC_Cfg     socCfg;
    Error_Block eb;

    /* Initialize the ESM: Dont clear errors as TI RTOS does it */
    ESM_init(0U);

    /* Initialize the SOC confiugration: */
    memset ((void *)&socCfg, 0, sizeof(SOC_Cfg));

    /* Populate the SOC configuration: */
    socCfg.clockCfg = SOC_SysClock_INIT;
    /* Initialize the SOC Module: This is done as soon as the application is started
     * to ensure that the MPU is correctly configured. */
    socHandle = SOC_init (&socCfg, &errCode);
    if (socHandle == NULL)
    {
        System_printf ("Error: SOC Module Initialization failed [Error code %d]\n", errCode);
        return -1;
    }

    event = Event_create(NULL, &eb);
    if (event == NULL) {
        System_printf ("Error: Event not create\n");
        return -1;
    }

    /* Initialize the Task Parameters. */
    Task_Params_init(&taskParams);
    taskParams.stackSize = 2*1024;
    Task_create(InitTask, &taskParams, NULL);


    /* Start BIOS */
    BIOS_start();
    return 0;
}