// Some comments about author
#include <stdint.h>
#include <stdio.h>

#include "DSP28x_Project.h"         // Device Headerfile and Examples Include File
#include "Periphery.h"
#include "System/SystemContol.h"

#include "DSP28335/SCIB.h"
#include "DSP28335/SCIBase.h"


//Functions declarations
void idle_loop(void);

interrupt void cpu_timer0_isr(void);
interrupt void cpu_timer1_isr(void);
interrupt void cana_isr(void);

Periphery periphery;

volatile uint16_t infCounter = 0;
volatile uint16_t canISRcounter = 0;
volatile uint16_t canBoxISRcounter = 0;

void main()
{
    ServiceDog();
    DisableDog();

    InitSysCtrl();

    DINT;

    InitPieCtrl();

    IER = 0x0000;
    IFR = 0x0000;

    InitPieVectTable();

    EALLOW;
    PieVectTable.TINT0 = &cpu_timer0_isr;
    PieVectTable.XINT13 = &cpu_timer1_isr;
    PieVectTable.ECAN0INTA = &cana_isr;
    EDIS;

    MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);

    InitCpuTimers();
    ConfigCpuTimer(&CpuTimer0, 150, 1000);  // 1ms
    ConfigCpuTimer(&CpuTimer1, 150, 5000);  // 5ms

    IER |= M_INT1;  // Enable CPU Interrupt 1
    IER |= M_INT9;  // Enable CPU Interrupt 9
    IER |= M_INT13; // Enable CPU Interrupt 13

    PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
    PieCtrlRegs.PIEIER9.bit.INTx5 = 1;  // CANA INT0

    periphery.config();
    periphery.updateVersionFPGA();
    periphery.getModbusConfiguration();
    SYSCTRL::initModbusTable(periphery);

    // Enable global Interrupts and higher priority real-time debug events:
    EINT;   // Enable Global interrupt INTM
    ERTM;   // Enable Global realtime interrupt DBGM


    CpuTimer0.RegsAddr->TCR.bit.TSS = 0;
    CpuTimer1.RegsAddr->TCR.bit.TSS = 0;

    idle_loop();
    //
}//end main()
//
//

void idle_loop()
{
    while (true)
    {
        infCounter++;
        periphery.receiveModbusParameters();
        
        periphery.modbusRTU.execute();
        periphery.receiveCpuModbusData();
        
    }//end while

}//end idle_loop()


interrupt void cpu_timer0_isr(void)
{
    periphery.processDigitalOutput();
    periphery.sendModbusDataToCPU();

    PieCtrlRegs.PIEACK.all |= PIEACK_GROUP1;
}


interrupt void cpu_timer1_isr(){
    CpuTimer1.InterruptCount++;

    periphery.processDigitalInput();
}


interrupt void cana_isr(void){
    canISRcounter++;

    periphery.canSystemInterruptHandle();

    PieCtrlRegs.PIEACK.all |= PIEACK_GROUP9;
}