#include <types.h>
#include "board.h"
#include "debug.h"
#include "regs_base.h"
#include "irq_num.h"

#include "clock_cfg.h"
#include "reset_cfg.h"
#include "pinmux_cfg.h"
#include "eth_cfg.h"
#include "lwip/err.h"
#include "lwip/inet.h"
#include "lwip/tcp.h"
#include "lwip/timeouts.h"
#include <string.h>

#include "lwip/udp.h"
#include "flexcan_cfg.h"

#include "interface_config.h"
#include "irq.h"

//app包含
#include "app/app_config.h"
#include "app/app_param_manage.h"
#include "app/app_power.h"
#include "app/app_brake.h"
#include "app/app_differential_drive.h"
#include <app/app_test.h>
#include <app/app_temp.h>
#include <app/app_light.h>
#include "app/app_request.h"
#include "app/app_ultrasonic.h"
#include "app/app_turntable.h"


void testAppInit(void);

#define IP_ADDR0                    10
#define IP_ADDR1                    18
#define IP_ADDR2                   252
#define IP_ADDR3                    34


extern int btm_init(void);
extern struct tcp_pcb *netdemo_connect_server(char *ip, int port);
extern bool netdemo_tcp_connected(void);
extern bool netdemo_tcp_send_done(void);
extern void netdemo_clear_tcp_send_done(void);





uint8_t mainCnt = 0;
uint8_t mainCntarr[8] = {0x56,0x88,0x98,0x79,0x23};


uint8_t test_app[26] = {0};

int main(void)
{
    initFramework();
      
    uint8_t BOOT_Arr[2] = {0x01,0x02};//上电发送app帧给上位机用
    
    // 释放MCU各模块reset信号
    board_reset_init();

    // 配置时钟
    int ret = sdrv_ckgen_init(&g_clock_config);
    ASSERT(ret == 0);

    // VIC初始化
    irq_initialize(VIC1_BASE, IRQ_MAX_INTR_NUM);

    // 配置pinmux
    sdrv_pinctrl_init(NUM_OF_CONFIGURED_PINS, g_pin_init_config);
        
    // Timer初始化，用于提供LWIP sys_now接口获取当前时间
    btm_init();
    
    // 使能打印
    board_debug_console_init();
    
    printf("debug_console_init initial OK %d\n",getCurrentTime());
     //初始化所有can
    initialization_All_Flexcan();
    
    printf("initialization_All_Flexcan initial OK %d\n",getCurrentTime());
    // ETH初始化
    board_eth_init();
    
    initSpi();//初始化SPI
    
    //以太网端口初始化
    UDP_Echo_Init(UDPCB_1, udp_Callback_1, COMMUNICATION_PORT);
    UDP_Echo_Init(UDPCB_2, udp_Callback_2, UPPER_PORT); 
    UDP_Echo_Init(UDPCB_3, udp_Callback_3, PARAM_PORT);
    UDP_Echo_Init(UDPCB_4, udp_Callback_4, DOWNLOAR_PORT);
    UDP_Echo_Init(UDPCB_5, udp_Callback_5, WDT_PORT);     
    
    printf("board_eth_init initial OK %d\n",getCurrentTime());
    //读取重启标志
    g_systemDataRecord.canBootloaderUpgrade = rdbyte_24c02(0x00);      
    printf("rdbyte_24c02 OK %d\n",getCurrentTime());
    
    ethernet_parameter.download_ip[0] = rdbyte_24c02(BOOT_DES_IP);//读取下载的IP    
    ethernet_parameter.download_ip[1] = rdbyte_24c02(BOOT_DES_IP+1);//读取下载的IP       
    ethernet_parameter.download_ip[2] = rdbyte_24c02(BOOT_DES_IP+2);//读取下载的IP     
    ethernet_parameter.download_ip[3] = rdbyte_24c02(BOOT_DES_IP+3);//读取下载的IP 
    
    //发送重启后的第一帧给上位机
    CAN_Send_Msg(&can_handle_6,OTA_CANTxID, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, BOOT_Arr,2, TX_MB_INDEX);//app 帧  
    
    printf("CAN_Send_Msg can_handle_6 OK %d\n",getCurrentTime());
        
    //打印版本号
    printf("version: V1.75 \n");
    // 初始化框架 放在最前面，解决电机can发送信号累积不处理的问题。   

    testAppInit();
    paramAppInit();
    diffAppInit();
//    brakeAppInit();
    powerAppInit(); //电源管理
//    tempAppInit();  //温度
    lightAppInit(); //灯光
    ethernetInterfaceInit(); //以太网先初始化
    requestAppInit();
    canInterfaceInit();
    bootInterfaceInit();
//    ultrasonicAppInit();
     turnableInit();
    printf("All init OK ------ %d\n",getCurrentTime());
    
    for (;;) 
    {
      // 处理信号
        processMessages();        
    }
}