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

#include "interface_config.h"
//app包含
#include "app/app_config.h"




#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);

static bool g_eth1_rx_pkt;



static void eth_dma_rx_int_cb(struct net_driver_s *dev)
{
    if (dev == &g_eth1_dev)
        g_eth1_rx_pkt = true;
}




uint8_t mainCnt = 0;
uint8_t mainCntarr[8] = {0x56,0x88,0x98,0x79,0x23};
uint8_t desIp[4] = {192,168,17,3};

uint8_t test_app[26] = {0};
//uint8_t key_state = 0;

int main(void)
{
    bool eth_pool_rx = false;
//    ip4_addr_t Desaddr;
//    struct pbuf *DesPuff = NULL;
//    char *g_lwip_demo_sendbuf = "ALIENTEK DATA\r\n";
    uint8_t BOOT_Arr[2] = {0x01,0x02};
    
//    struct udp_pcb *udpcb_2;
//------------------------------------------------------------------------------
    
    // 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);
    
    feedWatchdog();//喂狗
    
    // 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();
    //遥控串口初始化
//    uart_Initialize();

     //初始化所有can
    initialization_All_Flexcan();
    
    // ETH初始化
    board_eth_init();
    
    feedWatchdog();//喂狗

    if (!eth_pool_rx) {
        // 使能DMA Rx中断。Tx未使用中断，因为ETH速率很高，
        // Tx中断处理耗时反而可能拖慢发送速度。
        dwc_eth_enable_dma_rx_int(&g_eth1_dev, eth_dma_rx_int_cb);
    }

//    UDP_Echo_Init();//读取
    //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);     
    
//    IP4_ADDR(&Desaddr,IP_ADDR0,IP_ADDR1,IP_ADDR2,IP_ADDR3);
    
//    wdt_init(WDT_OUTms);   
    //读取标志
    g_systemDataRecord.canBootloaderUpgrade = rdbyte_24c02(0x00);      
    
    CAN_Send_Msg(&can_handle_6,OTA_CANTxID, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, BOOT_Arr,2, TX_MB_INDEX);//app 帧 
    
    ssdk_printf(SSDK_NOTICE, "SSDK E3 V1.68\r\n");
//    brakeAppInit();
    
    // 初始化框架
    initFramework();
    testAppInit();
    paramAppInit();
    ethernetAppInit();
    
    for (;;) 
    {
      // 处理信号
        processMessages();
      
      
        // 接收ETH帧，并传递给LWIP协议栈
        // 如果使能接收中断，因为ISR里会disable接收中断，因此，这里对于
        // 中断接收标志(g_eth1_rx_pkt)的处理过程中不会有
        // 新的接收中断被响应，所以，这里不存在原子性问题。
        if ((!eth_pool_rx && g_eth1_rx_pkt) || eth_pool_rx) 
        {
            g_eth1_rx_pkt = false;
            dwc_eth_rx(&g_eth1_dev, eth_pool_rx);
        }

        // LWIP协议栈接口，用于做LWIP超时检测
        sys_check_timeouts();
        
        if(1 == Btm10ms)//10ms到
        {
            Btm10ms = 0;
            
            
            bootmian();//boot和喂狗处理
            
            mainCnt ++;
            if(mainCnt>=10)
            {
                mainCnt = 0;

//                CAN_Send_Msg(&can_handle_0, 0x400, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
//                CAN_Send_Msg(&can_handle_1, 0x401, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);                
//                CAN_Send_Msg(&can_handle_2, 0x402, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);                
//                CAN_Send_Msg(&can_handle_3, 0x403, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
//                CAN_Send_Msg(&can_handle_4, 0x404, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
//                CAN_Send_Msg(&can_handle_5, 0x405, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);                
                CAN_Send_Msg(&can_handle_6, 0x453, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_temp_module_input.ArrData.arr[0][0], 8, 15); 
//                CAN_Send_Msg(&can_handle_6, 0x454, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_temp_module_input.ArrData.arr[1][0], 8, 16);  
                CAN_Send_Msg(&can_handle_6, 0x455, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_temp_module_input.ArrData.arr[1][0], 8, 17);
                
                CAN_Send_Msg(&can_handle_6, 0x456, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_bms_input.ArrData.arr[0][0] , 8, 18); 
                CAN_Send_Msg(&can_handle_6, 0x457, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_bms_input.ArrData.arr[1][0] , 8, 19);  
                CAN_Send_Msg(&can_handle_6, 0x458, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_motor_input2.ArrData.arr[0][0], 8, 20);  
                CAN_Send_Msg(&can_handle_6, 0x459, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_motor_input1.ArrData.arr[0][0], 8, 14); 
                
                
                
                mainCntarr[0] = can_fault_info.navigator_state;//状态发送出去
                mainCntarr[1] = can_fault_info.motor1_state;                
                mainCntarr[2] = can_fault_info.motor2_state; 
                mainCntarr[3] = can_fault_info.bms_state;                
                mainCntarr[4] = can_fault_info.temperature_state;  
                mainCntarr[5] = can_fault_info.remote_state;                
                CAN_Send_Msg(&can_handle_6, 0x461, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
                                                                            
                gpioTimerProcess(mainCntarr);
                
                CAN_Send_Msg(&can_handle_6, 0x12000023, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, &un_remote_control_input.ArrData.arr[0][0], 8, 16);   
                
                CAN_Send_Msg(&can_handle_6, 0x462, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_sw_sample.ArrData.arr[0][0], 6, 15);                 
                
                powerOn();                
                ethernetTimerProcess();
                canTimerProcess();                
                flexcan_Busoff_Recovery();
//                ssdk_printf(SSDK_NOTICE, "SSDK E3 run!\r\n");    
                
//                UdpSendToData(UDPCB_1,test_app, 25, desIp, 8011);
                          
//                UdpSendToData(UDPCB_2,(uint8_t *)g_lwip_demo_sendbuf, 12, desIp, 8011);
            }          

        }              
    }
}