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// io-hub - Modular Input/Output. {{{
//
// Copyright (C) 2013 Nicolas Schodet
//
// APBTeam:
//        Web: http://apbteam.org/
//      Email: team AT apbteam DOT org
//
// This program 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 2 of the License, or
// (at your option) any later version.
//
// This program 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 this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}
#include "hardware.hh"

#include <libopencm3/stm32/f4/rcc.h>
#include <libopencm3/stm32/f4/timer.h>
#include "ucoolib/hal/gpio/gpio.hh"

Hardware::Hardware ()
    : dev_uart (4), zb_uart (2),
      usb_control ("APBTeam", "APBirthday"), usb (usb_control, 0),
      raw_jack (GPIOD, 12),
      ihm_color (GPIOD, 14),
      ihm_strat (GPIOD, 13),
      ihm_robot_nb (GPIOD, 15),
      ihm_lol (GPIOD, 11),
      ihm_emerg_stop (GPIOC, 6),
      glass_contact (GPIOC, 13),
      cherry_bad_out (GPIOE, 0), cherry_bad_in (GPIOE, 1),
      cherry_plate_up (GPIOE, 2), cherry_plate_down (GPIOE, 3),
      cherry_plate_clamp (GPIOE, 4),
      cake_arm_out (GPIOB, 3), cake_arm_in (GPIOB, 4),
      cake_push_far_out (GPIOD, 7), cake_push_far_in (GPIOB, 5),
      cake_push_near_out (GPIOD, 6), cake_push_near_in (GPIOB, 6),
      glass_lower_clamp_close (GPIOA, 15), glass_lower_clamp_open (GPIOA, 10),
      glass_upper_clamp_close (GPIOD, 0), glass_upper_clamp_open (GPIOD, 1),
      glass_upper_clamp_up (GPIOD, 3), glass_upper_clamp_down (GPIOC, 10),
      gift_out (GPIOD, 4), gift_in (GPIOC, 11),
      ballon_funny_action (GPIOB, 7),
      pneum_open (GPIOD, 5)
{
    rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
    rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
    rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
    rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN);
    rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPEEN);
    // dev_uart
    gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO12);
    gpio_mode_setup (GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2);
    gpio_set_af (GPIOC, GPIO_AF8, GPIO12);
    gpio_set_af (GPIOD, GPIO_AF8, GPIO2);
    dev_uart.enable (38400, ucoo::Uart::EVEN, 1);
    dev_uart.block (false);
    // zb_uart
    gpio_mode_setup (GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8 | GPIO9);
    gpio_set_af (GPIOD, GPIO_AF7, GPIO8 | GPIO9);
    zb_uart.enable (38400, ucoo::Uart::EVEN, 1);
    zb_uart.block (false);
    // usb
    usb.block (false);
    // Cycle timer, 4 ms period.
    rcc_peripheral_enable_clock (&RCC_APB1ENR, RCC_APB1ENR_TIM3EN);
    TIM3_CR1 = TIM_CR1_CEN;
    TIM3_PSC = 2 * rcc_ppre1_frequency / 1000000 - 1; // 1 ┬Ás prescaler
    TIM3_ARR = 4000 - 1;
    TIM3_EGR = TIM_EGR_UG;
}

void
Hardware::wait ()
{
    while (!(TIM3_SR & TIM_SR_UIF))
        ;
    TIM3_SR = ~TIM_SR_UIF;
}