/* 
	rts.c
	hardware initialization for Real-Time Systems lab
*/

#include	"md407.h"
/*
#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_dac.h"
#include "stm32f4xx_can.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_syscfg.h"
#include "stm32f4xx_exti.h"
*/


static void __can_init() {
	/* Connect CAN1 pins to AF */
	/* PB9 - CAN1 TX */
	/* PB8 - CAN1 RX  */
//	GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1);  
//	GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1);  
	/* Connect CAN1 pins to AF */
	GPIOB->afrh |= 0x0099;
	GPIOB->moder |= 0x000C0000;	/* Pins 8 (RX) and 9 (TX) are AF */
	
//	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
//	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
//	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
//  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//	GPIO_Init(GPIOB, &GPIO_InitStructure);	

//	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;	
//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
//	GPIO_InitStructure.GPIO_OType = GPIO_Mode_IN; // should really be GPIO_OType_PP?
//	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;	
//	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//	GPIO_Init(GPIOB, &GPIO_InitStructure);
	
	GPIOB->pupdr   |= 0x00010000;		/* Pin 8 pull up */
	/* Pin 9 push/pull default after reset */
	GPIOB->ospeedr |= 0x00080000;	/* Pins 9 (TX) 50 MHz */
	



	/* Connect CAN2 pins to AF */
	/* PB6 - CAN2 TX */
	/* PB5 - CAN2 RX  */
//	GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_CAN2);  	
//	GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_CAN2); 
	GPIOB->afrl  |= 0x09900000;
	GPIOB->moder |= 0x00002800;	/* Pins 5(RX) and 6 (TX) are AF */
 

//	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
//	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
//	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
//    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//	GPIO_Init(GPIOB, &GPIO_InitStructure);	

//	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;	
//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
//	GPIO_InitStructure.GPIO_OType = GPIO_Mode_IN; // should really be GPIO_OType_PP?
//	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;	
//	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//	GPIO_Init(GPIOB, &GPIO_InitStructure);

	GPIOB->pupdr   |= 0x0000400;		/* Pin 5 pull up */
	/* Pin 6 push/pull default after reset */
	GPIOB->ospeedr |= 0x0002000;	/* Pins 6 (TX) 50 MHz */

		
    /* CAN filter init */
//    CAN_FilterInitStructure.CAN_FilterNumber = 0;
//    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
//    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
//    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
//    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
//    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; // 0 in a position means ignore that bit
//    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
//    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
//    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
//    CAN_FilterInit(&CAN_FilterInitStructure);

#define  filter_number_bit_pos  1
#define FMR_FINIT         ((uint32_t)0x00000001) /* Filter init mode */

  	CAN1->FMR |= FMR_FINIT;			/* Initialisation mode for the filter */

	CAN1->FA1R &= ~filter_number_bit_pos; /* Filter Deactivation */
	CAN1->FS1R |= filter_number_bit_pos;		/* 32-bit scale for the filter */
	CAN1->sFilterRegister[0].FR1 = 0;			/* 32-bit identifier or First 32-bit identifier */
	CAN1->sFilterRegister[0].FR2 = 0;			/* 32-bit mask or Second 32-bit identifier */
    CAN1->FM1R &= ~(uint32_t)filter_number_bit_pos; /*Id/Mask mode for the filter*/
    CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos; /* FIFO 0 assignation for the filter */
    CAN1->FA1R |= filter_number_bit_pos;  	/* Filter activation */

	CAN1->FMR &= ~FMR_FINIT;		/* Leave the initialisation mode for the filter */
}

static void __dac_init() {
	/* DAC channel 2 (DAC_OUT2 = PA.5) configuration */
//	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
//	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
//	GPIO_Init(GPIOA, &GPIO_InitStructure);
	/* GPIO A, DAC */
	if( (RCC->ahb1enr &  (1<<0)) == 0 )
	{	/* if no previous init, start clocks and reset */ 
		RCC->ahb1enr |=  (1<<0);	
		RCC->ahb1rstr |=  (1<<0);	
		RCC->ahb1rstr &= ~(1<<0);
	}
	GPIOA->moder |= 0x00000C000;	/* Pin 5 is analog */

//	DAC_StructInit( &DAC_InitStructure );

//	DAC_InitStructure.DAC_Trigger = DAC_Trigger_None;
//	DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
//	DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
//	DAC_Init(DAC_Channel_2, &DAC_InitStructure);
#define DAC_Channel_1                      ((uint32_t)0x00000000)
#define DAC_Channel_2                      ((uint32_t)0x00000010)
#define CR_CLEAR_MASK              ((uint32_t)0x00000FFE)

#define DAC_Trigger_None                   ((uint32_t)0x00000000) /*!< Conversion is automatic once the DAC1_DHRxxxx register 
#define DAC_WaveGeneration_None            ((uint32_t)0x00000000)
#define DAC_LFSRUnmask_Bit0                ((uint32_t)0x00000000) /*!< Unmask DAC channel LFSR bit0 for noise wave generation */
#define DAC_OutputBuffer_Enable            ((uint32_t)0x00000000)

/*
	uint32_t tmpreg;
	tmpreg = DAC->cr;
	tmpreg &= ~(CR_CLEAR_MASK << DAC_Channel_2);
	DAC->CR = tmpreg;
	 * */
	 DAC->cr &= ~(CR_CLEAR_MASK<<16);
	 

/*---------------------------- DAC CR Configuration --------------------------
  // Get the DAC CR value 
  tmpreg1 = DAC->CR;
  // Clear BOFFx, TENx, TSELx, WAVEx and MAMPx bits 
  tmpreg1 &= ~(CR_CLEAR_MASK << DAC_Channel);
  // Configure for the selected DAC channel: buffer output, trigger, 
  //   wave generation, mask/amplitude for wave generation 
  // Set TSELx and TENx bits according to DAC_Trigger value 
  // Set WAVEx bits according to DAC_WaveGeneration value 
  // Set MAMPx bits according to DAC_LFSRUnmask_TriangleAmplitude value 
  // Set BOFFx bit according to DAC_OutputBuffer value    
  tmpreg2 = (DAC_InitStruct->DAC_Trigger | DAC_InitStruct->DAC_WaveGeneration |
             DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude | \
             DAC_InitStruct->DAC_OutputBuffer);
  // Calculate CR register value depending on DAC_Channel 
  tmpreg1 |= tmpreg2 << DAC_Channel;
  // Write to DAC CR 
  DAC->CR = tmpreg1;
*/


#define  DAC_CR_EN1                          ((uint32_t)0x00000001)        /*!<DAC channel1 enable */
	
//	DAC_Cmd(DAC_Channel_2, ENABLE);
   DAC->cr |= (DAC_CR_EN1 << DAC_Channel_2);
 	
//	DAC_SetChannel2Data(DAC_Align_8b_R, 0);
	DAC->dhr8r2 = 0;


}

void rtsInit( void )
{
	/* Todo, sense, is this session through GDB or debugger ? */
	
	/* GPIO B, pushbutton and LEDS */
	RCC->ahb1enr |=  (1<<1);	
	RCC->ahb1rstr |=  (1<<1);	
	RCC->ahb1rstr &= ~(1<<1);

	RCC->apb2enr |=  (1<<14);	/* SYSCONFIG, Already in main do it again if we are debugging through USBDM */
	SYSCFG->exticr2 &= 0x0FFF;
	SYSCFG->exticr2 |= 0x1000;
	EXTI->imr  |=  (1<<7);
	EXTI->emr  &= ~(1<<7);
	EXTI->ftsr &= ~(1<<7);
	EXTI->rtsr |=  (1<<7);
	GPIOB->moder   |= 0x00000005;	/* Pins 0 and 1 are outputs */
	GPIOB->ospeedr |= 0x00000005;	/* Pins 0 and 1, 25 MHz */
	GPIOB->bsrl |= 0x0003;	/* Pins 0 and 1, set bit to turn LED off */
	GPIOB->moder   &= 0xFFFF3FFF;	/* Pin 7 is input */
	
	/* Enable clocks DAC, CAN1, CAN2, TIM5 */
//	RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
//	RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN1, ENABLE );
//	RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN2, ENABLE );
//	RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM5, ENABLE);
	RCC->apb1enr |=  ( (1<<29) | (1<<26) | (1<<25) | (1<<3));	

//	DAC_DeInit();
//	CAN_DeInit( CAN1 );
//	CAN_DeInit( CAN2 );
	RCC->apb1rstr |=  ( (1<<29) | (1<<26) | (1<<25) | (1<<3) );	/* Reset DAC, CAN1,CAN2 and TIM5 */
	RCC->apb1rstr &= ~( (1<<29) | (1<<26) | (1<<25) | (1<<3) );	/* Take DAC, CAN1,CAN2 and TIM5 out of Reset */

	__can_init();
	__dac_init();
}