/**
  **************************************************************************
  * @file     main.c
  * @brief    main program
  **************************************************************************
  *                       Copyright notice & Disclaimer
  *
  * The software Board Support Package (BSP) that is made available to
  * download from Artery official website is the copyrighted work of Artery.
  * Artery authorizes customers to use, copy, and distribute the BSP
  * software and its related documentation for the purpose of design and
  * development in conjunction with Artery microcontrollers. Use of the
  * software is governed by this copyright notice and the following disclaimer.
  *
  * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
  * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
  * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
  * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
  * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
  *
  **************************************************************************
  */

#include "at32f421_board.h"
#include "at32f421_clock.h"
#include "FreeRTOS.h"
#include "task.h"
#include "cmcng.h"
#include "TaskLoop.h"

/** @addtogroup UTILITIES_examples
  * @{
  */

/** @addtogroup FreeRTOS_demo
  * @{
  */

crm_clocks_freq_type g_crm_clocks_freq_struct = {0};
tmr_input_config_type  g_tmr_input_config_struct;
__IO uint32_t sys_counter = 0;
//uint8_t g_input_div = 1;


TaskHandle_t loop_task_handler;


tmr_output_config_type tmr_oc_init_structure;

/*
 pb1 output pwm waveform, use Tmr14.
  tmr3 channel1 duty cycle = (tmr3_c1dt/ tmr3_pr)* 100 = 50%
  tmr3 channel2 duty cycle = (tmr3_c2dt/ tmr3_pr)* 100 = 37.5%
  tmr3 channel3 duty cycle = (tmr3_c3dt/ tmr3_pr)* 100 = 25%
  tmr3 channel4 duty cycle = (tmr3_c4dt/ tmr3_pr)* 100 = 12.5%
*/
uint16_t c1dt_val = 333;
//uint16_t c2dt_val = 249;
//uint16_t c3dt_val = 166;
//uint16_t c4dt_val = 83;
uint16_t prescaler_value = 0;
__IO uint16_t pulse=0;//55;   //脉冲宽度
uint8_t g_pulse_counter = 0;
uint8_t g_flag_pulse = 1;

/* Basic timr6 */
void Timr6_Init(void)
{
    crm_periph_clock_enable(CRM_TMR6_PERIPH_CLOCK, TRUE);
    
    //TODO: 定时的计算方法
//    tmr_base_init(TMR6, 9999, (g_crm_clocks_freq_struct.ahb_freq / 10000) - 1); // 1s
    tmr_base_init(TMR6, 999, (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1);  // 1ms
    
    
    tmr_cnt_dir_set(TMR6, TMR_COUNT_UP);
    
    tmr_interrupt_enable(TMR6, TMR_OVF_INT, TRUE);
    
    nvic_irq_enable(TMR6_GLOBAL_IRQn, 0, 0);
    
    tmr_counter_enable(TMR6, TRUE);
    
    
    
//    crm_periph_clock_enable(CRM_TMR14_PERIPH_CLOCK, TRUE);
//    
//    //TODO: 定时的计算方法
////    tmr_base_init(TMR6, 9999, (g_crm_clocks_freq_struct.ahb_freq / 10000) - 1); // 1s
//    tmr_base_init(TMR14, (5000-1), (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1);  // 5ms
////    tmr_base_init(TMR14, 9999, (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1);  // 10ms
//    
//    
//    tmr_cnt_dir_set(TMR14, TMR_COUNT_UP);
//    
//    tmr_interrupt_enable(TMR14, TMR_OVF_INT, TRUE);
//    
//    nvic_irq_enable(TMR14_GLOBAL_IRQn, 0, 0);
//    
//    tmr_counter_enable(TMR14, TRUE);

    crm_periph_clock_enable(CRM_TMR15_PERIPH_CLOCK, TRUE);
    
    //TODO: 定时的计算方法
//    tmr_base_init(TMR6, 9999, (g_crm_clocks_freq_struct.ahb_freq / 10000) - 1); // 1s
    tmr_base_init(TMR15, (5000-1), (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1);  // 5ms
//    tmr_base_init(TMR14, 9999, (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1);  // 10ms
    
    
    tmr_cnt_dir_set(TMR15, TMR_COUNT_UP);
    
    tmr_interrupt_enable(TMR15, TMR_OVF_INT, TRUE);
    
    nvic_irq_enable(TMR15_GLOBAL_IRQn, 0, 0);
    
    tmr_counter_enable(TMR15, TRUE);
    
    
  gpio_init_type gpio_init_struct;

  gpio_default_para_init(&gpio_init_struct);

  gpio_init_struct.gpio_pins = GPIO_PINS_1;
  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
  gpio_init(GPIOB, &gpio_init_struct);
  
  gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE1, GPIO_MUX_0);
  
  crm_periph_clock_enable(CRM_TMR14_PERIPH_CLOCK, TRUE);
  
  /* compute the prescaler value */
  prescaler_value = (uint16_t)(system_core_clock / 24000000) - 1;
  
  tmr_base_init(TMR14, 665, prescaler_value);
  tmr_cnt_dir_set(TMR14, TMR_COUNT_UP);
  tmr_clock_source_div_set(TMR14, TMR_CLOCK_DIV1);
  
  tmr_output_default_para_init(&tmr_oc_init_structure);
  tmr_oc_init_structure.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
  tmr_oc_init_structure.oc_idle_state = FALSE;
  tmr_oc_init_structure.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
  tmr_oc_init_structure.oc_output_state = TRUE;
  c1dt_val = 670;
  tmr_output_channel_config(TMR14, TMR_SELECT_CHANNEL_1, &tmr_oc_init_structure);
  tmr_channel_value_set(TMR14, TMR_SELECT_CHANNEL_1, c1dt_val);
  tmr_output_channel_buffer_enable(TMR14, TMR_SELECT_CHANNEL_1, TRUE);
  
  tmr_period_buffer_enable(TMR14, TRUE);

  /* tmr enable counter */
  tmr_counter_enable(TMR14, TRUE);
}

/*===========================================================================
 * 红灯呼吸 (PB1 / TMR14 PWM) — V4.23: 呼吸节奏对齐 vd960Loop (LED_PWR)
 *
 * vd960Loop 参考 (周期≈2.6s, 60ms/步): 满量程 6800
 *   升: <6000 大步 +400(≈5.9%), ≥6000 小步 +100(≈1.5%)
 *   峰值保持 3 步后回落; 降: -400(≈5.9%)
 * V4B PWM 满量程 = TMR14 ARR 665, 参数按 665/6800 ≈ 0.0978 缩放取整:
 *   大歩 39(≈5.9%) / 小步 10(≈1.5%) / 分界 585(≈88%) / 峰值保持 660(≈99%)
 *   全周期 ≈ 2.6s, 与 vd960Loop 观感一致
 *===========================================================================*/
#define RED_BREATH_ARR         665    /* 必须与 tmr_base_init(TMR14,665,...) 一致 */
#define RED_STEP_BIG           39     /* 低段升/全程降步长 ≈ 400×665/6800 */
#define RED_STEP_SMALL         10     /* 近顶小步 ≈ 100×665/6800 */
#define RED_SPLIT              585    /* 大步/小步分界 ≈ 6000×665/6800 (88%) */
#define RED_HOLD_LEVEL         660    /* 峰值保持占空比 (≈99%) */
#define RED_HOLD_TICKS         3      /* 峰值保持 3 步 × 60ms = 180ms */

uint8_t g_cnt_pwm_red_low_timeout = 0;

void poll_red_pwm(void)
{
    g_pulse_counter++;
    if (g_pulse_counter >= 12) {            /* 12 × 5ms = 60ms/步 (同 vd960Loop) */
        g_pulse_counter = 0;
        if (g_flag_pulse) {
            /* 渐亮: 低段大步, 近顶小步 */
            if (pulse < RED_SPLIT)
                pulse += RED_STEP_BIG;
            else
                pulse += RED_STEP_SMALL;

            /* 到最亮: 保持 RED_HOLD_TICKS 步再回落 */
            if (pulse >= RED_BREATH_ARR) {
                g_cnt_pwm_red_low_timeout++;
                if (g_cnt_pwm_red_low_timeout >= RED_HOLD_TICKS) {
                    g_flag_pulse = 0;
                    g_cnt_pwm_red_low_timeout = 0;
                }
                pulse = RED_HOLD_LEVEL;
            }
        } else {
            /* 渐暗 */
            if (pulse <= RED_STEP_BIG) {
                pulse = 0;
                g_flag_pulse = 1;
            } else {
                pulse -= RED_STEP_BIG;
            }
        }
        tmr_channel_value_set(TMR14, TMR_SELECT_CHANNEL_1, pulse);
    }
}



/**
  * @brief  main function.
  * @param  none
  * @retval none
  */
int main(void)
{
  nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);

  system_clock_config();
    
    /* get system clock */
  crm_clocks_freq_get(&g_crm_clocks_freq_struct);

    at32_board_init();

  /* init usart1 */
    //2250000
    // 115200
#ifdef DEBUG
  uart_print_init(230400);  //115200
    
    PRINT("sys_clock:%d, ahb_freq:%d, sclk_freq:%d\n", system_core_clock, g_crm_clocks_freq_struct.ahb_freq, g_crm_clocks_freq_struct.sclk_freq);
#endif
    
    loop_timer_io_init();
    Timr6_Init();

    wdt_init();     // IWDT 看门狗使能 (超时约1.64s), 主循环 poll_wdg() 喂狗
    
    

  /* enter critical */
  taskENTER_CRITICAL();


  
  /* create loop task */
  if(xTaskCreate((TaskFunction_t )loop_task_function,
                 (const char*    )"Loop_task",
                 (uint16_t       )512,
                 (void*          )NULL,
                 (UBaseType_t    )2,
                 (TaskHandle_t*  )&loop_task_handler) != pdPASS)
  {
    PRINT("loop task could not be created as there was insufficient heap memory remaining.\r\n");
  }
  else
  {
    PRINT("loop task was created successfully.\r\n");
  }

  /* exit critical */
  taskEXIT_CRITICAL();

  /* start scheduler */
  vTaskStartScheduler();
}


uint8_t g_flag_output = 0;
uint8_t g_flag_output2 = 0;
// 1ms interval
void TMR6_GLOBAL_IRQHandler(void)
{
    static uint16_t _cnt_5ms = 0;
    static uint32_t _cnt = 0;
    if(tmr_interrupt_flag_get(TMR6, TMR_OVF_FLAG) != RESET)
    {
        #ifdef DEBUG
        _cnt++;
        
        if(_cnt >= 2000){
            g_flag_output = 1;
            _cnt = 0;
        }
        #endif
        
        tmr_flag_clear(TMR6, TMR_OVF_FLAG);
    }
}



/**
  * @}
  */

/**
  * @}
  */