/*
 * main implementation: use this 'C' sample to create your own application
 *
 */

#include "derivative.h" /* include peripheral declarations */
#include "sh_mem.h" /* include peripheral declarations */
#include "peripherals\esci.h"
#include "string.h"
#include "MPC577xC.h"
#include "peripherals\pit.h"

#define ESCI_A_IRQ_SOURCE			146
#define ESCI_A_IRQ_PRIORITY			9

#define eSCI_IFSR1_RDRF_MASK        0x2000u
#define eSCI_IFSR1_TDRE_MASK        0x8000u
#define eSCI_IFSR1_TC_MASK          0x4000u

#define PIT0_IRQ_SOURCE				301
#define PIT0_IRQ_PRIORITY			10

#define BUFFER_SIZE 				(16)
#define TIME_NS						2000000000

//External
extern void xcptn_xmpl(void);
//extern void SIU_init(void);
//extern void mcu_mode_clock_init(void);

//Local functions
void eSCI_ISR (void);
void PIT0_ISR (void);

void transmitUARTbuffer();
void my_esci_init(uint8_t mode);

//Shared memory
extern DataUART __shared_struct1[];
volatile DataUART *px1 = __shared_struct1;
extern DataMotor __shared_struct2[];
volatile DataMotor *px2 = __shared_struct2;

//vars
tBool UARTbusy = TRUE;
uint16_t counter = 0;

tBool startByteSent = FALSE;
tBool stopByteSent = FALSE;

uint8_t RXindex = 0;
unsigned char bufferIn[16];

uint8_t TXindex = 0;
unsigned char bufferOut[12];

DataUART data_in;
DataMotor data_out;

int main(void)
{
	/* MCU initialization */
//	mcu_mode_clock_init();

	xcptn_xmpl();
	/* SIUL2 pin configuration */
    SIU.PCR[89].B.PA    = 1;   /* Pin assigned to ESCI A Tx */
    SIU.PCR[89].B.OBE   = 1;   /* Output buffer enable */
    SIU.PCR[90].B.PA    = 1;   /* Pin asigned to ESCI A Rx */
    SIU.PCR[90].B.IBE   = 1;   /* Input buffer enable */

	/* Initialize eSCI for UART */
	my_esci_init(0);
	my_interrupt_init(ESCI_A_IRQ_SOURCE,ESCI_A_IRQ_PRIORITY);
	INTC.PSR[ESCI_A_IRQ_SOURCE].B.PRC_SELn = 0x3;

	my_interrupt_init(PIT0_IRQ_SOURCE,PIT0_IRQ_PRIORITY);
	INTC.PSR[PIT0_IRQ_SOURCE].B.PRC_SELn = 0x3;

	PIT.TIMER[0].TCTRL.B.TEN = 0;	/* Disable PIT first */
	PIT.MCR.B.MDIS = 0;
	PIT.TIMER[0].LDVAL.R = ((100 * (TIME_NS / 1000)) - 1); /* Timer clk is 100 MHz (period 10 ns) */
	PIT.TIMER[0].TCTRL.B.TIE = 1;
	PIT.TIMER[0].TCTRL.B.TEN = 1;

	/* Loop forever */
	for(;;) {
		while (status != CORE1_LOCK)
		{
			status = Lock_Gate(GATE_0);
		}

		writeSharedMem(px1, &data_in, IN);
		data_out = *px2;

		while(status == CORE1_LOCK)
		{
			status = Unlock_Gate(GATE_0);
		}
		memcpy(bufferOut, &data_out, sizeof(DataMotor));
	}
}

void eSCI_ISR (void){
	if (eSCI_A.IFSR1.B.RDRF)
	{
		if (RXindex < sizeof(bufferIn)) {
			bufferIn[RXindex] = eSCI_A.SDR.B.RDTD;
			RXindex++;

		}
		if (RXindex >= sizeof(bufferIn)) {
			RXindex = 0;
			memcpy(&data_in, bufferIn, sizeof(DataUART));
		}

		eSCI_A.IFSR1.R = eSCI_IFSR1_RDRF_MASK;
	}

    if (eSCI_A.IFSR1.B.TDRE && (eSCI_A.IFSR1.B.TC || UARTbusy)) // Check both TDRE and TC flags
    {
    	UARTbusy = FALSE;
        if (startByteSent == FALSE){
            eSCI_A.SDR.B.RDTD = 0x02; //start byte
            startByteSent = TRUE;
        } else if (TXindex < sizeof(bufferOut))
        {
            eSCI_A.SDR.B.RDTD = bufferOut[TXindex];
            TXindex++;
        } else if(stopByteSent == FALSE) {
            eSCI_A.SDR.B.RDTD = 0x03; //stop byte
            stopByteSent = TRUE;
        }

        if(stopByteSent == TRUE && eSCI_A.IFSR1.B.TC){ // Check TC flag again before concluding transmission
            TXindex = 0;
            counter++;
            startByteSent = FALSE;
            stopByteSent = FALSE;
            eSCI_A.CR1.B.TIE = 0; // Disable transmit interrupt
        }

        eSCI_A.IFSR1.R = eSCI_IFSR1_TDRE_MASK | eSCI_IFSR1_TC_MASK;
    }
}


void PIT0_ISR (void){
	if (eSCI_A.CR1.B.TIE == 0) {
		transmitUARTbuffer();
	}
	PIT.TIMER[0].TFLG.B.TIF = 1;
}

void transmitUARTbuffer()
{
	eSCI_A.CR1.B.TIE = 1; 				// enable tx interrupt
}

void my_esci_init (uint8_t mode){
	eSCI_A.CR2.B.MDIS = 0;
	eSCI_A.LCR1.B.LIN = mode;          /* Select between LIN or SCI functionality                      */
	eSCI_A.CR1.B.TE = 1;               /* Transmitter  enable                                          */
	eSCI_A.CR1.B.RE = 1;               /* Receiver enable                                              */
	eSCI_A.CR1.B.PT = 0;               /* Parity is even                                               */
	eSCI_A.CR1.B.PE = 0;               /* Parity control disable                                       */
	eSCI_A.BRR.B.SBR = 651;            /* Baud rate = 115200: 54 9600 : 651 MCLK = (200MHz/2), Txclk = MCLK/(16*SBR) */

	//Control
	eSCI_A.CR3.B.M2 = 0;
	eSCI_A.CR1.B.M = 0;
	eSCI_A.CR1.B.PE = 0;
	eSCI_A.CR1.B.LOOPS = 0;
	eSCI_A.CR1.B.RSRC = 0;
	eSCI_A.CR1.B.SBK = 0;
	//Interrupt sources
	eSCI_A.CR1.B.TIE = 0;
	eSCI_A.CR1.B.RIE = 1;
	eSCI_A.CR1.B.ILIE = 0;
	//error
	eSCI_A.CR3.B.ERFE = 1;
	eSCI_A.CR3.B.EROE = 1;
	eSCI_A.CR3.B.ERPE = 1;
	//Clear TX Interrupt
	//	eSCI_A.IFSR1.R = eSCI_IFSR1_TDRE_MASK;
}