/*
 *
 *  mur.sat
 *
 *  Somewhen in the year 20xx, mur.at will have a nano satellite launched
 *  into a low earth orbit (310 km above the surface of our planet). The
 *  satellite itself is a TubeSat personal satellite kit, developed and
 *  launched by interorbital systems. mur.sat is a joint venture of mur.at,
 *  ESC im Labor and realraum.
 *
 *  Please visit the project hompage at sat.mur.at for further information.
 *
 *
 *  Copyright (C) 2013-2015 Christian Pointner <equinox@mur.at>
 *
 *  This file is part of mur.sat.
 *
 *  mur.sat 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 3 of the License, or
 *  any later version.
 *
 *  mur.sat 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 mur.sat. If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "ch.h"
#include "hal.h"

#include "heartbeat.h"
#include "usb-cdc-shell.h"

#include "ihu.h"
#include "blockstore.h"

static void sysInit(void)
{
  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();
}

static void subsystemsInit(void)
{
  /* call init functions of all subsystems which should spawn threads for their task */
//  blockstoreInit();
  ihuInit();

  heartbeatInit();
}

static void subsystemsStop(void)
{
  /*  Safely stop critical threads, aka call shutdown functions of all subsystems */
  /*   -> invoke the xxxStop() method on all the active device drivers */
  ihuStop();
  blockstoreStop();
}

static void sysShutdown(void)
{
  chSysDisable();

  /* Stop the system timer whose service routine invokes chSysTimerHandlerI(). */
  SysTick->CTRL &= ~(SysTick_CTRL_ENABLE_Msk);

  /* Disable any other interrupt source that may invoke OS APIs */
     /* nothing here. */

  /* Perform any application related de-initialization. */
     /* nothing here. */

  chSysEnable();
}


static void reboot(void)
{
  NVIC_SystemReset();
}

static void reset2bootloader(void)
{
  NVIC_SystemReset();
      /* TODO: not just reset but go to bootloader */
}

/*
 * Application entry point.
 */
int main(void)
{
  sysInit();  /* the base os is ready now */
  subsystemsInit();

  int8_t ret = usbCDCShellRun();
  /* the debug shell returned - we have to halt, reboot or goto bootloader */

  subsystemsStop();
  sysShutdown();
  /* the OS is stopped now */

  switch(ret) {
    case MPU_BOOTLOADER: reset2bootloader(); break;
    case MPU_REBOOT: reboot(); break;
  }

  for(;;) { /* halting system, aka loop endlessly */
    port_wait_for_interrupt(); /* power down, well not really - just the CPU is
                                  stopped - all the peripherials and the main PLL
                                  are still running */
  }
}