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

#include "can.h"
#include "heater_control.h"
#include "pump_control.h"
#include "pump_dac.h"
#include "sampling.h"
#include "lambda_conversion.h"

static const UARTConfig uartCfg =
{
    .txend1_cb = nullptr,
    .txend2_cb = nullptr,
    .rxend_cb = nullptr,
    .rxchar_cb = nullptr,
    .rxerr_cb = nullptr,
    .timeout_cb = nullptr,

    .timeout = 0,
    .speed = 500000,
    .cr1 = 0,
    .cr2 = 0,
    .cr3 = 0,
};

char strBuffer[200];

/*
 * Application entry point.
 */
int main() {
    halInit();
    chSysInit();

    // Fire up all of our threads
    StartSampling();
    InitPumpDac();
    StartHeaterControl();
    StartPumpControl();

    uartStart(&UARTD1, &uartCfg);

    InitCan();

    while(1) {
        float esr = GetSensorInternalResistance();
        float lambda = GetLambda();

        SendCanData(lambda, esr);
        SendEmulatedAemXseries(lambda, 0);

        chThdSleepMilliseconds(10);
    }
}