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

#include "can.h"
#include "fault.h"
#include "heater_control.h"
#include "pump_control.h"
#include "pump_dac.h"
#include "sampling.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,
};

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

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

    uartStart(&UARTD1, &uartCfg);

    InitCan();

    while(true)
    {
        auto fault = getCurrentFault();

        if (fault == Fault::None)
        {
            // blue is off
            palClearPad(GPIOB, 5);

            // Green is blinking
            palTogglePad(GPIOB, 6);

            // Fast blink if closed loop, slow if not
            chThdSleepMilliseconds(IsRunningClosedLoop() ? 50 : 400);
        }
        else
        {
            // green is off
            palClearPad(GPIOB, 6);

            // Blink out the error code
            for (int i = 0; i < 2 * static_cast<int>(fault); i++)
            {
                // Blue is blinking
                palTogglePad(GPIOB, 5);

                // fast blink
                chThdSleepMilliseconds(300);
            }

            chThdSleepMilliseconds(2000);
        }
    }
}