#include <stddef.h>
#include <stdio.h>

#include "board.h"
#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
/*******************************************************************************
 *                               PROJECT_INCLUDE                               *
 *******************************************************************************/
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"

#define TAG "main"
using namespace iflytop;
using namespace std;

static ZCancmderSubboardIniter initer;

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }

extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
}
/*******************************************************************************
 *                                GET_DEVICE_ID                                *
 *******************************************************************************/
static int32_t getDeviceId() {
  static bool  init = false;
  static ZGPIO ID0;
  static ZGPIO ID1;
  static ZGPIO ID2;
  static ZGPIO ID3;
  static ZGPIO ID4;
  if (!init) {
    ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    init = true;
  }
  uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16;
  return id;
}
/*******************************************************************************
 *                               INIT_SUBMODULE                                *
 *******************************************************************************/
void        nvs_init_cb() {}
static void initsubmodule() { osDelay(1000); }

/*******************************************************************************
 *                                    MAIN                                     *
 *******************************************************************************/
void umain() {
  ZCancmderSubboardIniter::cfg_t cfg =  //
      {                                 //
       .deviceId = getDeviceId(),
       .input_gpio =
           {
               {.pin = SENSOR_INT0, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT1, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT2, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT3, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT4, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT5, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT6, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT7, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT8, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
               {.pin = SENSOR_INT9, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},

           },
       .output_gpio = {
           {.pin = PD7, /*SOLENOID_VALVE00*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD6, /*SOLENOID_VALVE01*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD5, /*SOLENOID_VALVE02*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD4, /*SOLENOID_VALVE03*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD3, /*SOLENOID_VALVE04*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD2, /*SOLENOID_VALVE05*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD1, /*SOLENOID_VALVE06*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD0, /*SOLENOID_VALVE07*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD11, /*SOLENOID_VALVE08*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD10, /*SOLENOID_VALVE09*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD9, /*SOLENOID_VALVE10*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
           {.pin = PD8, /*SOLENOID_VALVE11*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
       }};
  initer.init(&cfg);
  initsubmodule();
  initer.loop();
}