/*
 * Copyright (c) 2013 - 2016, Freescale Semiconductor, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * o Redistributions of source code must retain the above copyright notice, this list
 *   of conditions and the following disclaimer.
 *
 * o Redistributions in binary form must reproduce the above copyright notice, this
 *   list of conditions and the following disclaimer in the documentation and/or
 *   other materials provided with the distribution.
 *
 * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
 *   contributors may be used to endorse or promote products derived from this
 *   software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

/**
 * This is template for main module created by New Kinetis SDK 2.x Project Wizard. Enjoy!
 **/

#include <string.h>

#include "board.h"
#include "pin_mux.h"
#include "clock_config.h"
#include "fsl_debug_console.h"
#include "fsl_mpu.h"
#include "fsl_flexcan.h"
#include "usb_host_config.h"
#include "usb.h"
#include "usb_host.h"
#include "usb_host_hci.h"
#include "usb_host_devices.h"

/* FreeRTOS kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"


#if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI))
#define CONTROLLER_ID kUSB_ControllerKhci0
#endif
#if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI))
#define CONTROLLER_ID kUSB_ControllerEhci0
#endif

/* Task priorities. */
#define hello_task_PRIORITY (configMAX_PRIORITIES - 1)
#define USB_HOST_INTERRUPT_PRIORITY (5U)

/*!
 * @brief Task responsible for printing of "Hello world." message.
 */
static void hello_task(void *pvParameters) {
  for (;;) {
	PRINTF("Hello world.\r\n");
	/* Add your code here */
    vTaskDelay(5000);
  }
}

usb_host_handle g_HostHandle;

static usb_status_t USB_HostEvent(usb_device_handle deviceHandle,
                                  usb_host_configuration_handle configurationHandle,
                                  uint32_t eventCode)
{
    usb_status_t status = kStatus_USB_Success;
    uint32_t infoValue;

    switch (eventCode)
    {
        case kUSB_HostEventAttach:
        	usb_echo("device attached.\r\n");
           // status = USB_HostMsdEvent(deviceHandle, configurationHandle, eventCode);
            break;

        case kUSB_HostEventNotSupported:
            usb_echo("device not supported.\r\n");
            break;

        case kUSB_HostEventEnumerationDone:
        	usb_echo("device enumerated.\r\n");
            USB_HostHelperGetPeripheralInformation(deviceHandle, kUSB_HostGetDevicePID, &infoValue);
            usb_echo("PID = 0x%x ", infoValue);
            USB_HostHelperGetPeripheralInformation(deviceHandle, kUSB_HostGetDeviceVID, &infoValue);
            usb_echo("VID = 0x%x \r\n", infoValue);
           // status = USB_HostMsdEvent(deviceHandle, configurationHandle, eventCode);
            break;

        case kUSB_HostEventDetach:
        	usb_echo("device removed.\r\n");
        	USB_HostCloseDeviceInterface(deviceHandle, NULL);
           // status = USB_HostMsdEvent(deviceHandle, configurationHandle, eventCode);
            break;

        default:
            break;
    }
    return status;
}

/*!
 * @brief USB isr function.
 */
#if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI))
void USB0_IRQHandler(void)
{
    USB_HostKhciIsrFunction(g_HostHandle);
}
#endif /* USB_HOST_CONFIG_KHCI */
#if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI))
void USBHS_IRQHandler(void)
{
    USB_HostEhciIsrFunction(g_HostHandle);
}
#endif /* USB_HOST_CONFIG_EHCI */

static void USB_HostApplicationInit(void)
{
    usb_status_t status = kStatus_USB_Success;

#if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI))
    #if (defined(FSL_FEATURE_SOC_SCG_COUNT) && (FSL_FEATURE_SOC_SCG_COUNT > 0U))
        CLOCK_EnableUsbfs0Clock(kCLOCK_IpSrcFircAsync, CLOCK_GetFreq(kCLOCK_ScgFircAsyncDiv1Clk));
    #else
        CLOCK_EnableUsbfs0Clock(kCLOCK_UsbSrcPll0, CLOCK_GetFreq(kCLOCK_PllFllSelClk));
    #endif
#endif /* USB_HOST_CONFIG_KHCI */
#if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI))
    IRQn_Type usbHsIrqs[] = USBHS_IRQS;
    usbIrq = usbHsIrqs[CONTROLLER_ID - kUSB_ControllerEhci0];
    CLOCK_EnableUsbhs0Clock(kCLOCK_UsbSrcPll0, CLOCK_GetFreq(kCLOCK_PllFllSelClk));
    USB_EhciPhyInit(CONTROLLER_ID, BOARD_XTAL0_CLK_HZ);
#endif /* USB_HOST_CONFIG_EHCI */
#if ((defined FSL_FEATURE_SOC_MPU_COUNT) && (FSL_FEATURE_SOC_MPU_COUNT))
    MPU_Enable(MPU, 0);
#endif /* FSL_FEATURE_SOC_MPU_COUNT */

    status = USB_HostInit(CONTROLLER_ID, &g_HostHandle, USB_HostEvent);
    if (status != kStatus_USB_Success)
    {
        usb_echo("host init error\r\n");
        return;
    }
    NVIC_SetPriority(USB0_IRQn, USB_HOST_INTERRUPT_PRIORITY);
    NVIC_EnableIRQ(USB0_IRQn);

    usb_echo("host init done\r\n");
}

static void USB_HostTask(void *param)
{
    while (1)
    {
#if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI))
        USB_HostKhciTaskFunction(param);
#endif /* USB_HOST_CONFIG_KHCI */
#if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI))
        USB_HostEhciTaskFunction(param);
#endif /* USB_HOST_CONFIG_EHCI */
    }
}


#define RX_MESSAGE_BUFFER_NUM (9)
#define TX_MESSAGE_BUFFER_NUM (8)
#define RX_MESSAGE_BUFFER_NUM1 (7)
#define TX_MESSAGE_BUFFER_NUM1 (6)

flexcan_handle_t flexcanHandle[2];
uint32_t txIdentifier[2];
uint32_t rxIdentifier[2];
volatile bool txComplete[2] = {false, false};
volatile bool rxComplete[2] = {false, false};

static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
{
    switch (status)
    {
        case kStatus_FLEXCAN_RxIdle:
            if (RX_MESSAGE_BUFFER_NUM == result)
            {
                rxComplete[0] = true;
            }
            break;

        case kStatus_FLEXCAN_TxIdle:
            if (TX_MESSAGE_BUFFER_NUM == result)
            {
                txComplete[0] = true;
            }
            break;

        default:
            break;
    }
}

static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
{
    switch (status)
    {
        case kStatus_FLEXCAN_RxIdle:
            if (RX_MESSAGE_BUFFER_NUM1 == result)
            {
                rxComplete[1] = true;
            }
            break;

        case kStatus_FLEXCAN_TxIdle:
            if (TX_MESSAGE_BUFFER_NUM1 == result)
            {
                txComplete[1] = true;
            }
            break;

        default:
            break;
    }
}

void CAN_Init()
{
    flexcan_config_t flexcanConfig;
    flexcan_rx_mb_config_t mbConfig;

    txIdentifier[0] = 0x321;
    rxIdentifier[0] = 0x123;
    txIdentifier[1] = 0x123;
    rxIdentifier[1] = 0x321;

    /* Get FlexCAN module default Configuration. */
    /*
     * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
     * flexcanConfig.baudRate = 125000U;
     * flexcanConfig.maxMbNum = 16;
     * flexcanConfig.enableLoopBack = false;
     * flexcanConfig.enableSelfWakeup = false;
     * flexcanConfig.enableIndividMask = false;
     * flexcanConfig.enableDoze = false;
     */
    FLEXCAN_GetDefaultConfig(&flexcanConfig);

    /* Init FlexCAN module. */
    flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
    FLEXCAN_Init(CAN0, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));

    /* Create FlexCAN handle structure and set call back function. */
    FLEXCAN_TransferCreateHandle(CAN0, &flexcanHandle[0], flexcan_callback0, NULL);

    /* Set Rx Masking mechanism. */
    FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[0], 0, 0));

    /* Setup Rx Message Buffer. */
    mbConfig.format = kFLEXCAN_FrameFormatStandard;
    mbConfig.type = kFLEXCAN_FrameTypeData;
    mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[0]);
    FLEXCAN_SetRxMbConfig(CAN0, RX_MESSAGE_BUFFER_NUM, &mbConfig, true);

    /* Setup Tx Message Buffer. */
    FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM, true);

    /* Get FlexCAN module default Configuration. */
    /*
     * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
     * flexcanConfig.baudRate = 125000U;
     * flexcanConfig.maxMbNum = 16;
     * flexcanConfig.enableLoopBack = false;
     * flexcanConfig.enableSelfWakeup = false;
     * flexcanConfig.enableIndividMask = false;
     * flexcanConfig.enableDoze = false;
     */
    FLEXCAN_GetDefaultConfig(&flexcanConfig);

    /* Init FlexCAN module. */
    flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
    FLEXCAN_Init(CAN1, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));

    /* Create FlexCAN handle structure and set call back function. */
    FLEXCAN_TransferCreateHandle(CAN1, &flexcanHandle[1], flexcan_callback1, NULL);

    /* Set Rx Masking mechanism. */
    FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[1], 0, 0));

    /* Setup Rx Message Buffer. */
    mbConfig.format = kFLEXCAN_FrameFormatStandard;
    mbConfig.type = kFLEXCAN_FrameTypeData;
    mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[1]);
    FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM1, &mbConfig, true);

    /* Setup Tx Message Buffer. */
    FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM1, true);
    PRINTF("CAN init done \r\n");
}

/*!
 * @brief Application entry point.
 */
int main(void) {
  flexcan_frame_t txFrame, rxFrame;
  flexcan_mb_transfer_t txXfer, rxXfer;
  /* Init board hardware. */
  BOARD_InitPins();
  BOARD_BootClockRUN();
  BOARD_InitDebugConsole();
  PRINTF("Hello!\r\n");
  USB_HostApplicationInit();
  CAN_Init();

  /* Add your code here */
  rxXfer.frame = &rxFrame;
  rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM1;
  FLEXCAN_TransferReceiveNonBlocking(CAN1, &flexcanHandle[1], &rxXfer);

  txFrame.format = kFLEXCAN_FrameFormatStandard;
  txFrame.type = kFLEXCAN_FrameTypeData;
  txFrame.id = FLEXCAN_ID_STD(0x321);
  txFrame.length = 8;
  txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
                      CAN_WORD0_DATA_BYTE_3(0x44);
  txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
                      CAN_WORD1_DATA_BYTE_7(0x88);
  txXfer.frame = &txFrame;
  txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM;

  PRINTF("tx word0 = 0x%x\r\n", txFrame.dataWord0);
  PRINTF("tx word1 = 0x%x\r\n", txFrame.dataWord1);
  PRINTF("CAN0->CAN1\r\n");

  FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer);
  while (!rxComplete[1])
  {
  }
  PRINTF("rx word0 = 0x%x\r\n", rxFrame.dataWord0);
  PRINTF("rx word1 = 0x%x\r\n", rxFrame.dataWord1);

  rxXfer.frame = &rxFrame;
  rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM;
  FLEXCAN_TransferReceiveNonBlocking(CAN0, &flexcanHandle[0], &rxXfer);

  txFrame.format = kFLEXCAN_FrameFormatStandard;
  txFrame.type = kFLEXCAN_FrameTypeData;
  txFrame.id = FLEXCAN_ID_STD(0x123);
  txFrame.length = 8;
  txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
                      CAN_WORD0_DATA_BYTE_3(0x44);
  txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
                      CAN_WORD1_DATA_BYTE_7(0x88);
  txXfer.frame = &txFrame;
  txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM1;

  PRINTF("tx word0 = 0x%x\r\n", txFrame.dataWord0);
  PRINTF("tx word1 = 0x%x\r\n", txFrame.dataWord1);
  PRINTF("CAN1->CAN0\r\n");

  FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer);
  while (!rxComplete[0])
  {
  }
  PRINTF("rx word0 = 0x%x\r\n", rxFrame.dataWord0);
  PRINTF("rx word1 = 0x%x\r\n", rxFrame.dataWord1);

  /* Create RTOS task */
  if (xTaskCreate(USB_HostTask, "usb host task", 2000L / sizeof(portSTACK_TYPE), g_HostHandle, 4, NULL) != pdPASS)
  {
      usb_echo("create host task error\r\n");
  }
  if(xTaskCreate(hello_task, "Hello_task", configMINIMAL_STACK_SIZE, NULL, hello_task_PRIORITY, NULL) != pdPASS)
  {
	  usb_echo("create hello task error\r\n");
  }
  vTaskStartScheduler();

  for(;;) { /* Infinite loop to avoid leaving the main function */
    __asm("NOP"); /* something to use as a breakpoint stop while looping */
  }
}