#include "main.h"
#include "bsp_pin.h"

void bsp_pin_init(GPIO_TypeDef *port, uint16_t pin, uint8_t mode)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitStruct.Pin = pin;
    GPIO_InitStruct.Mode = (mode == 0) ? GPIO_MODE_OUTPUT_PP : GPIO_MODE_INPUT;
	
	if (mode == 1) GPIO_InitStruct.Pull = GPIO_PULLUP;
    else if (mode == 2) GPIO_InitStruct.Pull = GPIO_PULLDOWN;
	else GPIO_InitStruct.Pull = GPIO_NOPULL;
		
	if (mode == 0) GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(port, &GPIO_InitStruct);
}

void bsp_dwt_init(void)
{
    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; // 使能 DWT
    DWT->CYCCNT = 0;                                // 清零周期计数器
    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;            // 使能周期计数器
}

void delay_us(int nus)
{		
#ifdef USE_FREERTOS
	uint32_t start = DWT->CYCCNT;                          // 记录起始计数值
    uint32_t ticks = nus * (SystemCoreClock / 1000000);    // 计算需要的时钟周期数
    while ((DWT->CYCCNT - start) < ticks);                 // 等待达到目标周期数
#else
	uint32_t ticks;
	uint32_t told,tnow,tcnt=0;
	uint32_t reload=SysTick->LOAD;				//LOAD的值	    	 
	ticks=nus*72; 						//需要的节拍数 
	told=SysTick->VAL;        				//刚进入时的计数器值
	while(1)
	{
		tnow=SysTick->VAL;	
		if(tnow!=told)
		{	    
			if(tnow<told)tcnt+=told-tnow;	//这里注意一下SYSTICK是一个递减的计数器就可以了.
			else tcnt+=reload-tnow+told;	    
			told=tnow;
			if(tcnt>=ticks)break;			//时间超过/等于要延迟的时间,则退出.
		}  
	};
#endif
}

void hard_fault_handler_c(unsigned int *hardfault_args)
{
    unsigned int stacked_r0 = hardfault_args[0];
    unsigned int stacked_r1 = hardfault_args[1];
    unsigned int stacked_r2 = hardfault_args[2];
    unsigned int stacked_r3 = hardfault_args[3];
    unsigned int stacked_r12 = hardfault_args[4];
    unsigned int stacked_lr = hardfault_args[5];  // 链接寄存器
    unsigned int stacked_pc = hardfault_args[6];  // 程序计数器
    unsigned int stacked_psr = hardfault_args[7]; // 状态寄存器

    // 打印寄存器现场
    log_a("====== HardFault Detected ======\r\n");
    log_a("R0 = 0x%08X, R1 = 0x%08X\r\n", stacked_r0, stacked_r1);
    log_a("R2 = 0x%08X, R3 = 0x%08X\r\n", stacked_r2, stacked_r3);
    log_a("R12= 0x%08X, LR = 0x%08X\r\n", stacked_r12, stacked_lr);
    log_a("PC = 0x%08X, PSR= 0x%08X\r\n", stacked_pc, stacked_psr);

    // 打印故障状态寄存器
    log_a("HFSR = 0x%08X\r\n", SCB->HFSR);
    log_a("CFSR = 0x%08X\r\n", SCB->CFSR);
    log_a("BFAR = 0x%08X\r\n", SCB->BFAR);
    log_a("MMFAR= 0x%08X\r\n", SCB->MMFAR);
}