#include <xdc/std.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Timestamp.h>
#include <xdc/runtime/Types.h>
#include <xdc/cfg/global.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/hal/Hwi.h>
#include <ti/sysbios/hal/Timer.h>


#include "Drivers.h"

void DSP_Init(void);
void hwiServiceGPIOINT0A(UArg arg0);
void ServiceEOF(UArg arg0,UArg arg1 );

Semaphore_Handle semEOF;


Hwi_Handle hwiGPIO;
Hwi_Params hwiParams;

Task_Params taskParams;

Error_Block eb;

uint32_T numfilts = 0;
uint32_T  numEOFs = 0;
uint32_T  num29s = 0;
UInt32 ticks,lastticks;
float elapsed;


void hwiServiceGPIOINT0A(UArg arg0 )
{

/*NOT GETTING HERE*/

	Types_FreqHz freq;
	Timestamp_getFreq(&freq);
	uint32_T *pgpio_irqstatus_0 = (uint32_T*)(GPIO_IRQSTATUS_0);

	ticks = (UInt32)Timestamp_get32();
	elapsed = ((float)ticks - (float)lastticks)/(float)freq.lo;
	numEOFs++;
	lastticks = ticks;

	/*Check the GPIO_IRQSTATUS_0 to see if pin 29 went high */
	if(RD_MEM_32(GPIO_IRQSTATUS_0) & 0x20000000 > 0)
	{
		num29s++;
	}
	/*Release the interrupt */
	RD_MEM_32(GPIO_IRQSTATUS_0,0x20000000);

	Semaphore_post(semEOF);

}


void ServiceEOF(UArg arg0,UArg arg1 )
{
	UInt32 start_time;
	UInt32 end_time;
	Uint32 elapse_time;

	for(;;)
	{
		/*Wait until HWI posts semaphore*/
		Semaphore_pend(semEOF, BIOS_WAIT_FOREVER);
		//		/* Start timer */
		
		//		GetInputs();
		//		DoStuff();
		//		WriteOutputs();
		
		

	}
}

void main()
{


	DSP_Init();
	for(;;);



}

void DSP_Init(void)
{


	uint32_T a;
	Error_init(&eb);


	semEOF = Semaphore_create(0, NULL, &eb);
	if (semEOF == NULL)
	{
		System_abort("Semaphore for EOF create failed");
	}


	Error_init(&eb);
	Hwi_Params_init(&hwiParams);
	hwiParams.arg = 5;
	hwiGPIO = Hwi_create(64, hwiServiceGPIOINT0A, &hwiParams, &eb); /*GPIOINT0A*/
	if (hwiGPIO == NULL)
	{
		System_abort("Hwi create failed");
	}

	/* Task for image processing */
	Task_Params_init(&taskParams);
	taskParams.priority = 1;
	taskParams.stackSize = 4000;
	Task_create (ServiceEOF, &taskParams, NULL);

	/* Setup GPIO */
	/* setup GPIO_SYSCONFIG: No idle, (0x8) */
	WR_MEM_32(GPIO_SYSCONFIG, 0x8);
	/* Interrupts for the GPIO channel must be enabled in the GPIO_IRQSTATUS_SET_0 */
	/* Enable interrupt on GPIO_0_29 (0x20000000) */
	WR_MEM_32(GPIO_IRQSTATUS_SET_0, 0xFFFFFFFF);//0x20000000;
	/* The expected event(s) on input GPIO to trigger the interrupt request has to be selected in the
	 * GPIO_RISINGDETECT(0x20000000) */
	WR_MEM_32(GPIO_RISINGDETECT, 0xFFFFFFFF);//0x20000000;

	a = RD_MEM_32(CM_ALWON_GPIO_0_CLKCTRL);
	WR_MEM_32(CM_ALWON_GPIO_0_CLKCTRL,0x102);
//	for(;;)
//	{
//		a = RD_MEM_32(GPIO_DATAIN); //using this to poll to check if I can see the signal (I can)
//	}
	WR_MEM_32(GPIO_IRQSTATUS_0,0xFFFFFFFF); // Dont think I need this, but I was trying to get the interrupt.
	Hwi_enableInterrupt(64); // Dont think I need this, but I was trying to get the interrupt.
	a = Hwi_enable();// Dont think I need this, but I was trying to get the interrupt.

	BIOS_start();

}