/*
 * Low-level initialization routine called during startup, before the main
 * function.
 * This version comes in replacement to the default one provided by Newlib.
 * Newlib's _init_startup only calls init_exceptions, but Newlib's exception
 * vectors are not compatible with the SCALL management in the current FreeRTOS
 * port. More low-level initializations are besides added here.
 */
void _init_startup(void)
{
	/* Import the Exception Vector Base Address. */
	extern void _evba;

	#if configHEAP_INIT
		extern void __heap_start__;
		extern void __heap_end__;
		BaseType_t *pxMem;
	#endif

	/* Load the Exception Vector Base Address in the corresponding system register. */
	Set_system_register( AVR32_EVBA, ( int ) &_evba );

	/* Enable exceptions. */
	ENABLE_ALL_EXCEPTIONS();

	/* Initialize interrupt handling. */
	INTC_init_interrupts();

	#if configHEAP_INIT

		/* Initialize the heap used by malloc. */
		for( pxMem = &__heap_start__; pxMem < ( BaseType_t * )&__heap_end__; )
		{
			*pxMem++ = 0xA5A5A5A5;
		}

	#endif

	/* Give the used CPU clock frequency to Newlib, so it can work properly. */
	//set_cpu_hz( configCPU_CLOCK_HZ );
}

void Actividad2(void){
		
		
		pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP); //osc0 a 12Mhz
		center=0;
		//Interrupciones
		
		Disable_global_interrupt();

		INTC_init_interrupts();

		INTC_register_interrupt(&tecla_lrc_isr, 71, 0);
		INTC_register_interrupt(&tecla_lrc_isr, 70,0);
		gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_LEFT,GPIO_RISING_EDGE);
		gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_RIGHT,GPIO_RISING_EDGE);
		gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_ENTER,GPIO_RISING_EDGE);
		gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_UP,GPIO_RISING_EDGE);
		gpio_enable_pin_interrupt(QT1081_TOUCH_SENSOR_DOWN,GPIO_RISING_EDGE);


		Enable_global_interrupt();
		
		
		
		
		while (1){}
	}

/*! \brief Main function. Execution starts here.
 *
 * \retval 42 Fatal error.
 */
int main(void)
{
#ifndef FREERTOS_USED
  Enable_global_exception();
  INTC_init_interrupts();
#endif
  pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);
  init_dbg_rs232(FOSC0);
  pcl_configure_usb_clock();
  usb_task_init();
#if USB_DEVICE_FEATURE == true
  device_template_task_init();
#endif
#if USB_HOST_FEATURE == true
  host_template_task_init();
#endif

#ifdef FREERTOS_USED
  vTaskStartScheduler();
  portDBG_TRACE("FreeRTOS returned.");
  return 42;
#else
  while (true)
  {
    usb_task();
  #if USB_DEVICE_FEATURE == true
    device_template_task();
  #endif
  #if USB_HOST_FEATURE == true
    host_template_task();
  #endif
  }
#endif  // FREERTOS_USED
}

void boardsupport_init(void) 
{
	central_data_t *central_data;
	irq_initialize_vectors();
	cpu_irq_enable();
	Disable_global_interrupt();
		
	sysclk_init();

	//delay_init(sysclk_get_cpu_hz());
		
	INTC_init_interrupts();

	central_data=central_data_get_pointer_to_struct();
	
	#ifdef TELEMETRY_USE_UART
		uart_int_set_usart_conf(TELEMETRY_UART_INDEX, asv_debug_uart_conf());
		//uart configuration
		uart_int_init(TELEMETRY_UART_INDEX);
		uart_int_register_write_stream(uart_int_get_uart_handle(TELEMETRY_UART_INDEX), &(central_data->wired_out_stream));
		// Registering streams
		buffer_make_buffered_stream_lossy(&(wired_in_buffer), &(central_data->wired_in_stream));
		uart_int_register_read_stream(uart_int_get_uart_handle(TELEMETRY_UART_INDEX), &(central_data->wired_in_stream));
		central_data->debug_in_stream=&central_data->wired_in_stream;
		central_data->debug_out_stream=&central_data->wired_out_stream;

	#endif
		
	central_data_init();

	Enable_global_interrupt();

}

/*! \brief Main function. Execution starts here.
 *
 * \retval No return value.
 */
int main(void)
{
#ifdef __GNUC__
	// Initialize the INTC sw driver.
	INTC_init_interrupts();
#endif

	// Configure system clocks.
	if (pcl_configure_clocks(&pcl_freq_param) != PASS)
		while (true);

	// Initialize USB clock (on PLL1)
	pcl_configure_usb_clock();

	// Initialize USB task
	usb_task_init();

#if USB_DEVICE_FEATURE == true
	// Initialize device generic USB task
	device_generic_hid_task_init();
#endif

	// No OS here. Need to call each task in round-robin mode.
	while (true) {
		usb_task();
	#if USB_DEVICE_FEATURE == true
		device_generic_hid_task();
	#endif
	}
}

/*! \brief Initializes MCU interrupts.
 */
static void init_interrupts(void)
{
  // Initialize interrupt handling.
  INTC_init_interrupts();

  // Enable interrupts globally.
  Enable_global_interrupt();
}

/*! \brief Low-level initialization routine called during startup, before the
 *         main function.
 */
int __low_level_init(void)
{
  // Enable exceptions.
  Enable_global_exception();

  // Initialize interrupt handling.
  INTC_init_interrupts();

  // Request initialization of data segments.
  return 1;
}

/*
 * Low-level initialization routine called during startup, before the main
 * function.
 * This version comes in replacement to the default one provided by the Newlib
 * add-ons library.
 * Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
 * exception vectors are not compatible with the SCALL management in the current
 * FreeRTOS port. More low-level initializations are besides added here.
 */
int _init_startup(void)
{
	/* Import the Exception Vector Base Address. */
	extern void _evba;

	#if configHEAP_INIT
		extern void __heap_start__;
		extern void __heap_end__;
		portBASE_TYPE *pxMem;
	#endif

	/* Load the Exception Vector Base Address in the corresponding system register. */
	Set_system_register( AVR32_EVBA, ( int ) &_evba );

	/* Enable exceptions. */
	ENABLE_ALL_EXCEPTIONS();

	/* Initialize interrupt handling. */
	INTC_init_interrupts();

	#if configHEAP_INIT

		/* Initialize the heap used by malloc. */
		for( pxMem = &__heap_start__; pxMem < ( portBASE_TYPE * )&__heap_end__; )
		{
			*pxMem++ = 0xA5A5A5A5;
		}

	#endif

	/* Give the used PBA clock frequency to Newlib, so it can work properly. */
	set_cpu_hz( configPBA_CLOCK_HZ );

	/* Code section present if and only if the debug trace is activated. */
	#if configDBG
	{
		static const gpio_map_t DBG_USART_GPIO_MAP =
		{
			{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
			{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
		};

		/* Initialize the USART used for the debug trace with the configured parameters. */
		set_usart_base( ( void * ) configDBG_USART );
		gpio_enable_module( DBG_USART_GPIO_MAP,
		                    sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
		usart_init( configDBG_USART_BAUDRATE );
	}
	#endif

  // Don't-care value for GCC.
  return 1;
}

void _init(void)
{
	sysclk_init();
	
	// Disable all interrupts.
	Disable_global_interrupt();

	// Initialize interrupt vectors.
	INTC_init_interrupts();
	
	// Enable all interrupts.
	Enable_global_interrupt();
}

/*! \brief Low-level initialization routine called during startup, before the
 *         main function.
 */
int __low_level_init(void)
{
  // Enable exceptions.
  Enable_global_exception();

  // Initialize interrupt handling.
  INTC_init_interrupts();

  // Initialize the USART used for the debug trace with the configured parameters.
  extern volatile avr32_usart_t *volatile stdio_usart_base;
  stdio_usart_base = DBG_USART;

  // Request initialization of data segments.
  return 1;
}

/*! \brief Low-level initialization routine called during startup, before the
 *         main function.
 *
 * This version comes in replacement to the default one provided by the Newlib
 * add-ons library.
 * Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
 * exception and interrupt vectors are defined in the same section and Newlib
 * add-ons' interrupt vectors are not compatible with the interrupt management
 * of the INTC module.
 * More low-level initializations are besides added here.
 */
int _init_startup(void)
{
  // Import the Exception Vector Base Address.
  extern void _evba;

  // Load the Exception Vector Base Address in the corresponding system register.
  Set_system_register(AVR32_EVBA, (int)&_evba);

  // Enable exceptions.
  Enable_global_exception();

  // Initialize interrupt handling.
  INTC_init_interrupts();

  // Don't-care value for GCC.
  return 1;
}

void Actividad3(void){
	
pm_switch_to_osc0(&AVR32_PM,FOSC0,OSC0_STARTUP);

Disable_global_interrupt();
//! Structure holding the configuration parameters of the EIC module.
eic_options_t eic_options[2];

// Enable edge-triggered interrupt.
eic_options[0].eic_mode  = EIC_MODE_EDGE_TRIGGERED;
// Interrupt will trigger on falling edge (this is a must-do for the keypad scan
// feature if the chosen mode is edge-triggered).
eic_options[0].eic_edge  = EIC_EDGE_RISING_EDGE;
// Initialize in synchronous mode : interrupt is synchronized to the clock
eic_options[0].eic_async = EIC_SYNCH_MODE;
// Set the interrupt line number.
eic_options[0].eic_line  = QT1081_EIC_EXTINT_INT;


INTC_init_interrupts();
    /* Register the EXTINT1 interrupt handler to the interrupt controller
     */
	INTC_register_interrupt(&touch_button_isr, QT1081_EIC_EXTINT_IRQ, AVR32_INTC_INT0);
 // Init the EIC controller with the options
 eic_init(&AVR32_EIC, eic_options, 1);
 // Enable the EIC lines.
 eic_enable_lines(&AVR32_EIC, (1<<eic_options[0].eic_line));
 // Enable the interrupt for each EIC line.
 eic_enable_interrupt_lines(&AVR32_EIC, (1<<eic_options[0].eic_line));
 
 gpio_enable_module_pin( QT1081_EIC_EXTINT_PIN, QT1081_EIC_EXTINT_FUNCTION);

 Enable_global_interrupt();
 
 while (1){
	 gpio_tgl_gpio_pin(LED0_GPIO);
	 gpio_tgl_gpio_pin(LED1_GPIO);
	 gpio_tgl_gpio_pin(LED2_GPIO);
	 gpio_tgl_gpio_pin(LED3_GPIO);
	 delay_s(100);

 }
 

}

/*! \brief Low-level initialization routine called during startup, before the
 *         main function.
 *
 * This version comes in replacement to the default one provided by the Newlib
 * add-ons library.
 * Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
 * exception and interrupt vectors are defined in the same section and Newlib
 * add-ons' interrupt vectors are not compatible with the interrupt management
 * of the INTC module.
 * More low-level initializations are besides added here.
 */
int _init_startup(void)
{
  // Import the Exception Vector Base Address.
  extern void _evba;

  // Load the Exception Vector Base Address in the corresponding system register.
  Set_system_register(AVR32_EVBA, (int)&_evba);

  // Enable exceptions.
  Enable_global_exception();

  // Initialize interrupt handling.
  INTC_init_interrupts();

  // Initialize the USART used for the debug trace with the configured parameters.
  set_usart_base( ( void * ) DBG_USART );

  // Don't-care value for GCC.
  return 1;
}

/** function to do hardware initialization 
* -> hwInit() is called in main() (src/independent/main.cpp)
*/
void hwInit(){
	// Input and output parameters when initializing PM clocks using pm_configure_clocks().
	// - parameters are defined in params.h and evk1100.h
	pm_freq_param_t clkParams = {
		CPU_CLK, // unsigned long cpu_f;
		PBA_CLK, // unsigned long pba_f; ! PBA frequency (input/output argument).
		FOSC0, // unsigned long osc0_f; ! Oscillator 0's external crystal(or external clock) frequency (board dependant) (input argument).
		OSC0_STARTUP // unsigned long osc0_startup; ! Oscillator 0's external crystal(or external clock) startup time: AVR32_PM_OSCCTRL0_STARTUP_x_RCOSC (input argument).
	};

	pm_configure_clocks(&clkParams);

	Disable_global_interrupt();

	INTC_init_interrupts(); 	// Initialize interrupt vectors.

	uart0.init(115200);
	uart1.init(115200);

	// interrupts will be enabled when loading the context of the first thread (idlethread)
	//Enable_global_interrupt();
}

/* \brief Initialize board.
 *
 */
void init_board(void)
{

#ifdef MAX_SPEED
	init_sys_clocks();
#else
  pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);
#endif
	INTC_init_interrupts();

	init_dbg_rs232(FPBA_HZ);
	// Activate LED0 & LED1 & LED2 & LED3 pins in GPIO output
	// mode and switch them off.
	gpio_set_gpio_pin(LED0_GPIO);
	gpio_set_gpio_pin(LED1_GPIO);
	gpio_set_gpio_pin(LED2_GPIO);
	gpio_set_gpio_pin(LED3_GPIO);

	et024006_Init(FCPU_HZ, FCPU_HZ);
	gpio_set_gpio_pin(ET024006DHU_BL_PIN);
	et024006_DrawFilledRect(0, 0, ET024006_WIDTH, ET024006_HEIGHT, WHITE);
}

void init()
{
	// board init
	sysclk_init();
	board_init();
	busy_delay_init(BOARD_OSC0_HZ);
	
	// interrupts init
	cpu_irq_disable();
    INTC_init_interrupts();
	INTC_register_interrupt(&interrupt_J3,   AVR32_GPIO_IRQ_3, AVR32_INTC_INT1);
	cpu_irq_enable();

	//  stdio init
	stdio_usb_init(&CONFIG_USART_IF);

	// Specify that stdout and stdin should not be buffered.

#if defined(__GNUC__) && defined(__AVR32__)
	setbuf(stdout, NULL);
	setbuf(stdin,  NULL);
#endif
}

/*! \brief Low-level initialization routine called during startup, before the
 *         main function.
 *
 * This version comes in replacement to the default one provided by the Newlib
 * add-ons library.
 * Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
 * exception and interrupt vectors are defined in the same section and Newlib
 * add-ons' interrupt vectors are not compatible with the interrupt management
 * of the INTC module.
 * More low-level initializations are besides added here.
 */
int _init_startup(void)
{
  // Import the Exception Vector Base Address.
  extern void _evba;

  // Load the Exception Vector Base Address in the corresponding system register.
  Set_system_register(AVR32_EVBA, (int)&_evba);

  // Enable exceptions.
  Enable_global_exception();

  // Initialize interrupt handling.
  INTC_init_interrupts();

  // Give the used CPU clock frequency to Newlib, so it can work properly.
  set_cpu_hz(pcl_freq_param.pba_f);

  // Initialize the USART used for the debug trace with the configured parameters.
  set_usart_base( ( void * ) DBG_USART );

  // Don't-care value for GCC.
  return 1;
}

/*
 * Low-level initialization routine called during startup, before the main
 * function.
 */
int __low_level_init(void)
{
	#if configHEAP_INIT
		#pragma segment = "HEAP"
		portBASE_TYPE *pxMem;
	#endif

	/* Enable exceptions. */
	ENABLE_ALL_EXCEPTIONS();

	/* Initialize interrupt handling. */
	INTC_init_interrupts();

	#if configHEAP_INIT
	{
		/* Initialize the heap used by malloc. */
		for( pxMem = __segment_begin( "HEAP" ); pxMem < ( portBASE_TYPE * ) __segment_end( "HEAP" ); )
		{
			*pxMem++ = 0xA5A5A5A5;
		}
	}
	#endif

	/* Code section present if and only if the debug trace is activated. */
	#if configDBG
	{
		static const gpio_map_t DBG_USART_GPIO_MAP =
		{
			{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
			{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
		};

		static const usart_options_t DBG_USART_OPTIONS =
		{
			.baudrate = configDBG_USART_BAUDRATE,
			.charlength = 8,
			.paritytype = USART_NO_PARITY,
			.stopbits = USART_1_STOPBIT,
			.channelmode = USART_NORMAL_CHMODE
		};

		/* Initialize the USART used for the debug trace with the configured parameters. */
		extern volatile avr32_usart_t *volatile stdio_usart_base;
		stdio_usart_base = configDBG_USART;
		gpio_enable_module( DBG_USART_GPIO_MAP,
		                    sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
		usart_init_rs232(configDBG_USART, &DBG_USART_OPTIONS, configCPU_CLOCK_HZ);
	}
	#endif

	/* Request initialization of data segments. */
	return 1;
}
/*-----------------------------------------------------------*/

/* Added as there is no such function in FreeRTOS. */
void *pvPortRealloc( void *pv, size_t xWantedSize )
{
void *pvReturn;

	vTaskSuspendAll();
	{
		pvReturn = realloc( pv, xWantedSize );
	}
	xTaskResumeAll();

	return pvReturn;
}

//.........这里部分代码省略.........
    ----------------------------------------------
	QT600 USB Bridge
	'TOUCH DATA' Header Pin name - STK600 board Port-pin name
	----------------------------------------------
	PA22 - 'TOUCH DATA' header pin 8 - clk 	 - pc6
	PA21 - 'TOUCH DATA' header pin 7 - miso	 - pc5
	PA20 - 'TOUCH DATA' header pin 6 - mosi  - pc4
	PA14 - 'TOUCH DATA' header pin 5 - nss 	 - pb6

5. When two or more acquisition methods are used, care must be taken such that a
   given port pin is not used by more than one method at the same time.  The following
   pin configuration options available in touch_config_at32uc3l.h must be carefully
   chosen to avoid any overlapping.
   a. QMatrix Pin Configuration Options.
   b. Autonomous QTouch Pin Configuration Options.
   c. QTouch Group A Pin Configuration Options.
   d. QTouch Group B Pin Configuration Options.
   e. Touch Sync Pin option.
*/

  touch_ret_t touch_ret = TOUCH_SUCCESS;
  touch_qt_dma_t qt_dma_ch;

  /* Initialize host clock, pins, watchdog, etc. */
  init_system ();

  /* Disable interrupts. */
  Disable_global_interrupt ();

  /* The INTC driver has to be used only for GNU GCC for AVR32. */
#if (defined __GNUC__)

  /* initialize interrupt vectors. */
  INTC_init_interrupts ();

  /* Register the Timer interrupt handler to the interrupt controller. */
  INTC_register_interrupt (&tc_irq, EXAMPLE_TC_IRQ, AVR32_INTC_INT0);

  /* Register the Touch Library CAT interrupt handler to the interrupt controller.
     Note: This interrupt registration is a MUST before using the Touch Library
     with the GCC compiler.

     For the case of IAR the registration of interrupt is automatically taken
     care by the compiler. The Touch Libary CAT interrupt level for the case
     of IAR is fixed to Interrupt level 3. */
  INTC_register_interrupt (&touch_acq_done_irq, AVR32_CAT_IRQ,
			   AVR32_INTC_INT3);

#endif

  /* Enable interrupts. */
  Enable_global_interrupt ();

  /* Configure timer to fire ISR regularly. */
  init_timer ();

  /* Initialize touch library and uc3l cat module for QTouch Group A operation. */
  touch_ret = touch_qt_sensors_init (TOUCH_QT_GRP_A, &touch_config);
  if (touch_ret != TOUCH_SUCCESS)
    {
      while (1u);		/* Check API Error return code. */
    }

#if DEF_TOUCH_QDEBUG_ENABLE == 1
  /* Initialize the debug interface. */
  QDebug_Init ();

static void init_interrupts(void)
{
	INTC_init_interrupts();
	Enable_global_interrupt();
}