#include "app/app.h"
#include "bsp/bsp.h"
#include "os/os_task.h"
#include "libs/logger.h"
#include "libs/utils.h"
#include "foc/motor/motor.h"
#include "foc/samples.h"
#include "foc/core/foc_core.h"
#include "prot/can_foc_msg.h"
#include "prot/can_message.h"
#include "libs/time_measure.h"
#include "app/nv_storage.h"

static u32 _app_low_task(void *args);
static void print_backtrace(void);
extern measure_time_t g_meas_hall;
extern measure_time_t g_meas_foc;
void app_start(void){
	set_log_level(MOD_SYSTEM, L_debug);
	can_message_init();
	restore_config();
	samples_init();
	PMSM_FOC_CoreInit();
	shark_task_create(_app_low_task, NULL);
	
	print_backtrace();
	
	shark_task_run();
}

static void _can_report_info(void) {
	can_report_speed(0x45, mc_get_speed());
}

static void print_backtrace(void){
    if (gd32_bkp_btrace_valid()){
		uint32_t bt[16];
		uint32_t bt_over;
		uint32_t bt_dep;
		uint16_t line;
		gd32_bkp_get_backtrace(bt, &bt_over, &bt_dep, &line);
		sys_error("system backtrace:\n");
		sys_error("stack overflow %d, stack dep = %d, line = %d\n", bt_over, bt_dep, line);
		for(bt_over = 0; bt_over < bt_dep; bt_over++){
			sys_error("0x%x ", bt[bt_over]);
		}
		sys_error("system backtrace end!\n");
	}else{
		sys_error("no backtrace\n");
	}
}

static u32 _app_low_task(void *args) {
	wdog_reload();
	_can_report_info();
	return 100;
}