#include "bootloader.h"
#include "can.h"
#include "dwt.h"
#include "global.h"
#include "iap.h"
#include "led.h"
#include "queue.h"
#include "system_stm32f4xx.h"
#include <stm32f4xx.h>

extern SqQueue CanQueueImportant; // CAN重要数据队列

int main(void)
{
    u16             cnt = 0;
    CanData_TypeDef element;
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
    DWT_Init();
    LED_Init();
    InitQueue(&CanQueueImportant);
    CAN2_Init();

    while (1)
    {
        if (GetHead(&CanQueueImportant, &element) != ERROR)
        {
            cnt = 0;
            LED_RUN_ON();
            iap_process(&element);
        }
        else if (flash_up_is_ok() == TRUE)
        {
            Iap_from_Flash();
            boot_goto_app(APP_ADDRESS);
        }
        else
        {
            cnt++;
            bsp_DelayMS(10);
            if (cnt > 100)
            {
                boot_goto_app(APP_ADDRESS);
            }
        }
    }
}