/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "AIR_State_Maschine.h"
#include "AMS_Errorcodes.h"
#include "CAN_Communication.h"
#include "Error_Check.h"
#include "SPI_Slave_Communication.h"
#include "Slave_Monitoring.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
CRC_HandleTypeDef hcrc;

FDCAN_HandleTypeDef hfdcan1;

SPI_HandleTypeDef hspi1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FDCAN1_Init(void);
static void MX_SPI1_Init(void);
static void MX_CRC_Init(void);
/* USER CODE BEGIN PFP */
void setAMSError(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

AIRStateHandler airstates;
ErrorFlags errorflags;
AMSErrorHandle defaulterrorhandle = {0};
/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void) {
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick.
   */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_FDCAN1_Init();
  MX_SPI1_Init();
  MX_CRC_Init();
  /* USER CODE BEGIN 2 */

  airstates = init_AIR_State_Maschine();
  initSlaves();
  set_SPI_errorInfo(&defaulterrorhandle);
  spi_communication_init(&hspi1, &airstates);
  CAN_Init(&hfdcan1);

  HAL_GPIO_WritePin(Status_LED_GPIO_Port, Status_LED_Pin, GPIO_PIN_SET);
  // setAMSError();
  uint32_t lastCycle = HAL_GetTick();
  uint32_t cycleTime = HAL_GetTick();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1) {
    cycleTime = HAL_GetTick() - lastCycle;
    lastCycle = HAL_GetTick();
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

    CAN_Receive(&hfdcan1);          // Run CAN Event Loop
    errorflags = CheckErrorFlags(); // Check for Errors
    Update_AIR_Info(&airstates);
    checkSlaveTimeout();          // check for Slave Timeout
    Update_AIR_State(&airstates); // Update AIR State Maschine
    checkSPI();                   // Handles SPI Communication*
  }
  /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void) {
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
   */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
  RCC_OscInitStruct.PLL.PLLN = 8;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV8;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV8;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
   */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
                                RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
    Error_Handler();
  }
}

/**
 * @brief CRC Initialization Function
 * @param None
 * @retval None
 */
static void MX_CRC_Init(void) {

  /* USER CODE BEGIN CRC_Init 0 */

  /* USER CODE END CRC_Init 0 */

  /* USER CODE BEGIN CRC_Init 1 */

  /* USER CODE END CRC_Init 1 */
  hcrc.Instance = CRC;
  hcrc.Init.DefaultPolynomialUse = DEFAULT_POLYNOMIAL_ENABLE;
  hcrc.Init.DefaultInitValueUse = DEFAULT_INIT_VALUE_ENABLE;
  hcrc.Init.InputDataInversionMode = CRC_INPUTDATA_INVERSION_NONE;
  hcrc.Init.OutputDataInversionMode = CRC_OUTPUTDATA_INVERSION_DISABLE;
  hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES;
  if (HAL_CRC_Init(&hcrc) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN CRC_Init 2 */

  /* USER CODE END CRC_Init 2 */
}

/**
 * @brief FDCAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_FDCAN1_Init(void) {

  /* USER CODE BEGIN FDCAN1_Init 0 */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = DISABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 2;
  hfdcan1.Init.NominalSyncJumpWidth = 4;
  hfdcan1.Init.NominalTimeSeg1 = 13;
  hfdcan1.Init.NominalTimeSeg2 = 2;
  hfdcan1.Init.DataPrescaler = 2;
  hfdcan1.Init.DataSyncJumpWidth = 4;
  hfdcan1.Init.DataTimeSeg1 = 13;
  hfdcan1.Init.DataTimeSeg2 = 2;
  hfdcan1.Init.StdFiltersNbr = 0;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */

  /* USER CODE END FDCAN1_Init 2 */
}

/**
 * @brief SPI1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_SPI1_Init(void) {

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_SLAVE;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */
}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void) {
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC,
                    Slaves_Enable_Pin | BOOT0_FF_CLK_Pin | BOOT0_FF_DATA_Pin,
                    GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, Inter_STM_IRQ_Pin | Status_LED_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB,
                    PreCharge_Control_Pin | AIR_Positive_Control_Pin |
                        AIR_negative_Control_Pin,
                    GPIO_PIN_RESET);

  /*Configure GPIO pins : Slaves_Enable_Pin BOOT0_FF_CLK_Pin BOOT0_FF_DATA_Pin
   */
  GPIO_InitStruct.Pin =
      Slaves_Enable_Pin | BOOT0_FF_CLK_Pin | BOOT0_FF_DATA_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : AMS_ERROR_Pin */
  GPIO_InitStruct.Pin = AMS_ERROR_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(AMS_ERROR_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : Inter_STM_CS_Pin */
  GPIO_InitStruct.Pin = Inter_STM_CS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(Inter_STM_CS_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : Inter_STM_IRQ_Pin Status_LED_Pin */
  GPIO_InitStruct.Pin = Inter_STM_IRQ_Pin | Status_LED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PreCharge_Control_Pin AIR_Positive_Control_Pin
   * AIR_negative_Control_Pin */
  GPIO_InitStruct.Pin = PreCharge_Control_Pin | AIR_Positive_Control_Pin |
                        AIR_negative_Control_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */
void AMS_Error_Handler(AMSErrorHandle errorinfo) {
  while (1) {
    set_SPI_errorInfo(&errorinfo);
    errorinfo.errorarg[7] = 1;
    setAMSError();
    airstates.targetTSState = TS_ERROR;
    Update_AIR_State(&airstates);
    CAN_Receive(&hfdcan1);
    errorflags = CheckErrorFlags();
    checkSPI();
  }
}

int errors = 0;
void setAMSError() {

  errors++;
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin = AMS_ERROR_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(AMS_ERROR_GPIO_Port, &GPIO_InitStruct);
  HAL_GPIO_WritePin(AMS_ERROR_GPIO_Port, AMS_ERROR_Pin, GPIO_PIN_RESET);
}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void) {
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1) {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t* file, uint32_t line) {
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line
     number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file,
     line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */