/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2023 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "can.h"
#include "imd_monitoring.h"
#include "shunt_monitoring.h"
#include "slave_monitoring.h"
#include "soc_estimation.h"
#include "ts_state_machine.h"
#include "status_led.h"

#include "stm32h7xx_hal.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 ---------------------------------------------------------*/

FDCAN_HandleTypeDef hfdcan1;

I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim15;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */
int sdc_closed = 0;
/* 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_I2C1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM15_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#define MAIN_LOOP_PERIOD 50

static void loop_delay() {
  static uint32_t last_loop = 0;
  uint32_t dt = HAL_GetTick() - last_loop;
  if (dt < MAIN_LOOP_PERIOD) {
    HAL_Delay(MAIN_LOOP_PERIOD - dt);
    //HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_RESET);
  } else {
    //HAL_GPIO_WritePin(STATUS2_GPIO_Port, STATUS2_Pin, GPIO_PIN_SET);
  }
  last_loop = HAL_GetTick();
}
/* 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_I2C1_Init();
  MX_USART1_UART_Init();
  MX_TIM15_Init();
  /* USER CODE BEGIN 2 */
  can_init(&hfdcan1);
  slaves_init();
  shunt_init();
  ts_sm_init();
  soc_init();
  imd_init(&htim15);
  HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_SET);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1) {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    sdc_closed = HAL_GPIO_ReadPin(SDC_VOLTAGE_GPIO_Port, SDC_VOLTAGE_Pin) ==
                 GPIO_PIN_SET;

    slaves_check();
    shunt_check();
    ts_sm_update();
    soc_update();
    imd_update();
    can_send_status();

    loop_delay();
  }
  /* USER CODE END 3 */
}

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

  /*AXI clock gating */
  RCC->CKGAENR = 0xFFFFFFFF;

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_CSI|RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.CSIState = RCC_CSI_ON;
  RCC_OscInitStruct.CSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 8;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 3;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @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.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 = 1;
  hfdcan1.Init.NominalTimeSeg1 = 31;
  hfdcan1.Init.NominalTimeSeg2 = 8;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 1;
  hfdcan1.Init.DataTimeSeg1 = 1;
  hfdcan1.Init.DataTimeSeg2 = 1;
  hfdcan1.Init.MessageRAMOffset = 0;
  hfdcan1.Init.StdFiltersNbr = 32;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.RxFifo0ElmtsNbr = 16;
  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxFifo1ElmtsNbr = 0;
  hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxBuffersNbr = 0;
  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.TxEventsNbr = 0;
  hfdcan1.Init.TxBuffersNbr = 0;
  hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */

  /* USER CODE END FDCAN1_Init 2 */

}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.Timing = 0x00000E14;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Analogue filter
  */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Digital filter
  */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief TIM15 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM15_Init(void)
{

  /* USER CODE BEGIN TIM15_Init 0 */

  /* USER CODE END TIM15_Init 0 */

  TIM_SlaveConfigTypeDef sSlaveConfig = {0};
  TIM_IC_InitTypeDef sConfigIC = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM15_Init 1 */

  /* USER CODE END TIM15_Init 1 */
  htim15.Instance = TIM15;
  htim15.Init.Prescaler = 16000-1;
  htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim15.Init.Period = 65535;
  htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim15.Init.RepetitionCounter = 0;
  htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_IC_Init(&htim15) != HAL_OK)
  {
    Error_Handler();
  }
  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
  sSlaveConfig.TriggerFilter = 0;
  if (HAL_TIM_SlaveConfigSynchro(&htim15, &sSlaveConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  if (HAL_TIM_IC_ConfigChannel(&htim15, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  if (HAL_TIM_IC_ConfigChannel(&htim15, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM15_Init 2 */

  /* USER CODE END TIM15_Init 2 */

}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_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, STATUS_LED_R_Pin|STATUS_LED_G_Pin|STATUS_LED_B_Pin|POS_AIR_CTRL_Pin
                          |NEG_AIR_CTRL_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, SLAVE_POWER_1_Pin|SLAVE_POWER_DSEL_Pin|SLAVE_POWER_DEN_Pin|SLAVE_POWER_0_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(PRECHARGE_CTRL_GPIO_Port, PRECHARGE_CTRL_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(AMS_NERROR_GPIO_Port, AMS_NERROR_Pin, GPIO_PIN_SET);

  /*Configure GPIO pins : STATUS_LED_R_Pin STATUS_LED_G_Pin STATUS_LED_B_Pin POS_AIR_CTRL_Pin
                           NEG_AIR_CTRL_Pin */
  GPIO_InitStruct.Pin = STATUS_LED_R_Pin|STATUS_LED_G_Pin|STATUS_LED_B_Pin|POS_AIR_CTRL_Pin
                          |NEG_AIR_CTRL_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 pins : TS_ERROR_Pin HV_ACTIVE_Pin IMD_OK_Pin NEG_AIR_CLOSED_Pin
                           POS_AIR_CLOSED_Pin */
  GPIO_InitStruct.Pin = TS_ERROR_Pin|HV_ACTIVE_Pin|IMD_OK_Pin|NEG_AIR_CLOSED_Pin
                          |POS_AIR_CLOSED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PRECHARGE_CLOSED_Pin SDC_VOLTAGE_Pin */
  GPIO_InitStruct.Pin = PRECHARGE_CLOSED_Pin|SDC_VOLTAGE_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : SLAVE_POWER_1_Pin SLAVE_POWER_DSEL_Pin SLAVE_POWER_DEN_Pin SLAVE_POWER_0_Pin
                           AMS_NERROR_Pin */
  GPIO_InitStruct.Pin = SLAVE_POWER_1_Pin|SLAVE_POWER_DSEL_Pin|SLAVE_POWER_DEN_Pin|SLAVE_POWER_0_Pin
                          |AMS_NERROR_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);

  /*Configure GPIO pin : PRECHARGE_CTRL_Pin */
  GPIO_InitStruct.Pin = PRECHARGE_CTRL_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(PRECHARGE_CTRL_GPIO_Port, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* 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) {
    ts_sm_set_relay_position(RELAY_NEG, 0);
    ts_sm_set_relay_position(RELAY_POS, 0);
    ts_sm_set_relay_position(RELAY_PRECHARGE, 0);

    set_led_internal_error();
  }
  /* 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 */