/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2022 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 "AMS_CAN.h"
#include "BQ_Abstraction_Layer.h"
#include "ClockSync.h"
#include "EEPROM.h"
#include "FanControl.h"
#include "TMP144.h"
#include "common_defs.h"

#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_gpio.h"
#include "stm32f4xx_hal_tim.h"
#include "stm32f4xx_hal_uart.h"

#include <stdint.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 ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim3;

UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
UART_HandleTypeDef huart6;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart3_rx;

/* USER CODE BEGIN PV */
uint8_t slave_id;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_CAN1_Init(void);
static void MX_CAN2_Init(void);
static void MX_I2C1_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_USART6_UART_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void update_status_leds() {
  if ((HAL_GetTick() / 1000) % 2 == 0) {
    HAL_GPIO_WritePin(STAT_LED1_GPIO_Port, STAT_LED1_Pin, GPIO_PIN_RESET);
  } else {
    HAL_GPIO_WritePin(STAT_LED1_GPIO_Port, STAT_LED1_Pin, GPIO_PIN_SET);
  }

  if (bq_status == BQ_OFF || bq_status == BQ_ERROR) {
    HAL_GPIO_WritePin(STAT_LED2_GPIO_Port, STAT_LED2_Pin, GPIO_PIN_RESET);
  } else {
    HAL_GPIO_WritePin(STAT_LED2_GPIO_Port, STAT_LED2_Pin, GPIO_PIN_SET);
  }
}

void check_error_conditions() {
  int error = 0;
  if (bq_status != BQ_RDY) {
    ams_can_send_error(AMS_ERROR_BQ, AMS_ERROR_TX_TIMEOUT);
    error = 1;
  }
  tmp144_check_timeouts();
  if (tmp144_bus_busbar.state == TMP144_ERROR &&
      tmp144_bus_other.state == TMP144_ERROR) {
    ams_can_send_error(AMS_ERROR_TMP144, AMS_ERROR_TX_TIMEOUT);
    error = 1;
  }
  if (min_voltage < THRESH_UV) {
    ams_can_send_error(AMS_ERROR_UV, AMS_ERROR_TX_TIMEOUT);
    error = 1;
  }
  if (max_voltage > THRESH_OV) {
    ams_can_send_error(AMS_ERROR_OV, AMS_ERROR_TX_TIMEOUT);
    error = 1;
  }
  if (min_temperature < THRESH_UT) {
    ams_can_send_error(AMS_ERROR_UT, AMS_ERROR_TX_TIMEOUT);
    error = 1;
  }
  if (max_temperature > THRESH_OT) {
    ams_can_send_error(AMS_ERROR_OT, AMS_ERROR_TX_TIMEOUT);
    error = 1;
  }

  if (error) {
    HAL_GPIO_WritePin(STAT_LED4_GPIO_Port, STAT_LED4_Pin, GPIO_PIN_SET);
  } else {
    HAL_GPIO_WritePin(STAT_LED4_GPIO_Port, STAT_LED4_Pin, GPIO_PIN_RESET);
  }
}

void delay_period() {
  static uint32_t last_it = 0;
  uint32_t now = HAL_GetTick();
  int32_t diff = now - last_it;
  if (diff > MAIN_LOOP_PERIOD) {
    HAL_GPIO_WritePin(STAT_LED3_GPIO_Port, STAT_LED3_Pin, GPIO_PIN_SET);
  } else {
    HAL_GPIO_WritePin(STAT_LED3_GPIO_Port, STAT_LED3_Pin, GPIO_PIN_RESET);
    HAL_Delay(MAIN_LOOP_PERIOD - diff);
    now = HAL_GetTick();
  }
  last_it = now;
}
/* 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_DMA_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_I2C1_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  MX_USART6_UART_Init();
  /* USER CODE BEGIN 2 */
  fan_ctrl_init(&htim3, TIM_CHANNEL_4);
  eeprom_init(&hi2c1);
  eeprom_read_random(EEPROM_ADDR_SLAVE_ID, &slave_id);
  ams_can_init(&hcan1, &hcan2);
  HAL_GPIO_WritePin(DCDC_CTRL_GPIO_Port, DCDC_CTRL_Pin, GPIO_PIN_SET);
  HAL_Delay(100);
  tmp144_init(&huart1, &huart3);
  afe_init(&huart2);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  uint32_t main_loop_start = HAL_GetTick();
  while (1) {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    update_status_leds();
    fan_ctrl_update();
    clock_sync_update();
    // Only use communication interfaces (BQ UART, TMP144 UARTs, CAN) once the
    // clock is synchronized
    if (clock_sync_state == CLOCK_SYNC_NORMAL_OPERATION) {
      afe_measure();
      tmp144_read_temps();
      if (HAL_GetTick() - main_loop_start > ERROR_CHECK_START) {
        check_error_conditions();
      }
      ams_can_send_heartbeat();
    }
    delay_period();
  }
  /* 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_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(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_NONE;
  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_HSI;
  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 CAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN1_Init(void) {

  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 2;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = ENABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = ENABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */

  /* USER CODE END CAN1_Init 2 */
}

/**
 * @brief CAN2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN2_Init(void) {

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 2;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = ENABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = ENABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */

  /* USER CODE END CAN2_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.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */
}

/**
 * @brief TIM3 Initialization Function
 * @param None
 * @retval None
 */
static void MX_TIM3_Init(void) {

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 500;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */
  HAL_TIM_MspPostInit(&htim3);
}

/**
 * @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 = 57600;
  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_8;
  if (HAL_UART_Init(&huart1) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */
}

/**
 * @brief USART2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART2_UART_Init(void) {

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 250000;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart2) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */
}

/**
 * @brief USART3 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART3_UART_Init(void) {

  /* USER CODE BEGIN USART3_Init 0 */

  /* USER CODE END USART3_Init 0 */

  /* USER CODE BEGIN USART3_Init 1 */

  /* USER CODE END USART3_Init 1 */
  huart3.Instance = USART3;
  huart3.Init.BaudRate = 115200;
  huart3.Init.WordLength = UART_WORDLENGTH_8B;
  huart3.Init.StopBits = UART_STOPBITS_1;
  huart3.Init.Parity = UART_PARITY_NONE;
  huart3.Init.Mode = UART_MODE_TX_RX;
  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart3) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN USART3_Init 2 */

  /* USER CODE END USART3_Init 2 */
}

/**
 * @brief USART6 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART6_UART_Init(void) {

  /* USER CODE BEGIN USART6_Init 0 */

  /* USER CODE END USART6_Init 0 */

  /* USER CODE BEGIN USART6_Init 1 */

  /* USER CODE END USART6_Init 1 */
  huart6.Instance = USART6;
  huart6.Init.BaudRate = 115200;
  huart6.Init.WordLength = UART_WORDLENGTH_8B;
  huart6.Init.StopBits = UART_STOPBITS_1;
  huart6.Init.Parity = UART_PARITY_NONE;
  huart6.Init.Mode = UART_MODE_TX_RX;
  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart6) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN USART6_Init 2 */

  /* USER CODE END USART6_Init 2 */
}

/**
 * Enable DMA controller clock
 */
static void MX_DMA_Init(void) {

  /* DMA controller clock enable */
  __HAL_RCC_DMA2_CLK_ENABLE();
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Stream1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
  /* DMA2_Stream2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
}

/**
 * @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, STAT_LED1_Pin | STAT_LED2_Pin | STAT_LED3_Pin | STAT_LED4_Pin,
      GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, DCDC_CTRL_Pin | BQ_Wakeup_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : STAT_LED1_Pin STAT_LED2_Pin STAT_LED3_Pin
   * STAT_LED4_Pin */
  GPIO_InitStruct.Pin =
      STAT_LED1_Pin | STAT_LED2_Pin | STAT_LED3_Pin | STAT_LED4_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 : DCDC_CTRL_Pin BQ_Wakeup_Pin */
  GPIO_InitStruct.Pin = DCDC_CTRL_Pin | BQ_Wakeup_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 : BQ_FAULT_N_Pin */
  GPIO_InitStruct.Pin = BQ_FAULT_N_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(BQ_FAULT_N_GPIO_Port, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef* handle) {
  if (handle == &huart1 || handle == &huart3) {
    tmp144_handle_rx_cplt(handle);
  }
}
/* 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 */