/* 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 "events.h"
#include "leds.h"
#include "rpi.h"
#include "state.h"
#include "vehicle.h"

#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_gpio.h"
#include "stm32g4xx_hal_tim.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 ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;

FDCAN_HandleTypeDef hfdcan1;

I2C_HandleTypeDef hi2c2;

TIM_HandleTypeDef htim2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void);
static void MX_FDCAN1_Init(void);
static void MX_I2C2_Init(void);
static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void loop_delay() {
  static uint32_t last_loop = 0;
  int32_t diff = MAIN_LOOP_PERIOD - (HAL_GetTick() - last_loop);
  if (diff > 0) {
    HAL_Delay(diff);
  }
  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_ADC1_Init();
  MX_FDCAN1_Init();
  MX_I2C2_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  leds_init(&htim2);
  state_init();
  vehicle_init(&hfdcan1);
  rpi_init(&hi2c2);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  uint32_t last_can = 0;
  while (1) {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    uint32_t now = HAL_GetTick();
    if (now < 1000) {
      HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET);
    } else {
      HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
    }
    handle_events();
    if (now - last_can > 100) {
      // vehicle_send_mission_select(MISSION_ACCELERATION);
      last_can = now;
    }
    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};

  /** 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 = 10;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  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_2) != HAL_OK) {
    Error_Handler();
  }
}

/**
 * @brief ADC1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_ADC1_Init(void) {

  /* USER CODE BEGIN ADC1_Init 0 */

  /* USER CODE END ADC1_Init 0 */

  ADC_MultiModeTypeDef multimode = {0};
  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC1_Init 1 */

  /* USER CODE END ADC1_Init 1 */

  /** Common config
   */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.GainCompensation = 0;
  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc1.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK) {
    Error_Handler();
  }

  /** Configure the ADC multi-mode
   */
  multimode.Mode = ADC_MODE_INDEPENDENT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK) {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_14;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_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_FD_BRS;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = ENABLE;
  hfdcan1.Init.TransmitPause = ENABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 1;
  hfdcan1.Init.NominalSyncJumpWidth = 16;
  hfdcan1.Init.NominalTimeSeg1 = 63;
  hfdcan1.Init.NominalTimeSeg2 = 16;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 4;
  hfdcan1.Init.DataTimeSeg1 = 5;
  hfdcan1.Init.DataTimeSeg2 = 4;
  hfdcan1.Init.StdFiltersNbr = 2;
  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 I2C2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_I2C2_Init(void) {

  /* USER CODE BEGIN I2C2_Init 0 */

  /* USER CODE END I2C2_Init 0 */

  /* USER CODE BEGIN I2C2_Init 1 */

  /* USER CODE END I2C2_Init 1 */
  hi2c2.Instance = I2C2;
  hi2c2.Init.Timing = 0x10909CEC;
  hi2c2.Init.OwnAddress1 = 64;
  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c2.Init.OwnAddress2 = 0;
  hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c2) != HAL_OK) {
    Error_Handler();
  }

  /** Configure Analogue filter
   */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) {
    Error_Handler();
  }

  /** Configure Digital filter
   */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C2_Init 2 */

  /* USER CODE END I2C2_Init 2 */
}

/**
 * @brief TIM2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_TIM2_Init(void) {

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

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

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 79;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 255;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 31;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);
}

/**
 * @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_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA,
                    LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin | LED_NCLR_Pin |
                        LED_SER_Pin | LED_NOE_Pin | DISP_RESET_Pin,
                    GPIO_PIN_RESET);

  /*Configure GPIO pins : LOGO_PWM_Pin LED_ICLK_Pin LED_OCLK_Pin LED_NCLR_Pin
                           LED_SER_Pin LED_NOE_Pin DISP_RESET_Pin */
  GPIO_InitStruct.Pin = LOGO_PWM_Pin | LED_ICLK_Pin | LED_OCLK_Pin |
                        LED_NCLR_Pin | LED_SER_Pin | LED_NOE_Pin |
                        DISP_RESET_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 : BTN0_Pin BTN1_Pin BTN2_Pin BTN3_Pin */
  GPIO_InitStruct.Pin = BTN0_Pin | BTN1_Pin | BTN2_Pin | BTN3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : ENC0A_Pin ENC0B_Pin ENC1A_Pin ENC1B_Pin */
  GPIO_InitStruct.Pin = ENC0A_Pin | ENC0B_Pin | ENC1A_Pin | ENC1B_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}

/* 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) {
  }
  /* 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 */