/* 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 "motor_controller.h"
#include "putil.h"
#include "stm32l4xx_hal_uart.h"
#include <stdbool.h>
#include <stdio.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 ---------------------------------------------------------*/
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim6;

UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */
volatile uint8_t huart2_rxc;
volatile uint8_t huart1_rxc;
static volatile uint32_t sys_time = 0;
static volatile bool b_timer_struck = false;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_TIM6_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 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_TIM2_Init();
	MX_USART2_UART_Init();
	MX_TIM6_Init();
	MX_USART1_UART_Init();
	/* USER CODE BEGIN 2 */
	p_uart_init(&huart2);

	// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
	// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
	setPWM(&htim2, TIM_CHANNEL_2, 50);
	setPWM(&htim2, TIM_CHANNEL_4, 25);

	HAL_GPIO_WritePin(m1_dir_GPIO_Port, m1_dir_Pin, 1);
	HAL_GPIO_WritePin(m2_dir_GPIO_Port, m2_dir_Pin, 1);

	mc_init(&htim2);
	HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
	HAL_TIM_Base_Start_IT(&htim6);

	HAL_UART_Receive_IT(&huart1, &huart1_rxc, 1);
	uint16_t motor_degrees = 0;
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		if (b_timer_struck)
		{
			// PDEBUG("%d\n", sys_time);
			b_timer_struck = false;
			motor_degrees = (motor_degrees + 1) % 360;
			mc_service(motor_degrees, 50);
		}
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
	}
	/* 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
	 */
	if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
	{
		Error_Handler();
	}

	/** Configure LSE Drive Capability
	 */
	HAL_PWR_EnableBkUpAccess();
	__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);

	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE | RCC_OSCILLATORTYPE_MSI;
	RCC_OscInitStruct.LSEState = RCC_LSE_ON;
	RCC_OscInitStruct.MSIState = RCC_MSI_ON;
	RCC_OscInitStruct.MSICalibrationValue = 0;
	RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI;
	RCC_OscInitStruct.PLL.PLLM = 1;
	RCC_OscInitStruct.PLL.PLLN = 16;
	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
	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_1) != HAL_OK)
	{
		Error_Handler();
	}

	/** Enable MSI Auto calibration
	 */
	HAL_RCCEx_EnableMSIPLLMode();
}

/**
 * @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 = 127;
	htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
	htim2.Init.Period = 499;
	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 = 250;
	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
	sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
	if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
	{
		Error_Handler();
	}
	sConfigOC.Pulse = 125;
	if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN TIM2_Init 2 */

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

/**
 * @brief TIM6 Initialization Function
 * @param None
 * @retval None
 */
static void MX_TIM6_Init(void)
{

	/* USER CODE BEGIN TIM6_Init 0 */

	/* USER CODE END TIM6_Init 0 */

	TIM_MasterConfigTypeDef sMasterConfig = {0};

	/* USER CODE BEGIN TIM6_Init 1 */

	/* USER CODE END TIM6_Init 1 */
	htim6.Instance = TIM6;
	htim6.Init.Prescaler = 127;
	htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
	htim6.Init.Period = 249;
	htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
	if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
	{
		Error_Handler();
	}
	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
	if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN TIM6_Init 2 */

	/* USER CODE END TIM6_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.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
	if (HAL_RS485Ex_Init(&huart1, UART_DE_POLARITY_HIGH, 0, 0) != 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 = 115200;
	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;
	huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
	huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
	if (HAL_UART_Init(&huart2) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN USART2_Init 2 */

	/* USER CODE END USART2_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(GPIOA, m1_dir_Pin | m2_dir_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pins : m1_dir_Pin m2_dir_Pin */
	GPIO_InitStruct.Pin = m1_dir_Pin | m2_dir_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);
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if (huart == &huart1)
	{
		HAL_UART_Transmit(&huart2, &huart1_rxc, 1, 100);
		HAL_UART_Receive_IT(&huart1, &huart1_rxc, 1);
	}
	else if (huart == &huart2)
	{
		HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 100);
		HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
	}
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	sys_time += 1;
	if (++sys_time % 250 == 0)
	{
		b_timer_struck = true;
	}
}

void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent)
{
	HAL_TIM_PWM_Stop(timer, channel);
	// add new period if we need to, but we don't need to here

	TIM_OC_InitTypeDef sConfigOC = {0};

	sConfigOC.OCMode = TIM_OCMODE_PWM1;
	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
	sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
	sConfigOC.Pulse = (uint32_t)((dc_percent * timer->Init.Period) / 100.0f);

	HAL_TIM_PWM_ConfigChannel(timer, &sConfigOC, channel);
	HAL_TIM_PWM_Start(timer, channel);
}
/* 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 */