/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 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"
#include "adc.h"
#include "can.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <math.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 ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#define PI 3.14159265359f
#define TWO_PI (2 * PI)
#define MAX_CURRENT 3.0f // Max phase current
#define POLE_PAIRS 3 // Motor's number of pole pairs
#define TARGET_ANGLE 120.0f // Target angle in degrees
#define TARGET_ANGLE_RAD (TARGET_ANGLE * PI / 180.0f) // 

void StartMotorControl(void) {
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
}

void StopMotorControl(void) {
    HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
    HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2);
    HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3);
}

void UpdateMotor(float a, float b, float c) {

    uint32_t pwm_value_a = (uint32_t)((a / MAX_CURRENT) * ((float)htim1.Init.Period));
    uint32_t pwm_value_b = (uint32_t)((b / MAX_CURRENT) * ((float)htim1.Init.Period));
    uint32_t pwm_value_c = (uint32_t)((c / MAX_CURRENT) * ((float)htim1.Init.Period));
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm_value_a);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, pwm_value_b);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, pwm_value_c);
}

void RunMotorToAngle(float rotorAngle) {
    float phaseA, phaseB, phaseC;
    float rotorRadians = fmod(rotorAngle, 360.0f) * (PI / 180.0f);
    if (rotorAngle >= TARGET_ANGLE) {
      // StopMotor(); // Stop the motor
    }
    phaseA = MAX_CURRENT * sinf(rotorRadians);
    phaseB = MAX_CURRENT * sinf(rotorRadians - TWO_PI / 3.0f);
    phaseC = MAX_CURRENT * sinf(rotorRadians + TWO_PI / 3.0f);
    // char buf[100];
    // /// print all phases currents
    // sprintf(buf, "Phase A B C: %f %f %f\n", phaseA, phaseB, phaseC);
    // USART1_PutString(buf);
    UpdateMotor(phaseA, phaseB, phaseC);
}
/* 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_TIM1_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_TIM2_Init();
  MX_SPI2_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_TIM3_Init();
  MX_ADC2_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
  AS5045_CS_Init();


  /// INIT DRV8313
  HAL_GPIO_WritePin(DRV_RESET_GPIO_Port, DRV_RESET_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(DRV_SLEEP_GPIO_Port, DRV_SLEEP_Pin, GPIO_PIN_SET);
  HAL_Delay(100);
  HAL_GPIO_WritePin(EN_U_GPIO_Port, EN_U_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(EN_V_GPIO_Port, EN_V_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(EN_W_GPIO_Port, EN_W_Pin, GPIO_PIN_SET);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  float angle_values[200];
  uint8_t angle_index = 0;
  float ADC123_ANGLE[4] = {0, 0, 0, 0};
  StartMotorControl();

  while (1)
  {
    // Ready to MERGE
    RunMotorToAngle(ADC123_ANGLE[3] + 10.0f);
    if (flag_10kHz == SET)
    {
      flag_10kHz = RESET;
      // Do something every 10 kHz
      // BLINK LED1
      HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
      uint8_t status = 0;
      uint16_t angle = AS5045_ReadAngle(&hspi2, &status);
      if (angle_index == 200)
      {
        angle_index = 0;
        float average = 0;
        for (int i = 0; i < 200; i++)
        {
          average += angle_values[i];
        }
        average /= 200.0;
        ADC123_ANGLE[0] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_15)); // Read ADC
        ADC123_ANGLE[1] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_8));  // Read ADC
        ADC123_ANGLE[2] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_9));  // Read ADC
        ADC123_ANGLE[3] = average;
        USART1_PutString("\xDE\xAD");
        SendFloatsWithLL((uint8_t *)ADC123_ANGLE);
        USART1_PutString("\xBE\xAF");
        // break;
      }
      if (status == 0)
      {
        float degrees = NormalizeToDegrees(angle);
        angle_values[angle_index] = degrees;
        angle_index++;
      }
      else
      {
        // Handle the error
        if (status & AS5040_DIAG_OC_FAULT)
        {
          // Offset Compensation not finished
        }
        if (status & AS5040_DIAG_CO_FAULT)
        {
          // Cordic Overflow error
        }
        if (status & AS5040_DIAG_LIN_FAULT)
        {
          // Linearity Alarm error
        }
        // StopMotorControl();
      }

      // sprintf(buf, "Average: %f\r\n", degrees);
      // USART1_PutString(buf);
      // HAL_Delay(100);
    }

    /* 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
  */
  __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_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 180;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Activate the Over-Drive mode
  */
  if (HAL_PWREx_EnableOverDrive() != 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief NVIC Configuration.
  * @retval None
  */
static void MX_NVIC_Init(void)
{
  /* TIM1_BRK_TIM9_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
  /* TIM1_CC_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_CC_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
  /* TIM2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM2_IRQn, 4, 0);
  HAL_NVIC_EnableIRQ(TIM2_IRQn);
  /* ADC_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(ADC_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(ADC_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 */