/* 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"
#include "adc.h"
#include "dma.h"
#include "eth.h"
#include "fdcan.h"
#include "i2c.h"
#include "usart.h"
#include "quadspi.h"
#include "tim.h"
#include "gpio.h"
#include "stm32h7xx_hal.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "BHBF_ROBOT.h"
#include "bsp_FDCAN.h"

#include "motors.h"
#include <bsp_client_setting.h>
#include "robot_state.h"
#include "MSP/msp_MF_Gyroscope.h"
#include "msp_CMCUU.h"
#include "msp_KS206.h"
#include "msp_Blast_Machine.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
void CV_GV_Init();
void GF_Robot_Init();
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

#define RS485_1_WaitTime  6

#define RS485_2_WaitTime 6
#define RS485_3_WaitTime 6
#define RS485_4_WaitTime 6
#define LTE_7S0_Serial_WaitTime 6
#define InterCall_DEBUG_WaitTime 6
#define E28_SBUS_WaitTime 4
#define LPUART1_UART_WaitTime 6
#define RS485_1_Dispacher_Time 100
#define RS485_2_Dispacher_Time 100
#define RS485_3_Dispacher_Time 100
#define RS485_4_Dispacher_Time 100
#define LTE_7S0_Serial_Dispacher_Time 100
#define InterCall_DEBUG_Dispacher_Time 100
#define E28_SBUS_Dispacher_Time  100
#define LPUART1_UART_Dispacher_Time 100
int can1_sendListPeriod = 2;
int can1_DispacherPeriod = 2;
int can2_sendListPeriod = 2;
int can2_DispacherPeriod = 2;

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
void protobuf_mqtt_setting_test(void);
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
/* USER CODE BEGIN PFP */
char ReadIO[8];

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void IWDG1_Init(void)
{
    // 1. 通过写 0x5555 到键寄存器 (KR) 来解除写保护
    IWDG1->KR = 0x5555;

    // 2. 配置预分频器 (PR)
    IWDG1->PR = 4;//IWDG_PRESCALER_32; // 注意：这里是一个宏，表示分频系数

    // 3. 设置重装载值 (RLR)
    IWDG1->RLR = 1000;             // 12位递减计数器最大值

    // 4. 喂狗 (重载计数器)
    IWDG1->KR = 0xAAAA;

    // 5. 启动看门狗 (写入 0xCCCC 到 KR 寄存器)
    IWDG1->KR = 0xCCCC;
}

void IWDG1_Refresh(void)
{
    // 喂狗：向键寄存器写入 0xAAAA
    IWDG1->KR = 0xAAAA;
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int feed_dog=0;
int main(void)
{

  /* USER CODE BEGIN 1 */

	// the baud rate of the pressure sensor is 19200
	// tdl720 115200
  /* USER CODE END 1 */

  /* MPU Configuration--------------------------------------------------------*/

  	MPU_Config();

  /* Enable the CPU Cache */

  /* Enable I-Cache---------------------------------------------------------*/
  SCB_EnableICache();

  /* Enable D-Cache---------------------------------------------------------*/
  SCB_EnableDCache();

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
  //HAL_DBGMCU_EnableDBGStopMode();
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
	//__HAL_RCC_D2SRAM3_CLK_ENABLE();
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_FDCAN1_Init();
  MX_FDCAN2_Init();
  MX_I2C4_Init();
  MX_TIM1_Init();
  MX_UART4_Init();
  MX_UART5_Init();
  MX_UART7_Init();
  MX_USART1_UART_Init();
  MX_USART3_UART_Init();
  MX_USART2_UART_Init();
  MX_USART6_UART_Init();
  MX_TIM8_Init();
  MX_QUADSPI_Init();
  MX_LPUART1_UART_Init();
  MX_ADC2_Init();
  MX_ETH_Init();
  /* USER CODE BEGIN 2 */
//    HAL_Delay(5000);


	SystemTimer_Intialize();
	GF_BSP_GPIO_SetIO(Lifting_IO_CTL_0, 1);
	GF_BSP_GPIO_SetIO(Lifting_IO_CTL_1, 1);
	HAL_Delay(1000);
	Error_Detect_Intialzie(1000);	//every 1 seconds

	Move_PushRod_Halt_Func_Do_1();
	Move_PushRod_Halt_Func_Do();
	GF_Robot_Init();
	//TCP_Client_Init(); //不需要接网线
//	GV.Robot_Move_Speed = 1000;
//	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ComError_Ultrasonic_Sensor",0,ComError_Ultrasonic_Sensor);
//	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ComError_Force_Sensor",0,ComError_Force_Sensor);
	//tcp_client_connect();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */

	// 启动看门狗
	IWDG1_Init();

	while (1)
	{
		if(feed_dog==0)
		{
			IWDG1_Refresh();
		}
		//HAL_IWDG_Refresh(&hiwdg1);
		//HAL_Delay(3000);
		//GF_BSP_GPIO_ToggleIO(Wind_IO_CTL);
    /* 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};

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

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  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_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 = 2;
  RCC_OscInitStruct.PLL.PLLN = 64;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 20;
  RCC_OscInitStruct.PLL.PLLR = 4;
  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_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

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

  /** Enables the Clock Security System
  */
  HAL_RCC_EnableCSS();
}

/* USER CODE BEGIN 4 */

void CV_GV_Init()
{

	CV = GF_BSP_EEPROM_Get_CV(); //Read CV


	//洗舱项目
	//motor regions
	TT_Motor[1] = &GV.LeftMotor;
	TT_Motor[2] = &GV.RightMotor;
	TT_Motor[3] = &GV.SwingMotor;

	TT_Motor[1]->MotorID = 1;
	TT_Motor[2]->MotorID = 2;
	TT_Motor[3]->MotorID = 3;

	//Error Config
	SystemErrorCode = &GV.SystemErrorData.ErrorCode;


	CMCU = &GV.Force_Value_mN;

	SP_MSP_RF_TL720D_Parameters_In = &GV.TL720DParameters;

	P_MK32 = &GV.P_MK32;
	KS206  = &GV.Robot_To_Wall_mm;
	//遥控器返回数
	Robot_LeftCompensation = &GV.Left_Compensation;
	Robot_RightCompensation = &GV.Right_Compensation;
	Robot_Angle = &GV.TL720DParameters.RF_Angle_Roll;
	Robot_Deri_Speed = &GV.Robot_Move_Speed;
	Robot_Angle_Start_BASE = &CV.Robot_Angle_Start_BASE;
	RobotAngle = &GV.Robot_Angle;
	//DMKE Motors
	GV.has_TL720DParameters = true;
	GV.has_RightMotor = true;
	GV.has_P_MK32 = true;
	GV.has_LeftMotor = true;
	GV.has_SwingMotor = true;
	GV.has_IO = true;

	GV.has_SystemErrorData = true;

}

void GF_Robot_Init()
{
	//GF_BSP_MPU_Init();
	//2ms调度
	GF_BSP_EEPROM_Init();
	CV_GV_Init();

	//初始化encoder
	GF_BSP_UARTHandlers_Intialize(
	RS485_1_WaitTime,
	RS485_2_WaitTime,
	RS485_3_WaitTime,
	RS485_4_WaitTime,
	LTE_7S0_Serial_WaitTime,
	InterCall_DEBUG_WaitTime,
	E28_SBUS_WaitTime,
	LPUART1_UART_WaitTime,
	RS485_1_Dispacher_Time,
	RS485_2_Dispacher_Time,
	RS485_3_Dispacher_Time,
	RS485_4_Dispacher_Time,
	LTE_7S0_Serial_Dispacher_Time,
	InterCall_DEBUG_Dispacher_Time,
	E28_SBUS_Dispacher_Time,
	LPUART1_UART_Dispacher_Time);
	is_upper_computer_take_over_control = 0;

	DLT_LOG_ENABLE_LEVEL = 0;	  //7 send all information 	  //0 send nothing
	dLT_Log_intialize(&InterCall_DEBUG_UART_Handler);
	upper_Computer_UART_Handler_intialize(&RS_485_4_UART_Handler);
	TL720D_intialize(&RS_485_1_UART_Handler);
	MK32_Sbus_UART_Handler_intialize(&E28_SBUS_UART_Handler);


	client_setting_intialize(&LPUART1_UART_Handler);
	WH_LTE_7S0_intialize(&LTE_7S0_Serial_UART_Handler);
	GF_BSP_FDCAN_Init();
	GF_BSP_CANHandler_Init(can1_sendListPeriod, can1_DispacherPeriod,
	        can2_sendListPeriod, can2_DispacherPeriod);
//	Motor_Controller_intialize(&FD_CAN_1_Handler);
//	Motor_Controller_intialize_CAN2(&FD_CAN_2_Handler);
	GF_MSP_Gyro_MFOG40_Init(&huart3,(MFOG40_Gyro_struct_define*)&GV.MFOG40_Plane);
	Fsm_Init();
	CMCU_sensor_intialize(&RS_485_3_UART_Handler);

//	KS206_sensor_intialize(&RS_485_4_UART_Handler);//115200
	//blast_control_intialize(&RS_485_4_UART_Handler);//喷砂机遥控器控制，共用一个串口
	DAM_Relay_intialize(&RS_485_4_UART_Handler);

	GF_BSP_TIMER_Init(); //定时器最后启

	HAL_Delay(5000);  //电机启动慢，延一会再发报文
	Motor_Controller_intialize(&FD_CAN_1_Handler);
	Motor_Controller_intialize_CAN2(&FD_CAN_2_Handler);

}
/* USER CODE END 4 */

 /* MPU Configuration */

void MPU_Config(void)
{
  MPU_Region_InitTypeDef MPU_InitStruct = {0};

  /* Disables the MPU */
  HAL_MPU_Disable();

  /** Initializes and configures the Region and the memory to be protected
  */
  MPU_InitStruct.Enable = MPU_REGION_ENABLE;
  MPU_InitStruct.Number = MPU_REGION_NUMBER0;
  MPU_InitStruct.BaseAddress = 0x30040000;
  MPU_InitStruct.Size = MPU_REGION_SIZE_32KB;
  MPU_InitStruct.SubRegionDisable = 0x0;
  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
  MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
  MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
  MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
  MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
  MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;

  HAL_MPU_ConfigRegion(&MPU_InitStruct);

  /** Initializes and configures the Region and the memory to be protected
  */
  MPU_InitStruct.Number = MPU_REGION_NUMBER1;
  MPU_InitStruct.Size = MPU_REGION_SIZE_1KB;
  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
  MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
  MPU_InitStruct.IsBufferable = MPU_ACCESS_BUFFERABLE;

  HAL_MPU_ConfigRegion(&MPU_InitStruct);

  /** Initializes and configures the Region and the memory to be protected
  */
  MPU_InitStruct.Number = MPU_REGION_NUMBER2;
  MPU_InitStruct.BaseAddress = 0x30030000;
  MPU_InitStruct.Size = MPU_REGION_SIZE_32KB;
  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
  MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
  MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;

  HAL_MPU_ConfigRegion(&MPU_InitStruct);
  /* Enables the MPU */
  HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);

}

/**
  * @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)
	{
		HAL_Delay(1000);
		LOGFF(DL_ERROR, "Something Bad Happened, Now in Error_Handler Function");
	}
  /* 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 */