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

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "BHBF_ROBOT.h"
#include "robot_data.pb.h"
#include "BSP/pb.h"
#include "BSP/pb_decode.h"
#include "BSP/pb_common.h"
#include "BSP/pb_encode.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);
/* 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 */

  /* 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 */

  /* 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_ETH_Init();
  MX_DMA_Init();
  MX_FDCAN1_Init();
  MX_FDCAN2_Init();
  MX_I2C4_Init();
  MX_QUADSPI_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();
  /* USER CODE BEGIN 2 */
//  GF_BSP_MPU_Init();

//  HAL_Delay(10000);  // 延时10000毫秒，即10秒

  GF_Robot_Init();
//  HAL_GPIO_TogglePin(RST_WDI_GPIO_Port, RST_WDI_Pin);//Hardware Watchdog,kicking the dog
//  HAL_GPIO_WritePin(OUT_2_GPIO_Port,OUT_2_Pin,GPIO_PIN_SET  );
//  HAL_GPIO_WritePin(OUT_0_GPIO_Port,OUT_0_Pin,GPIO_PIN_RESET );

  /* USER CODE END 2 */

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

  while (1)
  {
    /* 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();
  }
}

/* USER CODE BEGIN 4 */

void protobuf_mqtt_setting_test(void)
{

	uint8_t Com_buffer[1024] = {0}; //要发送的数据缓存
	DataTrans pack_mqtt_setting = {0};	//�?????要编码的序列化的对象

	pb_ostream_t o_stream = {0}; //初始化输出序列化对象
	//DataTrans unpack_stu = {0};	//初始化输出序列化对象
	//pb_istream_t i_stream = {0}; //初始化接收序列化对象
	int number=0;

  // 组包


//	  GV.Batt_4006.Battery_SOC_Perc=42;
//	  GV.Nooploop_BF.Forward_Dist=1001;
//	  GV.IPC_Inter_Contronl.IPC_2D_Came_State=1;
//	  GV.IPC_Inter_Contronl.IPC_3D_Came_State=1;
//	  GV.IPC_Inter_Contronl.Weld_fault_signal=1;
//
//	  GV.IPC_Inter_Contronl.Robot_Operation_mode=2;
////
//	GV.IPC_Inter_Contronl.Weld_Dete_Res_Proto_Buf[0]=0XB1 ;
//	GV.IPC_Inter_Contronl.Weld_Dete_Res_Proto_Buf[1]=0XCB ;
////
//	GV.IPC_Inter_Contronl.Weld_Dete_Res_Proto_Buf[2]=0XBA ;
//	GV.IPC_Inter_Contronl.Weld_Dete_Res_Proto_Buf[3]=0XCF ;


//	  pack_mqtt_setting.Operation_Mode = GV.IPC_Inter_Contronl.Robot_Operation_mode;//1手动操作�???2，无操作�???3自动操作
//	  pack_mqtt_setting.Bat_SOC =GV.Batt_4006.Battery_SOC_Perc;//电池电量
//	  pack_mqtt_setting.Distance=GV.Nooploop_BF.Forward_Dist;//自行判断X<D<2X;
//	  pack_mqtt_setting.Cam1State= GV.IPC_Inter_Contronl.IPC_2D_Came_State;//0正常�???1存在问题
//	  pack_mqtt_setting.Cam2State= GV.IPC_Inter_Contronl.IPC_3D_Came_State;//0正常�???1存在问题
//	  pack_mqtt_setting.WeldStateInstance=GV.IPC_Inter_Contronl.Weld_fault_signal;


//	  GV.pack_mqtt_setting.IPC_Inter_Contronl.Robot_Operation_mode=GV.IPC_Inter_Contronl.Robot_Operation_mode;

//	  strcpy(pack_mqtt_setting.Buff_Data, GV.IPC_Inter_Contronl.Weld_Dete_Res_Proto_Buf);

	  o_stream = pb_ostream_from_buffer(Com_buffer, sizeof(Com_buffer));///数据存放在了BUffer�???
	  pb_encode(&o_stream, DataTrans_fields, &pack_mqtt_setting);

	  //写入Epprom
	  //GF_BSP_EEPROM_WriteBytes(buffer,0,strlen(buffer));

	  //从eeprom 读取 解包

	 // number=strlen(Com_buffer); output_stream.bytes_written;
	  number=o_stream.bytes_written;
	  GF_MSP_Hangset_Ttransmit_Proto_Buff(number,Com_buffer);

//	  memset(Com_buffer,'\0',sizeof(Com_buffer));
//	 // GF_BSP_EEPROM_ReadBytes(buffer, 0, number);
//
//	  // 解包
//	  i_stream = pb_istream_from_buffer(Com_buffer, sizeof(Com_buffer));
//	  pb_decode(&i_stream, DataTrans_fields, &unpack_stu);

}
/* 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 */
