/* USER CODE BEGIN Header */

/*
	    YILDIZ ROCKET TEAM
  SUDO Main Flight Control Computer

	Dogukan Yalcin
  Tolga Engin
*/

/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "adc.h"
#include "app_fatfs.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "string.h"
#include "system.h"
#include "gps.h"
#include "control.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);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

void HAL_I2C_MemRxCpltCallback (I2C_HandleTypeDef * hi2c)
{
  if(hi2c->Instance == hi2c2.Instance)
  {
    /* BNO IT*/

    readIMU(); 
  }
  else if (hi2c->Instance == hi2c3.Instance)
  {
    /* BME IT*/

    readAltitude();
  }

}

uint8_t received_uart_byte;
uint8_t jei_receive_buffer[42];
uint8_t jei_receive_index = 0;
uint8_t jei_receive_flag = 0;

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  if(huart->Instance == huart1.Instance)
  {
    /*  JEI IT */

    if (received_uart_byte == 'J') {
      jei_receive_flag = 1;
    }

    if (jei_receive_flag) {

      if (jei_receive_index < sizeof(jei_receive_buffer))
        jei_receive_buffer[jei_receive_index++] = received_uart_byte;
      
      if (received_uart_byte == 'T') {
        sscanf(jei_receive_buffer, "J, %f, %f, %f, %f, %f, T", &jei.pressure, &jei.altitude, &jei.gpsAltitude, &jei.latitude, &jei.longtitude);
        // memset(jei_receive_buffer, 0, sizeof(jei_receive_buffer));
        jei_receive_index = 0;
        jei_receive_flag = 0;
      }
    }
    
    HAL_UART_Receive_IT(&huart1, &received_uart_byte, 1);
    
  }
  else if(huart->Instance == huart3.Instance)
  {
    /* GPS IT */

    GPS_CallBack();
  }
  else if (huart->Instance == huart2.Instance)
  {
    /* LENNA IT */
    lenna.tranmissionPercentage = received_uart_byte;
    HAL_UART_Receive_IT(&huart2, &received_uart_byte, 1);
  }
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  if(GPIO_Pin == SPI1_DIO0_Pin ){
    /* LoRA EXTI */

    // loraRecevice();
  }

  else if (GPIO_Pin == BUTTON_Pin)
  {
    /* Button EXTI */

    // HAL_GPIO_TogglePin(BUZZER_GPIO_Port, BUZZER_Pin);
  }
}
/* 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_ADC1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_I2C2_Init();
  MX_I2C3_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  if (MX_FATFS_Init() != APP_OK) {
    Error_Handler();
  }
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */

  openingThemeSong(10);

  init_servo();
  init_esc();
  // calibrate_esc();
  init_control();
  
  initIMU();
  initGPS();
  initBarometer();
  initLoRa();
  GPS_Init();

  HAL_UART_Receive_IT(&huart1, &received_uart_byte, 1);
  HAL_UART_Receive_IT(&huart2, &received_uart_byte, 1);
  
  led(1);
  openingThemeSong(500);

  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */
  /* 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};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** 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_DIV4;
  RCC_OscInitStruct.PLL.PLLN = 85;
  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_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
volatile uint8_t FatFsCnt = 0;
volatile uint16_t Timer1, Timer2;

void SDTimer_Handler(void)
{
  if(Timer1 > 0)
    Timer1--;

  if(Timer2 > 0)
    Timer2--;
}

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM6 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM6) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */
  if (htim->Instance == TIM6) {
      readTime();
    }
  /* USER CODE END Callback 1 */
}

/**
  * @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)
  {
	  led(0);
  }
  /* 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 */
