/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "libSerial/serial.h"
#include "nmea.h"
#include "display.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 ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim4;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void
SystemClock_Config (void);
static void
MX_GPIO_Init (void);
static void
MX_CAN_Init (void);
static void
MX_SPI1_Init (void);
static void
MX_TIM4_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_CAN_Init ();
  MX_SPI1_Init ();
  MX_TIM4_Init ();
  MX_USART1_UART_Init ();
  /* USER CODE BEGIN 2 */
  __HAL_RCC_USART1_CLK_ENABLE();
  /* setup the USART control blocks */
  init_usart_ctl (&uc1, huart1.Instance);

  EnableSerialRxInterrupt (&uc1);

  cc_init ();
  HAL_Delay (1000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
    {
      cc_run ();

      Location loc;
      uint8_t stat = updateLocation (&loc);

      HAL_Delay (10);

      /* 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 };

  /** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL8;
  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_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

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

/**
 * @brief CAN Initialization Function
 * @param None
 * @retval None
 */
static void
MX_CAN_Init (void)
{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 16;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init (&hcan) != HAL_OK)
    {
      Error_Handler ();
    }
  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE END CAN_Init 2 */

}

/**
 * @brief SPI1 Initialization Function
 * @param None
 * @retval None
 */
static void
MX_SPI1_Init (void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_1LINE;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 10;
  if (HAL_SPI_Init (&hspi1) != HAL_OK)
    {
      Error_Handler ();
    }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
 * @brief TIM4 Initialization Function
 * @param None
 * @retval None
 */
static void
MX_TIM4_Init (void)
{

  /* USER CODE BEGIN TIM4_Init 0 */

  /* USER CODE END TIM4_Init 0 */

  TIM_Encoder_InitTypeDef sConfig =
    { 0 };
  TIM_MasterConfigTypeDef sMasterConfig =
    { 0 };

  /* USER CODE BEGIN TIM4_Init 1 */

  /* USER CODE END TIM4_Init 1 */
  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 0;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 65535;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 8;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 8;
  if (HAL_TIM_Encoder_Init (&htim4, &sConfig) != HAL_OK)
    {
      Error_Handler ();
    }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization (&htim4, &sMasterConfig) != HAL_OK)
    {
      Error_Handler ();
    }
  /* USER CODE BEGIN TIM4_Init 2 */

  /* USER CODE END TIM4_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;
  if (HAL_UART_Init (&huart1) != HAL_OK)
    {
      Error_Handler ();
    }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_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_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin (GPIOC, SPI_CD_Pin | SPI_RESET_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin (SPI_NSS1_GPIO_Port, SPI_NSS1_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : SPI_CD_Pin SPI_RESET_Pin */
  GPIO_InitStruct.Pin = SPI_CD_Pin | SPI_RESET_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init (GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : SPI_NSS1_Pin */
  GPIO_InitStruct.Pin = SPI_NSS1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init (SPI_NSS1_GPIO_Port, &GPIO_InitStruct);

}

/* 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 */

  /* 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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/