/* 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 "gpdma.h"
#include "icache.h"
#include "memorymap.h"
#include "tim.h"
#include "ucpd.h"
#include "usart.h"
#include "usb_otg.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "dshot150.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 */

uint16_t motor_speed;
uint8_t loop_count;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void SystemPower_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 */

  /* 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();

  /* Configure the System Power */
  SystemPower_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_GPDMA1_Init();
  MX_ICACHE_Init();
  MX_UCPD1_Init();
  MX_USART1_UART_Init();
  MX_ADC1_Init();
  MX_MEMORYMAP_Init();
  MX_USB_OTG_FS_PCD_Init();
  MX_TIM5_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

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

	dshot_arm_esc();

	loop_count = 1;

	while (loop_count == 1)
	{

//		for (int i = 0; i < 1000; i++)
//		{
//			dshot_send_ref_speed(TEST_SPEED_1);
//			HAL_Delay(1);
//		}
//
//		for (int i = 0; i < 1000; i++)
//		{
//			dshot_send_ref_speed(TEST_SPEED_2);
//			HAL_Delay(1);
//		}
//
//		for (int i = 0; i < 1000; i++)
//		{
//			dshot_send_ref_speed(TEST_SPEED_3);
//			HAL_Delay(1);
//		}
//
//		for (int i = 0; i < 1000; i++)
//		{
//			dshot_send_ref_speed(TEST_SPEED_4);
//			HAL_Delay(1);
//		}
//
//		for (int i = 0; i < 1000; i++)
//		{
//			dshot_send_ref_speed(TEST_SPEED_3);
//			HAL_Delay(1);
//		}
//
//		for (int i = 0; i < 1000; i++)
//		{
//			dshot_send_ref_speed(TEST_SPEED_2);
//			HAL_Delay(1);
//		}
//
//		for (int i = 0; i < 1000; i++)
//		{
//			dshot_send_ref_speed(TEST_SPEED_1);
//			HAL_Delay(1);
//		}

		for (int i = 0; i < 1000; i++)
						{
							dshot_send_ref_speed(SPEED_MIN);
							HAL_Delay(5);
						}

		for (motor_speed = SPEED_MIN; motor_speed < SPEED_MAX; motor_speed++)
		{
			dshot_send_ref_speed(motor_speed);
			HAL_Delay(5);
		}

		for (int i = 0; i < 1000; i++)
				{
					dshot_send_ref_speed(SPEED_MAX);
					HAL_Delay(5);
				}

		for (motor_speed = SPEED_MAX; motor_speed > SPEED_MIN; motor_speed--)
		{
			dshot_send_ref_speed(motor_speed);
			HAL_Delay(5);
		}

		loop_count++;

    /* 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
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
                              |RCC_OSCILLATORTYPE_MSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.MSIState = RCC_MSI_ON;
  RCC_OscInitStruct.MSICalibrationValue = RCC_MSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_4;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI;
  RCC_OscInitStruct.PLL.PLLMBOOST = RCC_PLLMBOOST_DIV1;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 80;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLLVCIRANGE_0;
  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_PCLK3;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief Power Configuration
  * @retval None
  */
static void SystemPower_Config(void)
{
  HAL_PWREx_EnableVddIO2();

  /*
   * Switch to SMPS regulator instead of LDO
   */
  if (HAL_PWREx_ConfigSupply(PWR_SMPS_SUPPLY) != HAL_OK)
  {
    Error_Handler();
  }
/* USER CODE BEGIN PWR */
/* USER CODE END PWR */
}

/* 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 */
