/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 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"
#include "adc.h"
#include "can.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#include "FOC.h"
#include "FOC_utils.h"
#include "stm32_mcu.h"
#include "retarget.h"

#include "st7735.h"
#include "fonts.h"
#include "image.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 */

  /* 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_I2C1_Init();
  MX_USART1_UART_Init();
  MX_TIM1_Init();
  MX_ADC1_Init();
  MX_SPI1_Init();
  /* USER CODE BEGIN 2 */
    RetargetInit(&huart1);
    FOC_init();
    ST7735_Init();

    ST7735_FillScreen(ST7735_WHITE);
    ST7735_DrawImage(0, 0, ST7735_HEIGHT, ST7735_HEIGHT, (uint16_t*)head_portrait_80x80);
    ST7735_WriteString(80, 0, "ZHT", Font_11x18, ST7735_BLUE, ST7735_BLACK);
    ST7735_WriteString(80, 18, "Hello!", Font_11x18, ST7735_BLUE, ST7735_BLACK);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
    while (1) {
        for (float angle = 0; angle < _2PI; angle += 0.05) {
            FOC_SVPWM(0, 2, angle);
            printf("Angle:%.2f\n", angle);

            char display_string[20];
            char display_number[10];
            strcpy(display_string, "Angle:");
//            strcat(display_string, itoa((int)angle, display_number, 10));
//            strcat(display_string, "\n");

//            ST7735_WriteString(80, 36, "123", Font_11x18, ST7735_BLUE, ST7735_BLACK);
            HAL_Delay(1);
        }
//        _writeDutyCycle3PWM(1, 0, 0);
//        HAL_Delay(500);
//        _writeDutyCycle3PWM(1, 1, 0);
//        HAL_Delay(500);
//        _writeDutyCycle3PWM(0, 1, 0);
//        HAL_Delay(500);
//        _writeDutyCycle3PWM(0, 1, 1);
//        HAL_Delay(500);
//        _writeDutyCycle3PWM(0, 0, 1);
//        HAL_Delay(500);
//        _writeDutyCycle3PWM(1, 0, 1);
//        HAL_Delay(500);
    /* 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};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {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_MUL9;
  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();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* 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 */

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