/* 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 Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "i2s.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_host.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdbool.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 */
bool distance_flag = false;
int grab_mode = 0;

uint8_t rx3_data = 0;


uint8_t tmp_stop = 1;
uint8_t tmp_speed1 = 2;
uint8_t tmp_speed2 = 3;
uint8_t tmp_speed3 = 4;

int MOTOR_PWM[5];
int MOTOR_PWM_MEAN[5];
int MOTOR_PWM_MAX[5];
int MOTOR_PWM_MIN[5];
int mode[5]={1,1,1,1,1};
char direction;
char response;

volatile uint32_t distance;
#define Delay_ms     HAL_Delay
#define millis()     HAL_GetTick()
#define SYS_CLOCK    168
#define SYSTICK_LOAD 167999
__IO uint32_t uwTick=0;
extern __IO uint32_t uwTick;
/* USER CODE END PV */

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

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t micros() {
  return (uwTick&0x3FFFFF)*1000 + (SYSTICK_LOAD-SysTick->VAL)/SYS_CLOCK;
}

void Delay_us(uint32_t us) {
  uint32_t temp = micros();
  uint32_t comp = temp + us;
  uint8_t  flag = 0;
  while(comp > temp){
    if(((uwTick&0x3FFFFF)==0)&&(flag==0)){
      flag = 1;
    }
    if(flag) temp = micros() + 0x400000UL * 1000;
    else     temp = micros();
  }
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) //External interrupt for Sonar
{
	static uint32_t ss=0;
	uint32_t temp = GPIOC->IDR & 0x0002;//PC1이니까 2^(1)=2
	switch (temp) {
	  case 0x0002:
		 ss = micros();
		 break;

	  case 0x0000 :
		 distance = (micros() - ss) / 58;
		 if(distance <= 2){
			 distance_flag = true;
		 }
		 break;
	}
}


/* 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_I2C1_Init();
  MX_I2S3_Init();
  MX_SPI1_Init();
  MX_TIM3_Init();
  MX_TIM12_Init();
  MX_USB_HOST_Init();
  MX_TIM1_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */

  //raspberryPi to robotArm
  HAL_UART_Receive_IT(&huart3,&rx3_data,1);

  //Robot Arm
  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_2);

  //SONAR
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);


  /* USER CODE END 2 */

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

  while (1)
  {

	  TIM3->CCR3=300; 	// 1 top
	  TIM12->CCR1=350;	//2
	  TIM12->CCR2=300; 	// 3
	  TIM3->CCR2= 300; 	//4
	  TIM3->CCR1 = 500; // 5

	  if(rx3_data == 1){		// 전방 차량과의 거리가 70cm 미만일 때 stm_cart에 신호값 1 전달
		  HAL_UART_Transmit(&huart2, &tmp_stop, 1, 100);
	  }
	  else if(rx3_data == 2){	// 전방 차량과의 거리가 70cm 이상 100cm 미만일 때 stm_cart에 신호값 2 전달
		  HAL_UART_Transmit(&huart2, &tmp_speed1, 1, 100);
	  }
	  else if(rx3_data == 3){	// 전방 차량과의 거리가 100cm 이상 150cm 미만일  stm_cart에 신호값 3 전달
	  		  HAL_UART_Transmit(&huart2, &tmp_speed2, 1, 100);
	  	  }
	  else (rx3_data == 4){		// 전방에 차량이 없거나 거리가 150cm 이상일 때 stm_cart에 신호값 4 전달
		  HAL_UART_Transmit(&huart2, &tmp_speed3, 1, 100);
	  }

	  distance_flag = false;
	  rx3_data = 0;


    /* USER CODE END WHILE */
    MX_USB_HOST_Process();

    /* 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 PeriphClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks
  */
  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 = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2S;
  PeriphClkInitStruct.PLLI2S.PLLI2SN = 192;
  PeriphClkInitStruct.PLLI2S.PLLI2SR = 2;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief NVIC Configuration.
  * @retval None
  */
static void MX_NVIC_Init(void)
{
  /* EXTI1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI1_IRQn);
  /* USART3_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(USART3_IRQn);
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  if(huart->Instance==USART3){
	  HAL_UART_Receive_IT(&huart3,&rx3_data,1);
  }
}
/* 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****/