/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2022 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 "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "user_asm330lhh.h"
#include "asm330lhh_reg.h"
#include "user_iam20680.h"
#include "rtklib.h"
#include "stdio.h"
#include <global_var.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 BEGIN 1 */

/* USER CODE END 1 */
/* 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 */
uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg);
/* 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_DMA_Init();
	MX_SPI1_Init();
	MX_USART1_UART_Init();
	MX_USART2_UART_Init();
	MX_SPI2_Init();
	MX_TIM3_Init();
	/* USER CODE BEGIN 2 */
	HAL_TIM_Base_Start(&htim3);
	user_dev_init();
	user_dev_init1();
	memcpy(IMU_mng_TDK.name, "TDK\0", 4);
	memcpy(IMU_mng_ST.name, "STM\0", 4);
	/* enable IMU */
	IMU_mng_ST.enable = 1;
	IMU_mng_TDK.enable = 1;
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		if (1 == ST_IMU_INT && 1 == IMU_mng_ST.enable)
		{
			ST_IMU_INT = 0;
			asm_sample();
			if (IMU_mng_ST.ready == 1)
			{
				IMU_mng_ST.IMU_gyro[0] = asm330.x_gyro;
				IMU_mng_ST.IMU_gyro[1] = asm330.y_gyro;
				IMU_mng_ST.IMU_gyro[2] = asm330.z_gyro;
				IMU_mng_ST.IMU_acc[0] = asm330.x_acc;
				IMU_mng_ST.IMU_acc[1] = asm330.y_acc;
				IMU_mng_ST.IMU_acc[2] = asm330.z_acc;
				IMU_mng_ST.lock = 1;
			};
//			printf("{ GPS_week: %d week_sec: %.3lf \r\n", GPS_week, GPS_sec + time_ms * 0.001);
//			printf("x_a=%.3fm/s2 y_a=%.3fm/s2 z_a=%.3fm/s2\r\n", iam20680.x_acc, iam20680.y_acc, iam20680.z_acc);
//			printf("x_g=%.3fdeg/s y_g=%.3fdeg/s z_g=%.3fdeg/s  }\r\n\r\n\r\n", iam20680.x_gyro, iam20680.y_gyro,
//					iam20680.z_gyro);
		}
		if (1 == TDK_IMU_INT && 1 == IMU_mng_TDK.enable)
		{
			TDK_IMU_INT = 0;
			tdk_sample();
			if (IMU_mng_TDK.ready == 1)
			{
				IMU_mng_TDK.IMU_gyro[0] = iam20680.x_gyro;
				IMU_mng_TDK.IMU_gyro[1] = iam20680.y_gyro;
				IMU_mng_TDK.IMU_gyro[2] = iam20680.z_gyro;
				IMU_mng_TDK.IMU_acc[0] = iam20680.x_acc;
				IMU_mng_TDK.IMU_acc[1] = iam20680.y_acc;
				IMU_mng_TDK.IMU_acc[2] = iam20680.z_acc;
				IMU_mng_TDK.lock = 1;
			};
		}
		IMUdate_to_uart(&huart1, &IMU_mng_ST);
		IMUdate_to_uart(&huart1, &IMU_mng_TDK);
		/* 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_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_DIV2;
	RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
	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();
	}
}

/* USER CODE BEGIN 4 */

uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
{


	if (1 == imu_msg->lock && 1 == imu_msg->ready && 0 == U1_DMA_BUSY)
	{
		memset(U1_TX_buf, 0, UART_BF_SIZE);
		if (imu_msg->gpstime.time == 0)
		{
			sprintf((char*) U1_TX_buf, "$GYOACC,%s,,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf\r\n", imu_msg->name,
					imu_msg->IMU_acc[0], imu_msg->IMU_acc[1], imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0],
					imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
		}
		else
		{
			sprintf((char*) U1_TX_buf, "$GYOACC,%s,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf\r\n", imu_msg->name,
					imu_msg->gpstime.time + imu_msg->gpstime.sec, imu_msg->IMU_acc[0], imu_msg->IMU_acc[1],
					imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0], imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
		}
		HAL_UART_Transmit_DMA(&huart1, U1_TX_buf, strlen((char*) U1_TX_buf));
		U1_DMA_BUSY = 1;
//		HAL_UART_Transmit_IT(&huart1, str_buf, strlen((char*) str_buf));
//		HAL_UART_Transmit(&huart1, str_buf, strlen((char*) str_buf), 0x04);
		imu_msg->lock = 0;
		imu_msg->ready = 0;
	}

	return 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 */
	__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 */