/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 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 "CAN_data_load.h"
#include "GPS_load_control.h"
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
#ifdef __GNUC__
/* With GCC, small printf (option LD Linker->Libraries->Small printf
 set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
  #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
/* 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;

UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */
CAN_DataStore storage;
CAN_FilterTypeDef sFilterConfig;
unsigned char buffer[500];
bool acquWait = false;
/* 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_USART2_UART_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_USART2_UART_Init();
	MX_USART1_UART_Init();
	/* USER CODE BEGIN 2 */
	/* enabling CAN interface */
	if (HAL_CAN_Start(&hcan) == HAL_OK) {
		printf("\n\tListening\n");
		HAL_Delay(500);
	} else {
		printf("\n\tNot listening\n");
	}
	/* enabling pending notification */
	if (HAL_CAN_ActivateNotification(&hcan,
	CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK) {
		Error_Handler();
	}
	/* setting mask for receiving messages */
	CAN_SetFilterAutomotive(sFilterConfig, hcan);

	/* this data are not changed through the time so we can load it only once */
	CAN_GetFuelType(hcan);
	CAN_GetVIN(hcan);

	/* setting GPS module to standby mode for saving power */
	GPS_Standby(&huart1);
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1) {
		printf("\n----CAN-COMMUNICATION-START----\n");
		CAN_GetSituation(hcan);
		storage = CAN_GetStorage();
		CAN_PrintOut(PRINT_FUELTYPE, storage);
		CAN_PrintOut(PRINT_VIN, storage);
		CAN_PrintOut(PRINT_SITUATION, storage);
		printf(
				"-----CAN-COMMUNICATION-END-----\n\n-----GPS-COMMUNICATION-START-----\n");
		bool loadState = true;
		bool acquState = false;
		int stbcounter = 0;
		unsigned char position[42];
		unsigned char course[7];
		while (loadState) {
			GPS_WakeUp(&huart1); // wake up module
			STBAGAIN: GPS_ClearBuffs(buffer);
			HAL_UART_Receive(&huart1, buffer, sizeof(buffer), TIMEOUT);
			loadState = GPS_Load(buffer[0]);
			if (loadState == false) {
				GPS_ClearBuffs(position);
				GPS_ClearBuffs(course);
				acquState = GPS_LoadPosition(position, buffer,
						GPS_FindIdx(buffer, "GLL"));
				if (acquState) {
					GPS_Standby(&huart1); // back to standby mode (only after successful acquisition)
					GPS_LoadCourse(course, buffer, GPS_FindIdx(buffer, "PRM"));
					unsigned char posLab[] = "Position: ";
					unsigned char couLab[] = "\nCourse: ";
					HAL_UART_Transmit(&huart2, posLab, sizeof(posLab),
					SENDING_TIME);
					HAL_UART_Transmit(&huart2, position, sizeof(position),
					SENDING_TIME);
					HAL_UART_Transmit(&huart2, couLab, sizeof(couLab),
					SENDING_TIME);
					HAL_UART_Transmit(&huart2, course, sizeof(course),
					SENDING_TIME);
					printf(" deg\n");
					stbcounter = 0;
					acquWait = false;
				} else {
					/* for case, when acquisition wasn't successful because of short run time
					 since wake up from stand by mode */
					if (acquWait) {
						goto DNTWAIT;
					}
					stbcounter += 1;
					if (stbcounter <= 14) { /* value 14 chosen because of measuring of the time duration (14 repeats takes cca 35 seconds) */
						HAL_Delay(1000);
						goto STBAGAIN;
					}
					acquWait = true;
					DNTWAIT: stbcounter = 0;
					printf("GPS module connected, can't finish acquisition\n");
				}
			} else {
				printf("No data from GPS module\n");
			}
		}
		printf("-----GPS-COMMUNICATION-END-----\n");
		/* 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_BYPASS;
	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();
	}
}

/**
 * @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 = 9;
	hcan.Init.Mode = CAN_MODE_NORMAL;
	hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan.Init.TimeSeg1 = CAN_BS1_6TQ;
	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 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 = 9600;
	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 USART2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART2_UART_Init(void) {

	/* USER CODE BEGIN USART2_Init 0 */

	/* USER CODE END USART2_Init 0 */

	/* USER CODE BEGIN USART2_Init 1 */

	/* USER CODE END USART2_Init 1 */
	huart2.Instance = USART2;
	huart2.Init.BaudRate = 115200;
	huart2.Init.WordLength = UART_WORDLENGTH_8B;
	huart2.Init.StopBits = UART_STOPBITS_1;
	huart2.Init.Parity = UART_PARITY_NONE;
	huart2.Init.Mode = UART_MODE_TX_RX;
	huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart2.Init.OverSampling = UART_OVERSAMPLING_16;
	if (HAL_UART_Init(&huart2) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN USART2_Init 2 */

	/* USER CODE END USART2_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(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin : B1_Pin */
	GPIO_InitStruct.Pin = B1_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : LD2_Pin */
	GPIO_InitStruct.Pin = LD2_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : PB10 */
	GPIO_InitStruct.Pin = GPIO_PIN_10;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	/*Configure GPIO pin : PB11 */
	GPIO_InitStruct.Pin = GPIO_PIN_11;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */
PUTCHAR_PROTOTYPE {
	/* Place your implementation of fputc here */
	/* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
	HAL_UART_Transmit(&huart2, (uint8_t*) &ch, 1, 0xFFFF);

	return ch;
}

/* 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 */
	printf("\nERROR\n");
	__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****/
