/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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 "stm32g030xx.h"
#include "stm32g0xx_hal.h"
#include "stm32g0xx_hal_gpio.h"


/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "TLE5012.hpp"
#include "stm32g0xx_hal_uart.h"
#include <stdint.h>


#define NUM_LED 10
#define READ_BLOCK_CRC 0x8088

// TLE5012 sensor
#define READ_SENSOR  0x8000 // READ
#define REG_AVAL  (0x0020U)
#define UPD_low  0x0000 
#define SAFE_low 0x0000             //!< \brief switch of safety word generation
#define SAFE_high 0x0001 
#define WRITE_SENSOR 0x5000 


uint8_t buffer[24*NUM_LED];

struct color{
    uint8_t red;
    uint8_t green;
    uint8_t blue;
};

/* 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 ---------------------------------------------------------*/
SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
DMA_HandleTypeDef hdma_spi2_tx;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */
void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE);
void ws2812_spi(struct color * led_data);
void angleToCharArray(double angle, char* charAngle);
// void getAngle(uint8_t * angle);
// void setOneSensor();




/* 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_USART1_UART_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  /* USER CODE BEGIN 2 */
//   HAL_DMA_Init(&hdma_spi2_tx);


    struct color led_data[NUM_LED];
    for(uint8_t i = 0; i < NUM_LED; i++){
        led_data[i].red = 10;
        led_data[i].blue = 10;
        led_data[i].green = 10;
    }
    ws2812_spi(led_data);
    int i = 0;
    uint8_t angle[6];

    Tle5012 AngleSensor = Tle5012(GPIOA, GPIO_PIN_7, &hspi1);

    // setOneSensor();

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    // HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_4);
    // HAL_Delay(1000);
    // HAL_UART_Transmit(&huart1, buffer, sizeof(buffer), 10000);

    // setLED(0, 50, 1, 20);

    // uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi1, uint8_t *pData, uint16_t Size)
    // build read command
   

    
    
    // uint16_t READ_COMMAND = 
    // HAL_SPI_TransmitReceive_DMA(&hspi1, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size)
    // uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24*NUM_LED);



    // uint8_t maxBrightness = 50;
    // uint8_t delay = 10;
    // for(uint8_t i = 0; i < maxBrightness; i++){
    //     led_data[0].blue = i;
    //     led_data[0].red = 0;
    //     led_data[0].green = 0;
    //     ws2812_spi(led_data);
    //     HAL_Delay(delay);
    // }
    
    // ws2812_spi(led_data);
    // for(uint8_t i = 0; i < maxBrightness; i++){
    //     led_data[0].blue = 0;
    //     led_data[0].red = i;
    //     led_data[0].green = 0;
    //      ws2812_spi(led_data);
    //     HAL_Delay(delay);
    // }
    // for(uint8_t i = 0; i < maxBrightness; i++){
    //     led_data[0].blue = 0;
    //     led_data[0].red = 0;
    //     led_data[0].green = i;
    //      ws2812_spi(led_data);
    //     HAL_Delay(delay);
    // }

    // for(uint8_t i = 0; i < maxBrightness; i++){
    //     led_data[1].blue = i;
    //     led_data[1].red = 0;
    //     led_data[1].green = 0;
    //      ws2812_spi(led_data);
    //     HAL_Delay(delay);
    // }
    // for(uint8_t i = 0; i < maxBrightness; i++){
    //     led_data[1].blue = 0;
    //     led_data[1].red = i;
    //     led_data[1].green = 0;
    //      ws2812_spi(led_data);
    //     HAL_Delay(delay);
    // }
    // for(uint8_t i = 0; i < maxBrightness; i++){
    //     led_data[1].blue = 0;
    //     led_data[1].red = 0;
    //     led_data[1].green = i;
    //      ws2812_spi(led_data);
    //     HAL_Delay(delay);
    // }

    // getAngle(angle);
    // uint16_t command = READ_SENSOR | REG_AVAL | UPD_low | SAFE_low;

    // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
    // HAL_Delay(1);
    // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);

    // uint16_t command = 0b1000000000100001;
    //                     //  1000000000100001
    // uint8_t formatedCommand[6] = {0};
    // formatedCommand[0] = (uint8_t)(command >> 8);
    // formatedCommand[1] = (uint8_t)command;

    // uint16_t angle[3] = {0};
    // uint16_t safety;

    // // HAL_SPI_TransmitReceive_DMA(&hspi1,formatedCommand, angle, 6);
    // HAL_SPI_Transmit(&hspi1, formatedCommand, 2, 100);

    // HAL_SPI_Receive(&hspi1, (uint8_t *)(angle), 4, 0xFFFF);
    // // HAL_SPI_Receive(&hspi1, (uint8_t *)(&safety), 2, 0xFF);

    // double angleDeg =  360.0 / 32768.0 * (angle[0] & 0x7FFF);
    
    // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);

    // // HAL_SPI_Transmit(&hspi1,formatedCommand,2,1000);
    // // HAL_SPI_Receive(&hspi1, angle, 2, 1000);
    // HAL_Delay(10);
    double angle = AngleSensor.getAngel();
    if(angle < 0){
        angle *= 1;
    }
    for(uint8_t i = 0; i < NUM_LED; i++){
        led_data[i].red = (uint8_t)angle;
        led_data[i].blue = 180-(uint8_t)angle;
        led_data[i].green = (uint8_t)angle*0;
    }
    ws2812_spi(led_data);

    // char buf2[] = "Hallo Welt\n";
    // HAL_UART_Transmit(&huart1, (uint8_t*)buf2, sizeof(buf2), 1000);
    char charAngle[6] = {0};
    charAngle[5] = '\n';
    angleToCharArray(angle, charAngle);

    HAL_UART_Transmit(&huart1, (uint8_t*)charAngle, sizeof(charAngle), 1000);
    HAL_Delay(100);
    
  }
  /* 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
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** 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.HSIDiv = RCC_HSI_DIV1;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
  RCC_OscInitStruct.PLL.PLLN = 10;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
  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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief SPI2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI2_Init(void)
{

  /* USER CODE BEGIN SPI2_Init 0 */

  /* USER CODE END SPI2_Init 0 */

  /* USER CODE BEGIN SPI2_Init 1 */

  /* USER CODE END SPI2_Init 1 */
  /* SPI2 parameter configuration*/
  hspi2.Instance = SPI2;
  hspi2.Init.Mode = SPI_MODE_MASTER;
  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
  hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi2.Init.NSS = SPI_NSS_SOFT;
  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi2.Init.CRCPolynomial = 7;
  hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
  if (HAL_SPI_Init(&hspi2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI2_Init 2 */

  /* USER CODE END SPI2_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;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Channel1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pin : PA7 */
  GPIO_InitStruct.Pin = GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

// void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE){
//     LED_DATA[led][0] = led;
//     LED_DATA[led][1] = GREEN;
//     LED_DATA[led][2] = RED;
//     LED_DATA[led][3] = BLUE;
// }


// void setOneSensor(){
//     uint8_t command[4] = {0};

//     command[0] = WRITE_SENSOR >> 8;
//     command[1] = 0;
//     command[2] = 0;
//     command[3] = 0;
    
//     HAL_SPI_Transmit(&hspi1, command, 4, 1000); 
// }

void ws2812_spi(struct color *led_data){
    int index = 0;
    for(uint8_t x = 0; x < NUM_LED; x++){
        uint32_t color = led_data[x].green << 16 | led_data[x].red << 8 | led_data[x].blue;
        // index = 0;
        for(int i = 23; i >= 0; i--){
            if(((color >> i) & 0x01) == 1){
                buffer[index++] = 0b110; // 1
            }
            else{
                buffer[index++] = 0b100; // 0
            }
        }
    }
    // HAL_SPI_Transmit(&hspi2, sendData, 24*NUM_LED, 1000);
    uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24*NUM_LED);
    // uint8_t fuck = 1;
}

void angleToCharArray(double angle, char* charAngle){
    
    int16_t angleInt = (int16_t)(angle*10);
    if (angle < 0){
        charAngle[0] = '-';
        angleInt *= -1;
    }
    else{
        charAngle[0] = '+';
    }
    charAngle[4] = angleInt % 10 + 48;
    angleInt /= 10;
    charAngle[3] = angleInt % 10 + 48;
    angleInt /= 10;
    charAngle[2] = angleInt % 10 + 48;
    angleInt /= 10;
    charAngle[1] = angleInt % 10 + 48;
}


/* 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 */
