/* 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 "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "PLSR.h"	  
#include "includes.h"
#include "modbus.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint8_t ArrFlag = 0; /* 加速度Flag */
float Acc;         /* 加速度 */
uint32_t AllPulseCNT = 0;

uint8_t EndFlag = 0;
uint8_t FullFlag = 0;
/* 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 */
void PVD_Init(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* 任务优先级 */
#define TASK_Y1Direction  4
#define TASK_PulseStart   4
#define TASK_DirOutput    4

/* 任务堆栈大小 */
#define Task_Y1Direction_SIZE   256
#define Task_PulseStart_SIZE    256
#define Task_DirOutput_SIZE     256

/* 任务控制块 */
OS_TCB Y1Direction_Tsk;
OS_TCB PulseStart_Tsk; 
OS_TCB DirOutput_Tsk;
 
 /* 任务栈 */ 
CPU_STK Task_Y1Direction_STK[Task_Y1Direction_SIZE];
CPU_STK Task_PulseStart_STK[Task_PulseStart_SIZE];
CPU_STK Task_DirOutput_STK[Task_DirOutput_SIZE];

/* 任务函数 */
void Y1Direction(void *p_arg);
void PulseStartTsk(void *p_arg);
void DirOutput(void *p_arg);

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	OS_ERR err;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
  PVD_Init();
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
	HAL_PWR_EnableBkUpAccess();/* 使能备份域访问 */
	__HAL_RCC_BKPSRAM_CLK_ENABLE();/* 使能备份SRAM时钟 */
	HAL_PWREx_EnableBkUpReg();/* 使能备份SRAM */
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_TIM10_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  		  PulseBaseInit(0, 0, 200);//设置为第0段脉冲开始，相对模式, 最大脉冲为0
 		  AccCount = 50;
  
 		 PulseInit(0, 1, 5, 0); //第几段脉冲，频率，数量，下一段脉冲
  		 AddPulse(1, 100, -200, 0);
 		 AddPulse(2, 1, 55, 0);

  
  
  
  	BSP_Init();
	OSInit(&err); 
	
	 /* 任务1 */
	 OSTaskCreate((OS_TCB  * )&Y1Direction_Tsk,                                /* 任务控制块 */
                 (CPU_CHAR* )"Y1Direction",                                    /* 任务名字 */
                 (OS_TASK_PTR)Y1Direction,                                       /* 任务函数 */
                 (void  * )0,                                             /* 传递给任务函数的参数 */
                 (OS_PRIO   )TASK_Y1Direction,                                     /* 任务优先级 */
                 (CPU_STK * )&Task_Y1Direction_STK[0],                         /* 任务堆栈基地址 */
                 (CPU_STK_SIZE)Task_Y1Direction_SIZE/10,                     /* 任务堆栈深度限位 */
                 (CPU_STK_SIZE)Task_Y1Direction_SIZE,                           /* 任务堆栈大小 */
                 (OS_MSG_QTY)0,      /* 任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息 */
                 (OS_TICK   )0,               /* 当使能时间片轮转时的时间片长度，为0时为默认长度 */
                 (void    * )0,                                              /* 用户补充的存储区 */
                 (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,                /* 任务选项 */
                 (OS_ERR  * )&err);                                  /* 存放该函数错误时的返回值 */
	 /* 任务2 */
	 OSTaskCreate((OS_TCB  * )&PulseStart_Tsk,                                    
                 (CPU_CHAR* )"PulseStartTsk",                                 
                 (OS_TASK_PTR)PulseStartTsk,                                 
                 (void  * )0,                                          
                 (OS_PRIO   )TASK_PulseStart,                                 
                 (CPU_STK * )&Task_PulseStart_STK[0],                    
                 (CPU_STK_SIZE)Task_PulseStart_SIZE/10,                
                 (CPU_STK_SIZE)Task_PulseStart_SIZE,                    
                 (OS_MSG_QTY)0,      
                 (OS_TICK   )0,            
                 (void    * )0,                                         
                 (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,          
                 (OS_ERR  * )&err);                              
     /* 任务3 */
	 OSTaskCreate((OS_TCB  * )&DirOutput_Tsk,                               
                 (CPU_CHAR* )"DirOutput_Tsk",                               
                 (OS_TASK_PTR)DirOutput,                                  
                 (void  * )0,                                       
                 (OS_PRIO   )TASK_DirOutput,                              
                 (CPU_STK * )&Task_DirOutput_STK[0],                         
                 (CPU_STK_SIZE)Task_DirOutput_SIZE/10,                   
                 (CPU_STK_SIZE)Task_DirOutput_SIZE,                        
                 (OS_MSG_QTY)0,     
                 (OS_TICK   )0,             
                 (void    * )0,                                           
                 (OS_OPT    )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,              
                 (OS_ERR  * )&err);                                
	 
	 OSStart(&err);

  /* USER CODE END 2 */

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

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** 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.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 72;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  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 */

/**
* @brief 任务1，获取总脉冲数, 脉冲加减速
* @return 无
*/
void Y1Direction(void *p_arg)
{
	p_arg = p_arg;
	OS_ERR err;
	
	while(1)
	{
		/* 脉冲加减速 */
		if (ArrFlag == 1)
		{
			if(TIM2->CNT < AccCount)
			{
				SetFrequency(0, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
			}
			else
			{
				SetFrequency(0, PulseOutput[NowPulse].Frequency);
				ArrFlag = 0;
			}
		}
		
		/* 获取总的脉冲数 */
		if(EndFlag || FullFlag)
		{
			if(EndFlag)
			{
				AllPulseCNT = GetBase(NowPulse) + PulseOutput[NowPulse].PulseCount;
			}
			if(FullFlag)
			{
				AllPulseCNT = MAX_Pulse;
			}
			
		}
		else
		{
			AllPulseCNT = TIM2->CNT + GetBase(NowPulse);
		}
		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
	}
}  

/**
* @brief 任务2，脉冲开始
* @return 无
*/
void PulseStartTsk(void *p_arg)
{
	p_arg = p_arg;
	OS_ERR err;
	uint8_t EN = 1;
	while(1)
	{
		if(Register_L[3000] == 0x01 && EN == 1)
		{
			PulseStart();
			EN = 0;
		}
		else if(Register_L[3000] == 0x02 && EN == 0)
		{
			EN = 1;
		}
		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
	}
}

/**
* @brief 任务3，脉冲方向输出
* @return 无
*/
void DirOutput(void *p_arg)
{
	p_arg = p_arg;
	OS_ERR err;
	
	while(1)
	{
		if (Options.DirPost == 0)
		{
			if (Options.Dir == 1)
			{
				HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_SET);
			}
			else 
			{
				HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_RESET);
			}
		}
		if (Options.DirPost == 1)
		{
			if (Options.Dir == 1)
			{
				HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_SET);
			}
			else 
			{
				HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_RESET);
			}
		}
		if (Options.DirPost == 2)
		{
			if (Options.Dir == 1)
			{
				HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_SET);
			}
			else 
			{
				HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_RESET);
			}
		}
		if (Options.DirPost == 3)
		{
			if (Options.Dir == 1)
			{
				HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_SET);
			}
			else 
			{
				HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_RESET);
			}
		}
		OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
	}
}

#if 0

/**
* @brief 定时器中断回调（PWM计数）
* @return 无
*/
void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
{
	if (htim->Instance == TIM10)
	{
		PulseCount++;
		if (1 == Base.PulseMod) /* 如果是绝对模式 */
		{
			if (TIM2->CNT == Base.MAX_Pulse) /* 达到了最大脉冲数 */
			{
				HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
				
			}
			else if(PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
			{
				PulseCount = 0;
            		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
				
				if(Base.PulseNum - NowPulse >= 1)
				{
					Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
					if(PulseOutput[NowPulse].NextPulse == 0)
					{
						NowPulse = NowPulse+ 1;
					}
					else
					{
						NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
					}
					Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
				  				PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */		 			
					ArrFlag = 1;
					PulseStart(); //开始产生脉冲
				}
			}
		}
		else if (0 == Base.PulseMod) /* 如果是相对模式 */
		{
			if (PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
      		{
         		PulseCount = 0;
            		HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
				if(Base.PulseNum - NowPulse > 1)
				{
					Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
					if(PulseOutput[NowPulse].NextPulse == 0)
					{
						NowPulse = NowPulse+ 1;
					}
					else
					{
						NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
					}
					Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
				  				PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */		 			
					ArrFlag = 1;
					PulseStart(); //开始产生脉冲
				}
				else
				{
					PulseCount = 0;
            			HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
				}
      		}
		}
		if (ArrFlag == 1)
		{
			if(PulseCount < Base.AccCount)
			{
				SetFrequency(0, PulseOutput[Base.PrePulse].Frequency + PulseCount * Acc);
			}
			else
			{
				SetFrequency(0, PulseOutput[NowPulse].Frequency);
				ArrFlag = 0;
			}
		}

	}
}

#endif

/**
* @brief 掉电中断
* @return 无
*/
void HAL_PWR_PVDCallback(void)
{
	OSIntEnter(); /* 进入中断 */
	// 检查电压是否低于阈值
	if (__HAL_PWR_GET_FLAG(PWR_FLAG_PVDO))
	{
		/*  掉电处理内容 */	
		PLSRSramSave();
	}

	
	OSIntExit(); /* 退出中断 */
}

/**
* @brief PVD配置
* @return 无
*/
void PVD_Init(void)
{
    PWR_PVDTypeDef PvdStruct;
 
    HAL_PWR_EnablePVD();                        /* 使能PVD */
 
    PvdStruct.PVDLevel = PWR_PVDLEVEL_3;        /* PVD阈值3.1V */
    PvdStruct.Mode = PWR_PVD_MODE_IT_RISING;    /* 检测掉电 */
    HAL_PWR_ConfigPVD(&PvdStruct);
 
    HAL_NVIC_SetPriority(PVD_IRQn, 0, 0);       /* 配置PVD中断优先级 */
    HAL_NVIC_EnableIRQ(PVD_IRQn);               /* 使能PVD中断 */
}

/* 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 */