/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  * Copyright (c) 2026 STMicroelectronics.
  * Copyright (c) 2026 Erick Ahmed.
  *
  * SPDX-License-Identifier: GPL-3.0-or-later
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "canlog.h"
#include "cansend.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 ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

SD_HandleTypeDef hsd;
DMA_HandleTypeDef hdma_sdio_rx;
DMA_HandleTypeDef hdma_sdio_tx;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */
LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
LED_Config led_error = {GPIOB, GPIO_PIN_3};

osThreadId_t xCAN1rxTask;
osThreadId_t xCAN2rxTask;
osThreadId_t xCAN1LedTask;
osThreadId_t xCAN2LedTask;

osMessageQueueId_t xCAN1RxQueue;
osMessageQueueId_t xCAN2RxQueue;
osMessageQueueId_t xUARTQueue;

osSemaphoreId_t xUARTDMASemaphore;
osThreadId_t xUartTask;

/* 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_CAN1_Init(void);
static void MX_CAN2_Init(void);
static void MX_SDIO_SD_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_DMA_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_SDIO_SD_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  CAN_Logger_Init(&hcan1, &hcan2);
  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* USER CODE BEGIN RTOS_TASKS */

  const osThreadAttr_t CAN1rxAttributes = {
    .name = "CAN1rx",
    .stack_size = 128 * 4,
    .priority = (osPriority_t) osPriorityRealtime1,
  };

  const osThreadAttr_t CAN2rxAttributes = {
    .name = "CAN2rx",
    .stack_size = 128 * 4,
    .priority = (osPriority_t) osPriorityRealtime,
  };

  const osThreadAttr_t UartLoggerAttributes = {
    .name = "UART_Logger",
    .stack_size = 256 * 4,
    .priority = (osPriority_t) osPriorityVeryHigh,
  };

  const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
    .name = "LED_HB_CAN1",
    .stack_size = 128 * 4,
    .priority = (osPriority_t) osPriorityVeryLow1,
  };

  const osThreadAttr_t LEDHeartbeatCAN2Attributes = {
    .name = "LED_HB_CAN2",
    .stack_size = 128 * 4,
    .priority = (osPriority_t) osPriorityVeryLow,
  };
  /* USER CODE END RTOS_TASKS */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  xUARTDMASemaphore = osSemaphoreNew(1, 0, NULL);
  if (xUARTDMASemaphore == NULL) Error_Handler();
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
  xUARTQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);

  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL || xUARTQueue == NULL) Error_Handler();
  /* USER CODE END RTOS_QUEUES */

  /* USER CODE BEGIN RTOS_THREADS */
  xCAN1rxTask = osThreadNew(vCANLoggerListen, &hcan1, &CAN1rxAttributes);
  xCAN2rxTask = osThreadNew(vCANLoggerListen, &hcan2, &CAN2rxAttributes);
  xUartTask = osThreadNew(vUARTLogger, NULL, &UartLoggerAttributes);
  xCAN1LedTask = osThreadNew(vLEDHeartbeat, &led_can1, &LEDHeartbeatCAN1Attributes);
  xCAN2LedTask = osThreadNew(vLEDHeartbeat, &led_can2, &LEDHeartbeatCAN2Attributes);
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* USER CODE END RTOS_EVENTS */

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* 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_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;
  RCC_OscInitStruct.PLL.PLLM = 16;
  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 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief CAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 4;
  hcan1.Init.Mode = CAN_MODE_SILENT;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = ENABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */

  /* USER CODE END CAN1_Init 2 */

}

/**
  * @brief CAN2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 8;
  hcan2.Init.Mode = CAN_MODE_SILENT;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = ENABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */

  /* USER CODE END CAN2_Init 2 */

}

/**
  * @brief SDIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_SDIO_SD_Init(void)
{

  /* USER CODE BEGIN SDIO_Init 0 */

  /* USER CODE END SDIO_Init 0 */

  /* USER CODE BEGIN SDIO_Init 1 */

  /* USER CODE END SDIO_Init 1 */
  hsd.Instance = SDIO;
  hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
  hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
  hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
  hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
  hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
  hsd.Init.ClockDiv = 0;
  if (HAL_SD_Init(&hsd) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SDIO_Init 2 */

  /* USER CODE END SDIO_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 = 1152000;
  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 */

}

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

  /* DMA controller clock enable */
  __HAL_RCC_DMA2_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA2_Stream3_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
  /* DMA2_Stream6_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream6_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_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);

  /*Configure GPIO pins : PC13 PC14 PC15 PC0
                           PC1 PC2 PC3 PC4
                           PC5 PC6 PC7 */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
                          |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PH0 PH1 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);

  /*Configure GPIO pins : PA0 PA1 PA2 PA3
                           PA4 PA5 PA6 PA7
                           PA8 PA11 PA12 PA13
                           PA14 PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
                          |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
                          |GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13
                          |GPIO_PIN_14|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PB0 PB1 PB2 PB10
                           PB11 PB14 PB15 PB6
                           PB7 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
                          |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
                          |GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PB3 PB4 PB5 */
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */
/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM6 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM6)
  {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @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();

  //TODO: check if it is necessary to stop FreeRTOS

  uint32_t error_code_can1;
  uint32_t error_code_can2;

  if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY) error_code_can1 = HAL_CAN_GetError(&hcan1);
  if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY) error_code_can2 = HAL_CAN_GetError(&hcan2);

  // TODO: write error to SD and/or serial

  HAL_GPIO_WritePin(led_can1.port, led_can1.pin, GPIO_PIN_RESET);
  HAL_GPIO_WritePin(led_can2.port, led_can2.pin, GPIO_PIN_RESET);

  while (1)
  {
    HAL_GPIO_TogglePin(led_error.port, led_error.pin);
    HAL_Delay(250);
  }
  /* 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 */