/**
  ******************************************************************************
  * @file    main.c
  * @author  CAVAILLES, Kevin and GALLOIS, Leonie and GÜLDENSTEIN, Jasper and FOUSSATS, Morgane
  * @brief   Main program body through the LL API
  ******************************************************************************
  */
#include "stm32f1xx_ll_rcc.h" // utile dans la fonction SystemClock_Config
#include "stm32f1xx_ll_utils.h"   // utile dans la fonction SystemClock_Config
#include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
#include "stm32f1xx_ll_bus.h" 

#include "stm32f1xx_ll_cortex.h" 

#include "RFInput.h"
#include "IncrEncoder.h"
#include "DcMotor.h"
#include "Sail.h"
#include "Alimentation.h"
#include "Accelerometer.h"
#include "RFOutput.h"
#include <stdio.h>

#define CONTROL_LOOP_PERIOD 250
#define MSG_TRANSFER_PERIOD 3000

void  SystemClock_Config(void);

/* Private functions ---------------------------------------------------------*/

// global variables for monitoring in keil
int counter = 0;
int battery_level_good = 0;
int angle_roulis_good = 0;
int angle_sail = 0;
int RF_Input_Duty = 0;
int TX_Flag = 0, CONTROL_LOOP_Flag = 0;
float angle_incr_encoder = 0;

char wait_for_girouette[] = "En attente d'initialisation de la girouette\r\n";

int dir = 5;
int counter2 = 0;
/**
  * @brief  Main program
  * @param  None
  * @retval None
  */
int main(void)
{
  /* Configure the system clock to 72 MHz */
  SystemClock_Config();
	LL_SYSTICK_EnableIT();
  ALIMENTATION_Init();
  ACCELEROMETER_Init();
  RF_INPUT_Init();
  DC_MOTOR_Init();
  SAIL_Init();
  RF_OUTPUT_Init();
	INCR_ENCODER_Init();

  while(!INCR_ENCODER_IsAbsolute())
  {
    RF_OUTPUT_SendBytes(wait_for_girouette, sizeof(wait_for_girouette));
    LL_mDelay(500);
  }

  while (1)
  {
      if(CONTROL_LOOP_Flag){
      battery_level_good = ALIMENTATION_IsLevelEnough();
			
      angle_roulis_good = ACCELEROMETER_AngleGood();
      
      if(!angle_roulis_good){
        SAIL_SetAngle(90);
        DC_MOTOR_SetSpeed(0);
      }else{
        angle_incr_encoder = INCR_ENCODER_GetAngle();
        angle_sail = SAIL_AngleFromGirouette(angle_incr_encoder);
        SAIL_SetAngle(angle_sail);
        RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
        DC_MOTOR_SetSpeed(RF_Input_Duty);
      }
      CONTROL_LOOP_Flag = 0;
    }
    if(TX_Flag){
      RF_OUTPUT_SendMessage(angle_roulis_good, battery_level_good, angle_sail);
      TX_Flag = 0;
    }
  }
	// fully closed 85
	// fully open 25
	/*
	while(1){
		if(counter2 == 90){
			dir = -5;
		}
		if(counter2 == 0){
			dir = 5;
		}
		SAIL_SetAngle(counter2);
		counter2 += dir;*/
		//LL_mDelay(100);
	/*
	}
	*/
	/*
  while(1)
  {
        RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
  }*/
}

void SysTick_Handler(void)
{
  
  if(counter % CONTROL_LOOP_PERIOD == 0){
    CONTROL_LOOP_Flag = 1;
  }
  if(counter % MSG_TRANSFER_PERIOD == 0){
    TX_Flag = 1;
  }
  counter = (counter+1) % (CONTROL_LOOP_PERIOD*MSG_TRANSFER_PERIOD)  ;
}


/**
  * @brief  System Clock Configuration
  *         The system Clock is configured as follow :
  *            System Clock source            = PLL (HSE)
  *            SYSCLK(Hz)                     = 72000000
  *            HCLK(Hz)                       = 72000000
  *            AHB Prescaler                  = 1
  *            APB1 Prescaler                 = 2
  *            APB2 Prescaler                 = 1
  *            HSE Frequency(Hz)              = 8000000
  *            PLLMUL                         = 9
  *            Flash Latency(WS)              = 2
  * @param  None
  * @retval None
  */
void SystemClock_Config(void)
{
  /* Set FLASH latency */
  LL_FLASH_SetLatency(LL_FLASH_LATENCY_2);

	// ********* Commenter la ligne ci-dessous pour MCBSTM32 *****************
	// ********* Conserver la ligne si Nucléo*********************************
  //LL_RCC_HSE_EnableBypass();
  LL_RCC_HSE_Enable();
  while(LL_RCC_HSE_IsReady() != 1)
  {
  };

  /* Main PLL configuration and activation */
  LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE_DIV_1, LL_RCC_PLL_MUL_9);

  LL_RCC_PLL_Enable();
  while(LL_RCC_PLL_IsReady() != 1)
  {
  };

  /* Sysclk activation on the main PLL */
  LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
  LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
  while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
  {
  };

  /* Set APB1 & APB2 prescaler*/
  LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_2);
  LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_1);

  /* Set systick to 1ms in using frequency set to 72MHz */
  LL_Init1msTick(72000000); // utile lorsqu'on utilise la fonction LL_mDelay

  /* Update CMSIS variable (which can be updated also through SystemCoreClockUpdate function) */
  LL_SetSystemCoreClock(72000000);
}



/* ==============   BOARD SPECIFIC CONFIGURATION CODE END      ============== */

#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 can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d", file, line) */

  /* Infinite loop */
  while (1)
  {
  }
}
#endif

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/