/* 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 "cmsis_os.h"
#include "can.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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 ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_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_SPI1_Init();
  MX_TIM3_Init();
  MX_CAN2_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  MX_CAN1_Init();
  /* USER CODE BEGIN 2 */

  //启动pwm输出
  // uint16_t pulse = (uint16_t)(1.0 * (float)UINT16_MAX);
  // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pulse);
  // HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
  // HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
  // HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
  // HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* Call init function for freertos objects (in cmsis_os2.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();

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

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    //呼吸灯效果
    // for (uint16_t pulse = 0; pulse < UINT16_MAX; pulse += 100) {
    //   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pulse);
    //   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, pulse);
    //   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, pulse);
    //   HAL_Delay(10);
    // }
    // for (uint16_t pulse = UINT16_MAX; pulse > 0; pulse -= 100) {
    //   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pulse);
    //   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, pulse);
    //   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, pulse);
    //   HAL_Delay(10);
    // }
    // 嗡鸣器效果
    // uint32_t frequency = 4000; // 4kHz
    // uint32_t timer_clock = HAL_RCC_GetPCLK1Freq(); // 获取定时器时钟频率
    // uint32_t prescaler = htim3.Init.Prescaler + 1; // 获取预分频器值
    // uint32_t period = (timer_clock / (prescaler * frequency)) - 1;

    // // 更新定时器周期
    // __HAL_TIM_SET_AUTORELOAD(&htim3, period);

    // // 设置占空比为 50%（音量中等）
    // uint32_t pulse = (period * 10) / 100;
    // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_4, pulse);

    // // 蜂鸣器响 1 秒
    // HAL_Delay(1000);

    // // 停止蜂鸣器
    // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_4, 0);
    // HAL_Delay(1000);
    
    
    /* 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_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.Prediv1Source = RCC_PREDIV1_SOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  RCC_OscInitStruct.PLL2.PLL2State = RCC_PLL_NONE;
  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();
  }

  /** Configure the Systick interrupt time
  */
  __HAL_RCC_PLLI2S_ENABLE();
}

/* USER CODE BEGIN 4 */

/* 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 */