/* USER CODE BEGIN Header */
#include <stdio.h>
#include "ladrc.h"
#include "usbd_cdc_if.h" // USB 虚拟串口发送头文件
#include "f4_can_app.h"
#include "usart.h"
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 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 "can.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.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 BEGIN PV */
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
volatile uint8_t can_rx_flag = 0; // 告诉主程序“有数据来了”的标志位
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern USBD_HandleTypeDef hUsbDeviceFS; // 引入 USB 状态句柄

int _write(int file, char *ptr, int len) {
  HAL_UART_Transmit(&huart4, (uint8_t*)ptr, len, HAL_MAX_DELAY);
  return len;
}
/* 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_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_TIM8_Init();
  MX_USB_DEVICE_Init();
  MX_TIM9_Init();
  MX_TIM6_Init();
  MX_CAN1_Init();
  MX_UART4_Init();
  /* USER CODE BEGIN 2 */
  // 1. 初始化 bxCAN 过滤器 (全通)
  // 后面的 printf 就能看到了
  CAN_FilterTypeDef canFilterConfig;
  canFilterConfig.FilterBank = 0;
  canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  canFilterConfig.FilterIdHigh = 0x0000;
  canFilterConfig.FilterIdLow = 0x0000;
  canFilterConfig.FilterMaskIdHigh = 0x0000;
  canFilterConfig.FilterMaskIdLow = 0x0000;
  canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
  canFilterConfig.FilterActivation = ENABLE;
  canFilterConfig.SlaveStartFilterBank = 14;

  HAL_StatusTypeDef fs = HAL_CAN_ConfigFilter(&hcan1, &canFilterConfig);
  HAL_StatusTypeDef ss = HAL_CAN_Start(&hcan1);

  // 这句开启接收中断的函数极其重要，确认它还在！
  HAL_StatusTypeDef ns = HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);

  // 💡 修改这里：必须加这一句！给你的电脑 3 秒钟时间去识别 USB 虚拟串口
  HAL_Delay(3000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */

  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    // ==========================================
    // 强制打印 1：每隔 1 秒无条件打印一次（心跳包）
    // ==========================================

    // ==========================================
    // 强制打印 2：原来的 CAN 接收处理逻辑
    // ==========================================
    if (can_rx_flag == 1) {
      can_rx_flag = 0; // 赶紧先把标志位清零

      // 💡 修改这里：用一个数组把要发的话拼起来，只调用一次 printf！
      // 这能彻底防止 168MHz 的 CPU 把 USB 虚拟串口瞬间撑爆死机
      char usb_buf[100];
      sprintf(usb_buf, "!!! BINGO !!! Got CAN MSG! ID:0x%03lX Data: %02X %02X %02X %02X %02X %02X %02X %02X\r\n",
              RxHeader.StdId,
              RxData[0], RxData[1], RxData[2], RxData[3],
              RxData[4], RxData[5], RxData[6], RxData[7]);

      printf("%s", usb_buf);
    }
    /* USER CODE END WHILE */
  }
  /* 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 = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  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_DIV2;

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

/* USER CODE BEGIN 4 */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  if (hcan->Instance == CAN1) {
    // 翻转 LED 看看有没有进中断
    HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_3);

    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) {
      can_rx_flag = 1;
      // 再翻转一次，确认消息取出成功
      HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_3);
    }
  }
}
/* 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 */
