/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the License; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "usart.h"
#include "i2c.h"
#include "tim.h"
#include "stm32f4xx_hal.h"
#include "gpio.h"
#include "stdio.h"

/* Private variables ---------------------------------------------------------*/

/* Private variables ---------------------------------------------------------*/
#define VECT_TAB_OFFSET  0x10000
int tankstatus = 0;
uint8_t zigbeecmd1[5]={0xFE,0x00,0x01,0x00,0x01};
uint8_t zigbeecmd2[5]={0xFE,0x00,0x02,0x00,0x02};
uint8_t zigbeestatu[20];
uint8_t zigbeestatu1[5];
uint8_t zigbeecon[7]="connect";
uint8_t zigbeenotcon[11]="not connect";
uint8_t zigbeechang[14]="change is down";
int M9_motorfeedback =0;
/* USER CODE BEGIN PV */
typedef  void (*pFunction)(void);
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_ADC1_Init1(char pin);
void sensor(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int _write(int fd, char *ch, int len)
{
   HAL_UART_Transmit(&huart4, (uint8_t*)ch, len, 0xFFFF);
   HAL_UART_Transmit(&huart2, (uint8_t*)ch, len, 0xFFFF);
   return len;
}
void print(char* s, float c)
{   int w;
    int w_d;
    int w_f;
    if(c<0)
    {
       w = c*100;
       w_d = w/100;
       w_f = (-1*w)%100;
    }
    else
    {
      w = c*100;
      w_d = w/100;
      w_f = w%100;
    }
    printf("%s = %d.%d\n",s,w_d,w_f);
}
/* USER CODE END 0 */
/**
* @brief  The application entry point.
* @retval int
*/
int main(void)
{
  SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET;
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_UART4_Init();
  MX_USART1_UART_Init();
  HAL_UART_Transmit(&huart2, (uint8_t *)zigbeecmd2, sizeof(zigbeecmd2), 10);
  HAL_Delay(1000);
  HAL_UART_Transmit(&huart2, (uint8_t *)zigbeecmd1, sizeof(zigbeecmd1), 10);
  HAL_UART_Receive(&huart2, (uint8_t *)zigbeestatu,sizeof(zigbeestatu),2000);
  HAL_UART_Transmit(&huart4, (uint8_t *)zigbeestatu, sizeof(zigbeestatu),10);
  if (zigbeestatu[18]== 0x01 || zigbeestatu[18]== 0x02)
  {
     HAL_UART_Transmit(&huart4, (uint8_t *)zigbeecon, sizeof(zigbeecon),10);
  }
  else if(zigbeestatu[18]== 0x05)
  {
     HAL_UART_Transmit(&huart4, (uint8_t *)zigbeenotcon, sizeof(zigbeenotcon),10);
  }
  while (1)
  {
    sensor();
    if(M9_motorfeedback<5)
    {
         HAL_GPIO_WritePin(GPIOA,GPIO_PIN_10, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOA,GPIO_PIN_8, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOD,GPIO_PIN_15, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOD,GPIO_PIN_13, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOD,GPIO_PIN_11, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13, GPIO_PIN_RESET);

         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11, GPIO_PIN_RESET);

    }
  }
}
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  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 = 8;
  RCC_OscInitStruct.PLL.PLLN = 72;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 3;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  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();
  }
}
void user_pwm_setvalue(uint16_t value)
{
    TIM_OC_InitTypeDef sConfigOC;
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = value;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
}
void user_pwm_setvalue2(uint16_t value)
{
    TIM_OC_InitTypeDef sConfigOC;
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = value;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
}
void sensor(void)
{
    MX_GPIO_Input1(GPIO_PIN_9);
    if (HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_9) == GPIO_PIN_SET)
    {
       M9_motorfeedback =1;
       HAL_UART_Transmit(&huart4,(unsigned char*)&M9_motorfeedback,1,10);
    }
    else
    {
       M9_motorfeedback =0;
    print("M9_motorfeedback",M9_motorfeedback);
    }
    HAL_Delay(10000);
}
void MX_ADC1_Init1(char pin)
{
  ADC_ChannelConfTypeDef sConfig = {0};
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.ScanConvMode = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
    if (HAL_ADC_Init(&hadc1) != HAL_OK)
    {
      Error_Handler();
    }
  sConfig.Channel = pin;
  sConfig.Rank = 1;
  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
}
void MX_GPIO_Input1(unsigned long pin)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  __HAL_RCC_GPIOE_CLK_ENABLE();
  GPIO_InitStruct.Pin = pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
void Error_Handler(void)
{
}