/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @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 "FreeRTOS.h"
#include "cmsis_os2.h"
#include "stm32h7xx_hal_tim.h"

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

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
typedef StaticTask_t osStaticThreadDef_t;
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* DUAL_CORE_BOOT_SYNC_SEQUENCE: Define for dual core boot synchronization    */
/*                             demonstration code based on hardware semaphore */
/* This define is present in both CM7/CM4 projects                            */
/* To comment when developping/debugging on a single core                     */
// #define DUAL_CORE_BOOT_SYNC_SEQUENCE

#if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE)
#ifndef HSEM_ID_0
#define HSEM_ID_0 (0U) /* HW semaphore 0*/
#endif
#endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

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

TIM_HandleTypeDef htim2;

/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for crankTask */
osThreadId_t crankTaskHandle;
uint32_t crankTaskBuffer[ 128 ];
osStaticThreadDef_t crankTaskControlBlock;
const osThreadAttr_t crankTask_attributes = {
  .name = "crankTask",
  .cb_mem = &crankTaskControlBlock,
  .cb_size = sizeof(crankTaskControlBlock),
  .stack_mem = &crankTaskBuffer[0],
  .stack_size = sizeof(crankTaskBuffer),
  .priority = (osPriority_t) osPriorityRealtime7,
};
/* Definitions for camTask */
osThreadId_t camTaskHandle;
uint32_t camTaskBuffer[ 128 ];
osStaticThreadDef_t camTaskControlBlock;
const osThreadAttr_t camTask_attributes = {
  .name = "camTask",
  .cb_mem = &camTaskControlBlock,
  .cb_size = sizeof(camTaskControlBlock),
  .stack_mem = &camTaskBuffer[0],
  .stack_size = sizeof(camTaskBuffer),
  .priority = (osPriority_t) osPriorityRealtime7,
};
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
void StartDefaultTask(void *argument);
void crankHandler(void *argument);
void camHandler(void *argument);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
    if (htim->Instance == TIM2) {
        switch (htim->Channel) {
            //HAL_TIM_ACTIVE_CHANNEL_2 is the channel used for cam interupts
            case HAL_TIM_ACTIVE_CHANNEL_2:
              // TODO push timestamp to the cam ring buffer
              osThreadFlagsSet(camTaskHandle,0x01);
              break;
            //HAL_TIM_ACTIVE_CHANNEL_1 is the channel used for crank interupts
            case HAL_TIM_ACTIVE_CHANNEL_1:
              // TODO push timestamp to the crank ring buffer
              osThreadFlagsSet(crankTaskHandle,0x01);
              break;
            default:
                break;
      }
  }
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */
/* USER CODE BEGIN Boot_Mode_Sequence_0 */
#if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE)
  int32_t timeout;
#endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
/* USER CODE END Boot_Mode_Sequence_0 */

  /* MPU Configuration--------------------------------------------------------*/
  MPU_Config();

/* USER CODE BEGIN Boot_Mode_Sequence_1 */
#if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE)
  /* Wait until CPU2 boots and enters in stop mode or timeout*/
  timeout = 0xFFFF;
  while ((__HAL_RCC_GET_FLAG(RCC_FLAG_D2CKRDY) != RESET) && (timeout-- > 0))
    ;
  if (timeout < 0) {
    Error_Handler();
  }
#endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
/* USER CODE END Boot_Mode_Sequence_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 Boot_Mode_Sequence_2 */
#if defined(DUAL_CORE_BOOT_SYNC_SEQUENCE)
  /* When system initialization is finished, Cortex-M7 will release Cortex-M4 by
  means of HSEM notification */
  /*HW semaphore Clock enable*/
  __HAL_RCC_HSEM_CLK_ENABLE();
  /*Take HSEM */
  HAL_HSEM_FastTake(HSEM_ID_0);
  /*Release HSEM in order to notify the CPU2(CM4)*/
  HAL_HSEM_Release(HSEM_ID_0, 0);
  /* wait until CPU2 wakes up from stop mode */
  timeout = 0xFFFF;
  while ((__HAL_RCC_GET_FLAG(RCC_FLAG_D2CKRDY) == RESET) && (timeout-- > 0))
    ;
  if (timeout < 0) {
    Error_Handler();
  }
#endif /* DUAL_CORE_BOOT_SYNC_SEQUENCE */
/* USER CODE END Boot_Mode_Sequence_2 */

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of crankTask */
  crankTaskHandle = osThreadNew(crankHandler, NULL, &crankTask_attributes);

  /* creation of camTask */
  camTaskHandle = osThreadNew(camHandler, NULL, &camTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add 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};

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

  /** 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 = 2;
  RCC_OscInitStruct.PLL.PLLN = 100;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief TIM2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_IC_InitTypeDef sConfigIC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 4294967295;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 0;
  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */

}

/**
  * @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_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOI_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LED_RED_GPIO_Port, LED_RED_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin : LED_RED_Pin */
  GPIO_InitStruct.Pin = LED_RED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED_RED_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/* USER CODE BEGIN Header_StartDefaultTask */
/**
 * @brief  Function implementing the defaultTask thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN 5 */
  /* Infinite loop */
  for (;;) {
    osDelay(1);
  }
  /* USER CODE END 5 */
}

/* USER CODE BEGIN Header_crankHandler */
/**
* @brief Function implementing the crankTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_crankHandler */
void crankHandler(void *argument)
{
  /* USER CODE BEGIN crankHandler */
  /* Infinite loop */
  for(;;)
  {
    osThreadFlagsWait(0x01,osFlagsWaitAny,osWaitForever);
    //TODO Handle the call
  }
  /* USER CODE END crankHandler */
}

/* USER CODE BEGIN Header_camHandler */
/**
* @brief Function implementing the camTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_camHandler */
void camHandler(void *argument)
{
  /* USER CODE BEGIN camHandler */
  /* Infinite loop */
  for(;;)
  {
    osThreadFlagsWait(0x01,osFlagsWaitAny,osWaitForever);
    //TODO Handle the call
  }
  /* USER CODE END camHandler */
}

 /* MPU Configuration */

void MPU_Config(void)
{
  MPU_Region_InitTypeDef MPU_InitStruct = {0};

  /* Disables the MPU */
  HAL_MPU_Disable();

  /** Initializes and configures the Region and the memory to be protected
  */
  MPU_InitStruct.Enable = MPU_REGION_ENABLE;
  MPU_InitStruct.Number = MPU_REGION_NUMBER0;
  MPU_InitStruct.BaseAddress = 0x0;
  MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
  MPU_InitStruct.SubRegionDisable = 0x87;
  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
  MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
  MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
  MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
  MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
  MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;

  HAL_MPU_ConfigRegion(&MPU_InitStruct);
  /* Enables the MPU */
  HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);

}

/**
  * @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 */