#include "main.h"
#include "Can.h"
#include "Filter.h"
#include "Timer.h"
#include "adc.h"
#include "initial.h"
#include "systick.h"
#include "core_cm4.h"
#include "tle5012b.h"
#include <cstdio>


// 全局变量定义
CurrentKalman kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
CircularBuffer buffer;
CAN_transmiter CAN0_transmiter;

int main(void) {
	systick_config();	// 系统时钟初始化
	USART0_init();		// 调试串口初始化
	User_timer_init();	// Timer初始化
	adc_config();		// ADC初始化
	dma_config();		// DMA采样ADC初始化

	tle5012b_gpio_init();	// TLI5012B初始化
	tle5012b_spi_init();
	// cdd_TLI5012_Init();

	// 初始化CAN回环测试
	// can_loopback_init();
	// can_loopback_test();

	// TLI5012B测试
	// Test_TLI5012B();

	extern u16 adc_value[7];
	while (1) {
		/* value print */
		printf(" the temperature data is %2.2f degrees Celsius\r\n",
			   get_mcu_temp());
		printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
			   get_drv_temp());
		printf(" the U current data is %2.2f mA\r\n",get_current('U'));
		printf(" the V current data is %2.2f mA\r\n",get_current('V'));
		printf(" the W current data is %2.2f mA\r\n",get_current('W'));
		printf(" the VBUS is %2.2f V\r\n",get_vbus_voltage());
		printf("\n----------------------------------------------------\n");
		
		delay_1ms(200);

		
		Set_Pwm(0, 1500);
	}
}