#include "main.h"
#include "Can.h"
#include "Filter.h"
#include "Timer.h"
#include "adc.h"
#include "device/tle5012b.h"
#include "initial.h"
#include "sys/initial.h"
#include "systick.h"
#include "core_cm4.h"
#include "tle5012b.h"
#include <cinttypes>
#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TLE5012B传感器

	watchdog_init(1000);
	// 初始化CAN回环测试
	// can_loopback_init();
	while (1) {
        /* clear the FWDGT reset flag */
        fwdgt_counter_reload();

		// can_loopback_test();
		/* 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(" the angle is %2.2f\r\n", tle5012b_read());

		printf("\n----------------------------------------------------\n");
		
		delay_1ms(700);
		// TLI5012B测试
		Test_TLI5012B();

		Set_Pwm(0, 1500);
	}
}