#include "main.h"
#include "Can.h"
#include "Filter.h"
#include "Timer.h"
#include "adc.h"
#include "initial.h"
#include "systick.h"
#include "tle5012b.h"

// 全局变量定义
CurrentKalman kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
CircularBuffer buffer;
int main(void) {
	systick_config();
	adc_config();
	dma_config();
	// 调试串口初始化
	USART0_init();

	User_timer_init();
	// CAN初始化
	// CAN_transmiter CAN0_transmiter;
	// 初始化CAN硬件
	can_gpio_init();
	can_config();

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

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

	can_trasnmit_message_struct g_transmit_message;
	can_receive_message_struct g_receive_message;
	FlagStatus can0_receive_flag;

	// CAN发送初始化
	can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &g_transmit_message);
	g_transmit_message.tx_sfid = 0x00;
	g_transmit_message.tx_efid = 0x00;
	g_transmit_message.tx_ft = CAN_FT_DATA;
	g_transmit_message.tx_ff = CAN_FF_EXTENDED;
	g_transmit_message.tx_dlen = 8;
	g_transmit_message.fd_flag = 0;
	g_transmit_message.fd_brs = 1;
	g_transmit_message.fd_esi = 0;

	// CAN接收初始化
	can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &g_receive_message);

	/* print out the clock frequency of system, AHB, APB1 and APB2 */
	printf("\r\nCK_SYS is %d", rcu_clock_freq_get(CK_SYS));
	printf("\r\nCK_AHB is %d", rcu_clock_freq_get(CK_AHB));
	printf("\r\nCK_APB1 is %d", rcu_clock_freq_get(CK_APB1));
	printf("\r\nCK_APB2 is %d", rcu_clock_freq_get(CK_APB2));

	// TLI5012B测试
	Test_TLI5012B();

	while (1) {
		/* delay a time in milliseconds */
		delay_1ms(10);
		/* 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());
		// g_transmit_message.tx_efid = 0x201;
		// g_transmit_message.tx_data[0] = 0xaa;
		// g_transmit_message.tx_data[1] = 0xbb;
		// g_transmit_message.tx_data[2] = 0xcc;
		// g_transmit_message.tx_data[3] = 0xdd;
		// g_transmit_message.tx_data[4] = 0xee;
		// g_transmit_message.tx_data[5] = 0xff;
		// g_transmit_message.tx_data[6] = 0x00;
		// g_transmit_message.tx_data[7] = 0x11;
		// g_transmit_message.tx_data[8] = 0x22;
		// g_transmit_message.tx_data[9] = 0x33;
		// g_transmit_message.tx_data[10] = 0x44;
		// g_transmit_message.tx_data[11] = 0x55;
		printf("\r\n can0 transmit data: ");
		for (u8 i = 0U; i < g_transmit_message.tx_dlen; i++) {
			printf(" %02x", g_transmit_message.tx_data[i]);
		}
		/* transmit message */
		can_message_transmit(CAN0, &g_transmit_message);

		// Set_Pwm(0, 1500);
	}
}