/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 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"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>

#include "vl53lmz_api.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

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

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_tx;

/* USER CODE BEGIN PV */
volatile int IntCount;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_DMA_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	if (GPIO_Pin==INT_C_Pin)
	{
		IntCount++;
	}
}

int check_for_gpio_interrupt(void)
{
	if(IntCount != 0) {
		IntCount = 0;
		return 1;
	}
	return 0;
}

int WaitForL5Interrupt(VL53LMZ_Configuration * pDev) {
	while ( !check_for_gpio_interrupt() );
	return(1);
}


//https://electronics.stackexchange.com/questions/206113/how-do-i-use-the-printf-function-on-stm32
__attribute__((weak)) int __io_getchar(void)
{
	int ch = 0;
    HAL_StatusTypeDef status = HAL_UART_Receive(&huart2, (uint8_t *)&ch, 1, 0xFFFF);
    return (status == HAL_OK ? ch : 0);
}


__attribute__((weak)) int __io_putchar(int ch)
{
    HAL_StatusTypeDef status;
    do {
    	status = HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&ch, 1);
    } while ( status == HAL_BUSY );
    return (status == HAL_OK ? ch : 0);
}

// _read() and _write() copied from STM32 syscalls.c file (which Cube.MX insists on removing from project).
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
	int DataIdx;

	for (DataIdx = 0; DataIdx < len; DataIdx++)
	{
		*ptr++ = __io_getchar();
	}

return len;
}

__attribute__((weak)) int _write(int file, char *ptr, int len)
{
	int DataIdx;

	for (DataIdx = 0; DataIdx < len; DataIdx++)
	{
		__io_putchar(*ptr++);
	}
	return len;
}


#define GPIO_FOR_LPn_PIN

void Reset_Sensor_via_GPIO(void)
{
#ifdef GPIO_FOR_LPn_PIN
	/* Set 0 to pin LPn = PB0 */
	HAL_GPIO_WritePin(LPn_GPIO_Port, LPn_Pin, GPIO_PIN_RESET);
#endif

#ifdef GPIO_FOR_PWR_EN
	/* Set 0 to pin PWR_EN = PB0 or PA7 */
	HAL_GPIO_WritePin(PWR_EN_GPIO_Port, PWR_EN_Pin, GPIO_PIN_RESET);
	HAL_Delay(100);

	/* Set 1 to pin PWR_EN */
	HAL_GPIO_WritePin(PWR_EN_GPIO_Port, PWR_EN_Pin, GPIO_PIN_SET);
	HAL_Delay(100);
#endif

#ifdef GPIO_FOR_LPn_PIN
	/* Set 1 to pin LPn */
	HAL_GPIO_WritePin(LPn_GPIO_Port, LPn_Pin, GPIO_PIN_SET);
#endif

	// If I2C master does not support "I2C bus clear" feature, need to toggle I2C_SPI_N pin to release I2C bus
	HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_RESET);
	HAL_Delay(1);
	HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_SET);
	HAL_Delay(1);
	HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_RESET);
	HAL_Delay(1);

	return;
}


/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	int status;
  /* USER CODE END 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 SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_DMA_Init();
  MX_USART2_UART_Init();

  /* USER CODE BEGIN 2 */

	Reset_Sensor_via_GPIO();

	printf("\n\nVL53LMZ_ULD_TEST\n\n");

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	status = 0;
	while (status==0)
	{
	  //status = example1();
 	  //status = example2();
 	 //status = example3();
 	//status = example4();
 	  //status = example5();
		//status = example6();
		//status = example8();
		//status = example9();
		status = example10();
		//status = example11();
		//status = example11();
 	  //status = example12();
  /* 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};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  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 = 16;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  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_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();
  }
}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 1000000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 921600;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Stream6_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, LD2_Pin|PWR_EN_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(NCS_GPIO_Port, NCS_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : SPI_I2C_N_Pin */
  GPIO_InitStruct.Pin = SPI_I2C_N_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(SPI_I2C_N_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : INT_C_Pin */
  GPIO_InitStruct.Pin = INT_C_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(INT_C_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : LD2_Pin PWR_EN_Pin */
  GPIO_InitStruct.Pin = LD2_Pin|PWR_EN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : LPn_Pin AVDD_EN_Pin */
  GPIO_InitStruct.Pin = LPn_Pin|AVDD_EN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

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

  /*Configure GPIO pin : VDDIO_EN_Pin */
  GPIO_InitStruct.Pin = VDDIO_EN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(VDDIO_EN_GPIO_Port, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI4_IRQn);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @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 */