/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.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 ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

UART_HandleTypeDef huart3;

PCD_HandleTypeDef hpcd_USB_OTG_FS;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_USB_OTG_FS_PCD_Init(void);
static void MX_CAN1_Init(void);
static void MX_CAN2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

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

static HAL_StatusTypeDef CAN_Polling(void);
void Error_Handler(void);
int __io_putchar(int ch);

/* USER CODE END 0 */

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

	/* 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_USART3_UART_Init();
	MX_USB_OTG_FS_PCD_Init();
	MX_CAN1_Init();
	MX_CAN2_Init();
	/* USER CODE BEGIN 2 */


	/* Configure LED1, LED2 and LED3 */
	BSP_LED_Init(LED1);
	BSP_LED_Init(LED2);
	BSP_LED_Init(LED3);

	int x = 0;
	int y = 1;

	/* -2- Configure EXTI_Line15_10 (connected to PC.13 pin) in interrupt mode */
	//EXTI15_10_IRQHandler_Config();
	//start_rebound_delay = 0;
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */

	while (1) {
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
		x++;
		y++;

		/*##-4- Start the Transmission process #####################################*/
		TxHeader.StdId = 0x11;
		TxHeader.RTR = CAN_RTR_DATA;
		TxHeader.IDE = CAN_ID_STD;
		TxHeader.DLC = 2;
		TxHeader.TransmitGlobalTime = DISABLE;
		TxDataCAN2[0] = x;
		TxDataCAN2[1] = y;

		/* Request transmission */

		if (HAL_CAN_AddTxMessage(&hcan2, &TxHeader, TxDataCAN2, &TxMailbox)
				!= HAL_OK) {
			/* Transmission request Error */
			Error_Handler();
		}

		/* Wait transmission complete */
		while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan2) != 3) {
		}

//		if((x%8) == 0)
//		{
			TxDataCAN1[0] = x;
			TxDataCAN1[1] = y;

			/* Request transmission */

			if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxDataCAN1, &TxMailbox)
					!= HAL_OK) {
				/* Transmission request Error */
				Error_Handler();
			}

			/* Wait transmission complete */
			while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) != 3) {
			}
//		}
		HAL_Delay(500);
		//printf("Test\n");

	}
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void) {
	RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
	RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
	RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = { 0 };

	/** Configure the main internal regulator output voltage
	 */
	__HAL_RCC_PWR_CLK_ENABLE()
	;
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
	/** Initializes the CPU, AHB and APB busses clocks
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
	RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
	RCC_OscInitStruct.PLL.PLLM = 8;
	RCC_OscInitStruct.PLL.PLLN = 384;
	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
	RCC_OscInitStruct.PLL.PLLQ = 8;
	RCC_OscInitStruct.PLL.PLLR = 2;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
		Error_Handler();
	}
	/** Initializes the CPU, AHB and APB busses 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_3) != HAL_OK) {
		Error_Handler();
	}
	PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CLK48;
	PeriphClkInitStruct.Clk48ClockSelection = RCC_CLK48CLKSOURCE_PLLQ;
	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) {
		Error_Handler();
	}
}

/**
 * @brief CAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN1_Init(void) {

	/* USER CODE BEGIN CAN1_Init 0 */

	/* USER CODE END CAN1_Init 0 */

	/* USER CODE BEGIN CAN1_Init 1 */

	/* USER CODE END CAN1_Init 1 */
	hcan1.Instance = CAN1;
	hcan1.Init.Prescaler = 6;
	hcan1.Init.Mode = CAN_MODE_NORMAL;
	hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
	hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
	hcan1.Init.TimeTriggeredMode = DISABLE;
	hcan1.Init.AutoBusOff = DISABLE;
	hcan1.Init.AutoWakeUp = DISABLE;
	hcan1.Init.AutoRetransmission = DISABLE;
	hcan1.Init.ReceiveFifoLocked = DISABLE;
	hcan1.Init.TransmitFifoPriority = DISABLE;
	if (HAL_CAN_Init(&hcan1) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN CAN1_Init 2 */

	/*##-1- Enable Interrupt ###########################################*/

	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_TX_MAILBOX_EMPTY);

	/*##-2- Configure the CAN Filter ###########################################*/

	CAN_FilterTypeDef sFilterConfigCAN1;

	sFilterConfigCAN1.FilterBank = 0;
	sFilterConfigCAN1.FilterMode = CAN_FILTERMODE_IDMASK;
	sFilterConfigCAN1.FilterScale = CAN_FILTERSCALE_32BIT;
	sFilterConfigCAN1.FilterIdHigh = 0x0000;
	sFilterConfigCAN1.FilterIdLow = 0x0000;
	sFilterConfigCAN1.FilterMaskIdHigh = 0x0000;
	sFilterConfigCAN1.FilterMaskIdLow = 0x0000;
	sFilterConfigCAN1.FilterFIFOAssignment = CAN_RX_FIFO0;
	sFilterConfigCAN1.FilterActivation = ENABLE;
	sFilterConfigCAN1.SlaveStartFilterBank = 14;

	if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfigCAN1) != HAL_OK) {
		/* Filter configuration Error */
		Error_Handler();
	}

	/*##-3- Start the CAN peripheral ###########################################*/

	if (HAL_CAN_Start(&hcan1) != HAL_OK) {
		/* Start Error */
		Error_Handler();
	}
	/* USER CODE END CAN1_Init 2 */

}

/**
 * @brief CAN2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN2_Init(void) {

	/* USER CODE BEGIN CAN2_Init 0 */

	/* USER CODE END CAN2_Init 0 */

	/* USER CODE BEGIN CAN2_Init 1 */

	/* USER CODE END CAN2_Init 1 */
	hcan2.Instance = CAN2;
	hcan2.Init.Prescaler = 6;
	hcan2.Init.Mode = CAN_MODE_NORMAL;
	hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan2.Init.TimeSeg1 = CAN_BS1_13TQ;
	hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
	hcan2.Init.TimeTriggeredMode = DISABLE;
	hcan2.Init.AutoBusOff = DISABLE;
	hcan2.Init.AutoWakeUp = DISABLE;
	hcan2.Init.AutoRetransmission = DISABLE;
	hcan2.Init.ReceiveFifoLocked = DISABLE;
	hcan2.Init.TransmitFifoPriority = DISABLE;
	if (HAL_CAN_Init(&hcan2) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN CAN2_Init 2 */

	/*##-1- Enable Interrupt ###########################################*/

	HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan2, CAN_IT_TX_MAILBOX_EMPTY);

	/*##-2- Configure the CAN Filter ###########################################*/

	CAN_FilterTypeDef sFilterConfigCAN2;

	sFilterConfigCAN2.FilterBank = 14;
	sFilterConfigCAN2.FilterMode = CAN_FILTERMODE_IDMASK;
	sFilterConfigCAN2.FilterScale = CAN_FILTERSCALE_32BIT;
	sFilterConfigCAN2.FilterIdHigh = 0x0000;
	sFilterConfigCAN2.FilterIdLow = 0x0000;
	sFilterConfigCAN2.FilterMaskIdHigh = 0x0000;
	sFilterConfigCAN2.FilterMaskIdLow = 0x0000;
	sFilterConfigCAN2.FilterFIFOAssignment = CAN_RX_FIFO0;
	sFilterConfigCAN2.FilterActivation = ENABLE;
	sFilterConfigCAN2.SlaveStartFilterBank = 14;

	if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfigCAN2) != HAL_OK) {
		/* Filter configuration Error */
		Error_Handler();
	}

	/*##-3- Start the CAN peripheral ###########################################*/

	if (HAL_CAN_Start(&hcan2) != HAL_OK) {
		/* Start Error */
		Error_Handler();
	}
	/* USER CODE END CAN2_Init 2 */

}

/**
 * @brief USART3 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART3_UART_Init(void) {

	/* USER CODE BEGIN USART3_Init 0 */

	/* USER CODE END USART3_Init 0 */

	/* USER CODE BEGIN USART3_Init 1 */

	/* USER CODE END USART3_Init 1 */
	huart3.Instance = USART3;
	huart3.Init.BaudRate = 115200;
	huart3.Init.WordLength = UART_WORDLENGTH_8B;
	huart3.Init.StopBits = UART_STOPBITS_1;
	huart3.Init.Parity = UART_PARITY_NONE;
	huart3.Init.Mode = UART_MODE_TX_RX;
	huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart3.Init.OverSampling = UART_OVERSAMPLING_16;
	if (HAL_UART_Init(&huart3) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN USART3_Init 2 */

	/* USER CODE END USART3_Init 2 */

}

/**
 * @brief USB_OTG_FS Initialization Function
 * @param None
 * @retval None
 */
static void MX_USB_OTG_FS_PCD_Init(void) {

	/* USER CODE BEGIN USB_OTG_FS_Init 0 */

	/* USER CODE END USB_OTG_FS_Init 0 */

	/* USER CODE BEGIN USB_OTG_FS_Init 1 */

	/* USER CODE END USB_OTG_FS_Init 1 */
	hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
	hpcd_USB_OTG_FS.Init.dev_endpoints = 6;
	hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
	hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
	hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
	hpcd_USB_OTG_FS.Init.Sof_enable = ENABLE;
	hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
	hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
	hpcd_USB_OTG_FS.Init.battery_charging_enable = ENABLE;
	hpcd_USB_OTG_FS.Init.vbus_sensing_enable = ENABLE;
	hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
	if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK) {
		Error_Handler();
	}
	/* USER CODE BEGIN USB_OTG_FS_Init 2 */

	/* USER CODE END USB_OTG_FS_Init 2 */

}

/**
 * @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_GPIOB_CLK_ENABLE()
	;
	__HAL_RCC_GPIOD_CLK_ENABLE()
	;
	__HAL_RCC_GPIOG_CLK_ENABLE()
	;
	__HAL_RCC_GPIOA_CLK_ENABLE()
	;

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOB, LD3_Pin | LD2_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(USB_PowerSwitchOn_GPIO_Port, USB_PowerSwitchOn_Pin,
			GPIO_PIN_RESET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(LD1_GPIO_Port, LD1_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin : USER_Btn_Pin */
	GPIO_InitStruct.Pin = USER_Btn_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(USER_Btn_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pins : LD3_Pin LD2_Pin */
	GPIO_InitStruct.Pin = LD3_Pin | LD2_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

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

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

	/*Configure GPIO pin : LD1_Pin */
	GPIO_InitStruct.Pin = LD1_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(LD1_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */


/**
 * @brief EXTI line detection callbacks
 * @param GPIO_Pin: Specifies the pins connected EXTI line
 * @retval None
 */


/**
 * @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 */

	/* USER CODE END Error_Handler_Debug */
}

int __io_putchar(int ch) {
	HAL_UART_Transmit(&huart3, (uint8_t *) &ch, 1, 0xFFFF);
	return ch;
}

#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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/