/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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"
#include "can.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "flash.h"
#include "UDS.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 ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
extern uint8_t TxBuf[8];
extern uint8_t ota_start_flag;
extern uint32_t system_time_ms;           // 系统运行时间，用于判断上电等待接收升级指令
extern uint8_t app_error_flag;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

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

// 定义版本信息并强制放在指定的Flash地址
// 使用section属性将变量放入特定段
typedef struct {
    uint16_t hardware_version;  // 硬件版本
    uint16_t software_version;  // boot软件版本
} VersionInfo;
__attribute__((section(".version_info"), used))
const VersionInfo version_info = {
    .hardware_version = 0x0100,  // 示例：V1.0
    .software_version = 0x0100,  // 示例：V1.01
};

// 获取版本信息的函数
uint32_t get_app_version(uint8_t soft)
{
	uint32_t app1_version = *(volatile uint32_t*)0x0800C188;
	uint32_t app2_version = *(volatile uint32_t*)0x08060188;

	if(app1_version == 0xFFFFFFFF)
	{
		app1_version = 0;
	}
	if(app2_version == 0xFFFFFFFF)
	{
		app2_version = 0;
	}

	if(soft == 1)//app1
	{
        return app1_version;
	}
	else if(soft == 2)//app2
	{
        return app2_version;
	}
	else
	{
		return 0;
	}
}

/* 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_CAN1_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_Base_Start_IT(&htim2); // 启动定时器中断
  CAN_Filter_config();
  i15765_init();
  i15765app_init();

#if  0	//测试抱闸功能
  uint8_t brake_r_state = 0;
  uint8_t brake_l_state = 0;

  brake_r_state = BRAKE_R;
  brake_l_state = BRAKE_L;

  BRAKE_R_SET_0;
  BRAKE_L_SET_0;
  brake_r_state = BRAKE_R;
  brake_l_state = BRAKE_L;

  BRAKE_R_SET_1;
  BRAKE_L_SET_1;
  brake_r_state = BRAKE_R;
  brake_l_state = BRAKE_L;

#endif
//  TxBuf[0] = 0x1;
//  TxBuf[1] = 0x22;
//  TxBuf[2] = 0x33;
//  TxBuf[3] = 0x44;
//  TxBuf[4] = 0x55;
//  TxBuf[5] = 0x66;
//  TxBuf[6] = 0x77;
//  TxBuf[7] = 0x88;
//  CAN_SendData(1, 2, 0x709, TxBuf,8);
#if 0
  //只第一次刷程序时执行1次，再屏蔽掉刷一次
  if(1 != *(volatile uint8_t*)(CONFIG_IAP_INFO_ADDR))
  {
	  app_status_set(1,true);
  }
//  if(1 != *(volatile uint8_t*)(CONFIG_IAP_INFO_ADDR+1))//app2无固件
//  {
//	  app1_copy_to_app2();
//	  app_status_set(2,true);
//  }
#endif

  uint32_t app1_version = get_app_version(1);
  uint32_t app2_version = get_app_version(2);

  if(1 == *(volatile uint8_t*)(CONFIG_IAP_INFO_ADDR+1))//APP_B is ok
  {
	  if(app1_version < app2_version)
	  {
		app2_copy_to_app1();
		//flash_erase_app(1);
		app_status_set(1,true);
	  }
  }
//  app1_copy_to_app2();
//  app_status_set(1,true);
//  app_status_set(2,true);

  //VECT_TAB_OFFSET
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  check_SID_run();

	  //if((system_time_ms == WAIT_OTA_TIME_MS)&&(1))//复位后判断是否从APP跳转过来，不是的话直接跳到APP
	  if(system_time_ms == WAIT_OTA_TIME_MS)
	  {
		  //APP_A is ok
		  if(1 == *(volatile uint8_t*)CONFIG_IAP_INFO_ADDR)
		  //if(0)
		  {
			  system_time_ms = WAIT_OTA_TIME_MS;
			  jump_to_app(APP1_ADDRESS);
		  }
		  else
		  {
			  app_error_flag = 1;
		  }
	  }
	  //CAN_SendData(1, 2, 0x709, TxBuf,8);
	  //HAL_Delay(1000);
  }

  /* 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_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* 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 */