/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2019 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "math.h"
#include "i2c.h"
#include "spi.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ads1256.h"
#include "mpu6050.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.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 */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
#ifdef __GNUC__
  /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
     set to 'Yes') calls __io_putchar() */
  #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
  #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
PUTCHAR_PROTOTYPE
{
  /* Place your implementation of fputc here */
  /* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
  HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
 
  return ch;
}
/* USER CODE END PFP */

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

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  unsigned char i=0;
  long ulResult;
  long double ldVolutage;
  unsigned char ch[4] = {ADS1256_MUXP_AIN0 | ADS1256_MUXN_AIN1,
                          ADS1256_MUXP_AIN2 | ADS1256_MUXN_AIN3,
                          ADS1256_MUXP_AIN4 | ADS1256_MUXN_AIN5,
                          ADS1256_MUXP_AIN6 | ADS1256_MUXN_AIN7,};
  float pitch,roll,yaw; 	                                        //欧拉角 俯仰 滚转 偏航
  short aacx,aacy,aacz;		                                        //加速度传感器原始数据
  short gyrox,gyroy,gyroz;	                                        //陀螺仪原始数据
  float temp=0;					                        //温度
  /* 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_SPI2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_Delay(200);
  HAL_GPIO_WritePin(GPIOC,ADS1256RES_Pin,GPIO_PIN_SET);
  ADS1256_Init();
  HAL_Delay(200);
  MPU_Init();
  HAL_Delay(200);
  while(mpu_dmp_init())
  {
    printf("waiting mpu initiation...\n");
  }
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    for(i = 0;i < 4;i++)
    {
//        ulResult = ADS_sum( ch[i]);	
////       ulResult = ADS_sum( ADS1256_MUXP_AIN0 | ADS1256_MUXN_AINCOM);	
//        if( ulResult & 0x800000 )
//        {
//          ulResult = ~(unsigned long)ulResult;
//          ulResult &= 0x7fffff;
//          ulResult += 1;
//          ulResult = -ulResult;
//        }
//
//        ldVolutage = (long double)ulResult*0.59604644775390625;
//
//        printf("channel_%d:",(i==0)? 3 : i-1);
//        printf("%lf",ldVolutage); 	//double
//        printf("uV\r\n");
//        HAL_Delay(10);
      
      if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
        { 
          temp = MPU_Get_Temperature();	//得到温度值
          MPU_Get_Accelerometer(&aacx,&aacy,&aacz);	//得到加速度传感器数据
          MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);	//得到陀螺仪数据
          printf("%0.2f 摄氏度\t",temp);
          printf("俯仰角：%0.2f |滚转角：%0.2f |偏航角：%0.2f |\n",pitch,roll,yaw);
          
          if((pitch>1) || (pitch<-1))
            HAL_GPIO_WritePin(GPIOA,LED1_Pin,GPIO_PIN_SET);
          else HAL_GPIO_WritePin(GPIOA,LED1_Pin,GPIO_PIN_RESET);
          if((roll>1) || (roll<-1))
            HAL_GPIO_WritePin(GPIOA,LED2_Pin,GPIO_PIN_SET);
          else HAL_GPIO_WritePin(GPIOA,LED2_Pin,GPIO_PIN_RESET);    
        }
    } 
    /* 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_SCALE1);
  /**Initializes the CPU, AHB and APB busses clocks 
  */
  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 = 8;
  RCC_OscInitStruct.PLL.PLLN = 84;
  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 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_2) != 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 */

  /* 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,
     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****/