/* 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"
#include "adc.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "stdio.h"//对printf进行重定向
#include <stdint.h>
#include <stdlib.h>
/**
  * 函数功能: 重定向c库函数printf到DEBUG_USARTx
  * 输入参数: 无
  * 返 回 值: 无
  * 说    明：无
  */
int fputc(int ch, FILE *f)
{
  HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xffff);
  return ch;
}
 
/**
  * 函数功能: 重定向c库函数getchar,scanf到DEBUG_USARTx
  * 输入参数: 无
  * 返 回 值: 无
  * 说    明：无
  */
int fgetc(FILE *f)
{
  uint8_t ch = 0;
  HAL_UART_Receive(&huart1, &ch, 1, 0xffff);
  return ch;
}

/* 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 */
int Motor_Step = 1;
int Max_Motor_Step = 1;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void PeriphCommonClock_Config(void);
/* USER CODE BEGIN PFP */
extern PCD_HandleTypeDef hpcd_USB_OTG_HS;
extern USBD_HandleTypeDef hUsbDeviceHS;
extern ADC_HandleTypeDef g_adc_handle;   /* ADC句柄 */
/* USER CODE END PFP */

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

uint16_t	adc_value;
int    enc1,enc0=6000;
int    enc2;
uint8_t		buf[2900];
uint8_t		buf1[29]={0X0A,0X0A,0X0A,0X0A,0X0A,0X0A,0X0A,0X0A};
int  adc_array_size= 1520;
int  average_value[100][400];
int enc3[100][400];
uint16_t adc_array[1520];
uint16_t ev_co[1520];
int measure_f=0;
int track_array[400];
/* USER CODE END 0 */

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

  /* USER CODE END 1 */

  /* Enable I-Cache---------------------------------------------------------*/
  SCB_EnableICache();

  /* Enable D-Cache---------------------------------------------------------*/
  SCB_EnableDCache();

  /* 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();

/* Configure the peripherals common clocks */
  PeriphCommonClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	HAL_Delay(100);
	MX_USB_DEVICE_Init();
	MX_TIM2_Init();
	MX_USART1_UART_Init();
	/* USER CODE BEGIN 2 */
	adc_init();		/* 初始化ADC */
	adc_11_int();  
	HAL_ADCEx_Calibration_Start(&g_adc_handle, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED); /* ADC校准 */
	HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
//	USBD_Init(&hUsbDeviceHS, &HS_Desc, DEVICE_HS);
//	USBD_RegisterClass(&hUsbDeviceHS, &USBD_CDC);
//	USBD_CDC_RegisterInterface(&hUsbDeviceHS, &USBD_Interface_fops_HS);
//	USBD_Start(&hUsbDeviceHS);
	
//	HAL_PCD_MspInit(&hpcd_USB_OTG_HS);

	

	
  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
		
				

           for(int j=0;j<100;j++){
					 
					 	measure_f=0;
            enc1 = __HAL_TIM_GET_COUNTER(&htim2);//获取定时器的值

            enc2 = enc1;
						 while(abs(enc2-enc1)==0)               
            {
								
                average_value[j][measure_f]=adc_get_result(ADC_CHANNEL_11);
                enc3[j][measure_f] = __HAL_TIM_GET_COUNTER(&htim2);//获取定时器的值														  
								enc2=enc3[j][measure_f];
								measure_f++;
							  if(measure_f>300)
								{
									measure_f=300;
								}

            }
						track_array[j]=measure_f;
					 }
           for(int k=0;k<100;k++){
						for(int i=0;i<8*track_array[k];i+=8)
						{
						
							data_shift(i,k);
						
						}
						CDC_Transmit_HS(buf, 8*track_array[k]);
					 }
						
						
//						if(enc2-enc0>1000)
//						{
////								HAL_Delay(5000);
////							  HAL_Delay(5000);
////							  enc0=6000;
////							  CDC_Transmit_HS(buf1, 8);
//						}

  }
  /* USER CODE END 3 */
}

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

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

  __HAL_RCC_SYSCFG_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
                              |RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 2;
  RCC_OscInitStruct.PLL.PLLN = 240;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_2;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief Peripherals Common Clock Configuration
  * @retval None
  */
void PeriphCommonClock_Config(void)
{
  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};

  /** Initializes the peripherals clock
  */
  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CKPER;
  PeriphClkInitStruct.CkperClockSelection = RCC_CLKPSOURCE_HSI;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

void data_shift(int j,int k)
{
		buf[j] = (uint8_t)(average_value[k][(j+1)/8] & 0xFF);
		buf[j+1]   = (uint8_t)((average_value[k][(j+1)/8]  >> 8) & 0xFF);
		buf[j+7] = 0xFF;	
		buf[j+6] = 0x0D;
		buf[j+2] = (uint8_t)(enc3[k][(j+1)/8] & 0xFF);
		buf[j+3] = (uint8_t)((enc3[k][(j+1)/8] >> 8) & 0xFF);
		buf[j+4] = (uint8_t)((enc3[k][(j+1)/8] >> 16) & 0xFF);
		buf[j+5] = (uint8_t)((enc3[k][(j+1)/8] >> 24) & 0xFF);
		
}
void removeTopAndBottomN(uint16_t arr[], int n) {
    for (int j = 0; j < n; j++) {
        // 找到数组中的最大值和最小值的索引
        int maxIndex = 0;
        int minIndex = j;  // 从 j 开始
        for (int i = j + 1; i < adc_array_size; i++) {
            if (arr[i] > arr[maxIndex]) {
                maxIndex = i;
            }

            if (arr[i] < arr[minIndex]) {
                minIndex = i;
            }
        }

        // 交换最大值与最后一个值
        int temp = arr[maxIndex];
        arr[maxIndex] = arr[adc_array_size - 1];
        arr[adc_array_size - 1] = temp;


        // 交换最小值与第一个值
        temp = arr[minIndex];
        arr[minIndex] = arr[j];
        arr[j] = temp;

        // 减小数组大小
        adc_array_size--;
    }
		for (int i = n; i < adc_array_size; i++) {
        arr[i - n] = arr[i];
    }
}
uint16_t calculateMean(uint16_t *data, int size) {
    int sum = 0;

    for (int i = 0; i < size; i++) {
        sum += data[i];
    }
    return sum / size;
}
/* 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 */
