/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : 萝莉3代航模遥控器 - 主程序
  * @author         : 小云 (Hermes Agent)
  * @date           : 2026-06-25
  ******************************************************************************
  * 系统架构:
  *   - 10ms 定时循环: 按键扫描 + ADC 轮询 + LED 更新
  *   - 主循环: 混控计算 + 菜单 UI + 协议收发
  *   - 中断: SysTick (时基), EXTI (NRF IRQ), UART (SBUS)
  *
  * 模块依赖:
  *   oled.h    -> OLED SSD1306 128x64 显示
  *   input.h   -> 按键/ADC 输入采集
  *   menu.h    -> 菜单系统与 UI 交互
  *   storage.h -> Flash 存储 (模型/配置)
  *   pwm_out.h -> PWM/LED/WS2812 输出
  *   nrf24l01.h-> NRF24L01+ 2.4G 无线
  *   protocol.h-> 协议层 (RF/SBUS/USB HID)
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb.h"
#include "gpio.h"

/* 应用层模块 */
#include "oled.h"
#include "input.h"
#include "menu.h"
#include "storage.h"
#include "pwm_out.h"
#include "nrf24l01.h"
#include "protocol.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

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

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define MAIN_LOOP_PERIOD_MS   10   /* 主循环周期 10ms */
/* USER CODE END PD */

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
static uint32_t last_loop_tick = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
static void System_Init(void);
static void System_Loop10ms(void);
/* 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 */

  /* 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_ADC1_Init();
  MX_ADC2_Init();
  MX_I2C2_Init();
  MX_SPI1_Init();
  MX_USART1_UART_Init();
  MX_USART3_UART_Init();
  MX_USB_PCD_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();

  /* USER CODE BEGIN 2 */
  /* ---- 应用层初始化 ---- */
  System_Init();
  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
    uint32_t now = HAL_GetTick();

    /* 10ms 定时任务 */
    if (now - last_loop_tick >= MAIN_LOOP_PERIOD_MS) {
      last_loop_tick = now;
      System_Loop10ms();
    }

    /* 实时任务: 混控 + 菜单 + 协议 */
    Mixer_Compute(g_channels);
    Menu_Run();
    Protocol_Run();
  }
  /* 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 PeriphClkInit = {0};

  /** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  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();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/**
  * @brief  系统初始化: 加载配置、初始化各模块、显示开机画面
  * @retval None
  */
static void System_Init(void) {
  /* 1. 加载存储配置 */
  Storage_Init();
  Storage_Load();

  /* 2. 初始化 OLED 并显示开机画面 */
  OLED_Init();
  OLED_DrawBitmap(0, 0, bitmap_bytes, 64, 64); /* 开机 Logo */
  OLED_ShowString(70, 20, "Loli3", 16);
  OLED_ShowString(70, 40, "RC v3.0", 6);
  OLED_Display();
  HAL_Delay(2000); /* 显示 2 秒 */

  /* 3. 初始化输入模块 */
  Input_Init();

  /* 4. 初始化 PWM/LED */
  PWM_Init();
  LED_SetSystem(1); /* 系统 LED 常亮 */

  /* 5. 初始化 NRF24L01 */
  NRF24L01_Init();
  if (NRF24L01_Check()) {
    /* NRF24L01 存在 */
    NRF24L01_SetChannel(g_config.nrf_channel);
    LED_SetNRF(0); /* 慢闪 = 未连接 */
  } else {
    /* NRF24L01 未检测到 */
    LED_SetNRF(3); /* 灭 */
  }

  /* 6. 初始化协议层 */
  Protocol_Init();

  /* 7. 初始化菜单 */
  Menu_Init();

  /* 8. 根据配置设置 PWM 模式 */
  PWM_SetMode(0, g_config.pwm1_mode);
  PWM_SetMode(1, g_config.pwm2_mode);
  PWM_SetWS2812Mode(g_config.ws2812_effect);
  PWM_SetLEDBrightness(g_config.led_brightness);
  PWM_SetVibrateLevel(g_config.vibrate_level);
}

/**
  * @brief  10ms 定时任务: 按键扫描 + ADC 轮询 + LED 闪烁更新
  * @retval None
  */
static void System_Loop10ms(void) {
  /* 按键 + ADC 扫描 */
  Input_Scan();

  /* LED 闪烁更新 */
  LED_Update();
}

/* 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 */
  /* 错误时 LED 快闪 */
  __disable_irq();
  while (1)
  {
    /* 系统 LED 快闪指示错误 */
    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_6);
    for (volatile uint32_t i = 0; i < 500000; i++);
  }
  /* 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 */