/* 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 "dma.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "usart.h"
#include "drv_chipFlash.h"
#include "drv_IAP.h"
#include "usbd_cdc.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 */

/* USER CODE END PFP */

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

/* USER CODE END 0 */

/* 函数指针 */
typedef void (*pFunction)(void);
pFunction Jump_To_Application;

/* 用户函数跳转地址 */
uint32_t JumpAddress;
uint32_t AppAddress = APPLICATION_ADDRESS;
uint32_t cur_address = 0;
int16_t IF_IAP_FLAG = 0;
uint32_t recv_finish_time = 0;
uint32_t program_succeed = 0, program_err = 0, num_repeat = 0, num_err = 0, rec_err = 0, crc_err = 0;

int16_t RCC_FLAG = 0;

/**
  * @brief  The application entry point.
  * @retval int
  */
uint32_t _tick;
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/
  __set_PRIMASK(0);
  /* 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();
  _tick = HAL_GetTick();
	if(_tick == 0){
    HAL_InitTick(TICK_INT_PRIORITY);
  }
  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
 
     
   MX_GPIO_Init();
   MX_DMA_Init();
  
   //MX_USART2_UART_Init();
   //MX_USART3_UART_Init();
   
   MX_USB_DEVICE_Init();
  /* USER CODE BEGIN 2 */
  HAL_Delay(600);
	//BSP_USART_Config();	
  //HAL_Delay(3000);
  //BSP_LTE_Config();
  //HAL_Delay(6000);
  
	
	/*---------------------------------读取软复位标志---------------------------------*/
	FLASH_ReadMoreData(SET_RESET_ADDRESS + 2, (uint32_t *)&RCC_FLAG, 2);
	if(RCC_FLAG == (int16_t)0x1001)
	{		
			RCC_FLAG = 0;
			FLASH_WriteMoreData(SET_RESET_ADDRESS + 2, (uint32_t *)&RCC_FLAG ,2);
			HAL_Delay(100);
		  //HAL_NVIC_SystemReset();
	}

   /*--------------------------------处理急救模式----------------------------------*/
  if(recv_aid_flag == true)
  { 
    //USBD_Stop(&hUsbDeviceFS);
    //USBD_CDC_Stop(&hUsbDeviceFS);
    
    while(FLASH_ErasePage(APPLICATION_ADDRESS - SECTOR_SIZE, 1)!= 0){
      HAL_Delay(100);
    }

    //写下需要升级标志
    unsigned short iap_flag = 0x1001;
    while(FLASH_WriteMoreData(SET_ADDRESS + 2,(uint32_t*)&iap_flag,2) != 0){
      HAL_Delay(100);
    }
    
    //USBD_Start(&hUsbDeviceFS);
    //USBD_CDC_Start(&hUsbDeviceFS);

    HAL_Delay(100);
  }

  /* 读升级标志 */
  FLASH_ReadMoreData(APPLICATION_ADDRESS - SECTOR_SIZE + 2, (uint32_t *)&IF_IAP_FLAG, 2);

  /*--------------------------------处理升级模式----------------------------------*/
  if(IF_IAP_FLAG == (int16_t)0x1001)
  {
    send_mavlink_bootloader_status(BOOTLOADER_STATUS_NEEDTRANSMIT);
    while(1)
    {
      if(recv_iap_flag == INIT)
      {
        if(recv_init_flag == true){
          
          //固件升级初始化阶段
          recv_init_flag = false;  //清除初始化标志位
          
          //重新初始化写入地址，不初始化的话会再次点击升级或者电台延时错位写入地址会出错
          AppAddress = APPLICATION_ADDRESS;

          pre_iap_bin_num = 0;     //前序包计数器
          iap_bin_num = 0;         //当前包计数器 

          send_what = MAVLINK_ACK_ID;
          ack_id = 200;
          id_cont = 0;

          program_succeed = 0;
          program_err = 0;
          num_repeat = 0;
          num_err = 0;
          rec_err = 0;
        }

        if(recv_erasure_flag == true){
          // __disable_irq();
          //USBD_Stop(&hUsbDeviceFS);
          //USBD_CDC_Stop(&hUsbDeviceFS);

          pack_send_flag = false;

          erasure_bin_flash();
          
          pack_send_flag = true;

          // __enable_irq();
          HAL_Delay(100);

          
          //USBD_Start(&hUsbDeviceFS);
          //USBD_CDC_Start(&hUsbDeviceFS);

          recv_iap_flag = TRANSMIT;
          recv_erasure_flag = false;
        }

      }
      else if(recv_iap_flag == TRANSMIT){
        if(recv_onepack_flag == true){
          if(iap_bin_num == (pre_iap_bin_num + 1)){
            
            //if(FLASH_Write(AppAddress, (uint32_t *)&usb_rx_buf[8], (uint32_t)one_pack_size / 4) == 0)
            if(FLASH_Write_HalfWord(AppAddress, (uint16_t *)&usb_rx_buf[8], (uint16_t)one_pack_size / 2) == 0)
            {
              //编程成功
              recv_onepack_flag = false;
              //USBD_Stop(&hUsbDeviceFS);
              //USBD_CDC_Stop(&hUsbDeviceFS);
              pack_send_flag = true; //打开接收
              pre_iap_bin_num++;
              AppAddress = cur_address;
              send_what = MAVLINK_ACK_ID;

              ack_id = 201;
              id_cont = iap_bin_num;

              //记录
              program_succeed++;
            }
            else{
              //编程失败
              recv_onepack_flag = false;
              //USBD_Start(&hUsbDeviceFS); 
              //USBD_CDC_Start(&hUsbDeviceFS);
              pack_send_flag = true; //打开接收
              program_err++;
            }

          }
          else if(iap_bin_num == pre_iap_bin_num){
            
            recv_onepack_flag = false;
            pack_send_flag = true; //打开接收
            //USBD_Start(&hUsbDeviceFS);
            //USBD_CDC_Start(&hUsbDeviceFS);
            send_what = MAVLINK_ACK_ID;
            ack_id = 201;
            id_cont = iap_bin_num;

            //记录 
            num_repeat++;
          }
          else{
            recv_onepack_flag = false;
            //USBD_Start(&hUsbDeviceFS);
            //USBD_CDC_Start(&hUsbDeviceFS);
            send_what = MAVLINK_ACK_ID;
            ack_id = 201;
            id_cont = iap_bin_num;

            num_err++;
          }
        }
      }
      else if(recv_iap_flag == FINISH){
        if(recv_finish_flag == true){
          recv_finish_flag = false;
          send_what = MAVLINK_ACK_ID;
          ack_id = 202;
          id_cont = iap_bin_num;

          recv_finish_time = HAL_GetTick();
        }

        //等待1.5s 若无数据认为交互完成
        if(HAL_GetTick() - recv_finish_time > 1500){

          send_mavlink_bootloader_status(BOOTLOADER_STATUS_OK);

          HAL_FLASH_Lock();
          
          //关闭接收中断
          //USBD_Stop(&hUsbDeviceFS);
          //USBD_CDC_Stop(&hUsbDeviceFS);
          
          HAL_Delay(100);

          if((*(volatile uint32_t *)APPLICATION_ADDRESS) <= 0x20020000 && (*(volatile uint32_t *)APPLICATION_ADDRESS) >= 0x20000000)
          { 
            Cleanup_Before_Jump();

            //APPLICATION_ADDRESS + 4对应的是app中断向量表的第二项，复位地址
            JumpAddress = *(volatile uint32_t *) (APPLICATION_ADDRESS + 4);
            //把地址强转为函数指针
            Jump_To_Application = (pFunction) JumpAddress;
            //设置主函数栈指针
            __set_MSP(*(volatile uint32_t *)APPLICATION_ADDRESS);

            //重新开启USB
            // USBD_CDC_Start(&hUsbDeviceFS);
            //调用函数，实际失去app复位地址去执行复位操作
            Jump_To_Application();
          }

          HAL_Delay(100);

          recv_iap_flag = FAIL;

          //打开接收中断
          //USBD_Start(&hUsbDeviceFS);
          //USBD_CDC_Start(&hUsbDeviceFS);
          //MX_USB_DEVICE_DeInit();
        }
      }
      else if(recv_iap_flag == FAIL){
        HAL_Delay(600);
      }

      switch(send_what){
        case 0:
           
           HAL_Delay(600);
           HAL_Delay(600);
          send_mavlink_bootloader_status(BOOTLOADER_STATUS_NEEDTRANSMIT);
          break;
        case MAVLINK_IAP_HEART:
          break;
        
        case MAVLINK_ACK_ID:
          send_mavlink_ack();
          send_what = MAVLINK_IAP_HEART;
          break;
        
        default:
          break;
      }
    }
  }
  else
  {
    //usb_log_debug("APP start!\r\n");
    //HAL_Delay(500);
    if(((*(volatile uint32_t *)APPLICATION_ADDRESS) & 0x2FFE0000) == 0x20000000)
    { 
     
      Cleanup_Before_Jump();

      uint32_t a = (*(volatile uint32_t *)APPLICATION_ADDRESS);
      //APPLICATION_ADDRESS + 4对应的是app中断向量表的第二项，复位地址
      JumpAddress = *(volatile uint32_t *)(APPLICATION_ADDRESS + 4);
      //把地址强转为函数指针
      Jump_To_Application = (pFunction) JumpAddress;
      //设置主函数栈指针
      __set_MSP(*(volatile uint32_t *)APPLICATION_ADDRESS);
      //调用函数，实际失去app复位地址去执行复位操作
      Jump_To_Application();
      
    }
    HAL_Delay(600);
  }

  for(;;){
    
    static char error_counts = 0;
    
    HAL_Delay(600);
    
    error_counts++;

    if(error_counts > 10){
      while(FLASH_ErasePage(APPLICATION_ADDRESS - SECTOR_SIZE, 1)!= 0){
        HAL_Delay(100);
      }

      //写下需要升级标志
      unsigned short iap_flag = 0x1001;
      while(FLASH_WriteMoreData(SET_ADDRESS + 2,(uint32_t*)&iap_flag,2) != 0){
        HAL_Delay(100);
      }
      
      HAL_FLASH_Lock();
      HAL_Delay(200);
      HAL_NVIC_SystemReset();
    }
    
  }
  
  /* 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_USB;
  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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 */
/* 开关全局中断的宏 */
#define ENABLE_INT()	__set_PRIMASK(0)	/* 使能全局中断 */
#define DISABLE_INT()	__set_PRIMASK(1)	/* 禁止全局中断 */

void Cleanup_Before_Jump(void){

  uint32_t i = 0;

  //关闭外设
  // USBD_Stop(&hUsbDeviceFS);
  //MX_USB_DEVICE_DeInit();
  USBD_DeInit(&hUsbDeviceFS);
  HAL_UART_MspDeInit(&huart2);
  HAL_UART_MspDeInit(&huart3);

  //关闭GPIO
  HAL_GPIO_DeInit(GPIOA,GPIO_PIN_All);
  HAL_GPIO_DeInit(GPIOB,GPIO_PIN_All);
  HAL_GPIO_DeInit(GPIOC,GPIO_PIN_All);
  HAL_GPIO_DeInit(GPIOD,GPIO_PIN_All);
  
  
  //关闭外设时钟
  __HAL_RCC_GPIOA_CLK_DISABLE();
  __HAL_RCC_GPIOB_CLK_DISABLE();
  __HAL_RCC_GPIOC_CLK_DISABLE();
  __HAL_RCC_GPIOD_CLK_DISABLE();


  //关闭中断
  DISABLE_INT();

  //重置RCC
  HAL_RCC_DeInit();


  //  //重置SysTick
  SysTick->CTRL = 0;
  SysTick->LOAD = 0;
  SysTick->VAL = 0;


  for(i = 0;i < 8; i++){
    NVIC->ICER[i] = 0xFFFFFFFF;
    NVIC->ICPR[i] = 0xFFFFFFFF;
  }


  //重启中断
  ENABLE_INT();

}