#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include "stm32f1xx_hall.h"
#include "stm32f1xx_hal_uart.h"
#include "stm32f1xx_hal_gpio.h"
#include "stm32f1xx_hal_rcc.h"
#include "stm32f1xx_hal_cortex.h"



#define LED_PORT                GPIOC
#define LED_PIN                 GPIO_PIN_13
#define LED_PORT_CLK_ENABLE     __HAL_RCC_GPIOC_CLK_ENABLE

#define IN1_PIN                 GPIO_PIN_0
#define IN2_PIN                 GPIO_PIN_1
#define IN3_PIN                 GPIO_PIN_2
#define IN4_PIN                 GPIO_PIN_3
#define IN_PORT                 GPIOA
#define IN_PORT_CLK_ENABLE      __HAL_RCC_GPIOA_CLK_ENABLE

UART_HandleTypeDef huart2;

void Error_Handler(void);
void SystemClock_Config(void);
static void MX_USART2_UART_Init(void);

void SysTick_Handler(void)
{
  HAL_IncTick();
}

void initGPIO()
{
  GPIO_InitTypeDef GPIO_Config;

  // GPIO configuration for LED
  GPIO_Config.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_Config.Pull = GPIO_NOPULL;
  GPIO_Config.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_Config.Pin = LED_PIN;
  LED_PORT_CLK_ENABLE();
  HAL_GPIO_Init(LED_PORT, &GPIO_Config);

  // GPIO configuration for L298N
  GPIO_Config.Pin = IN1_PIN | IN2_PIN | IN3_PIN | IN4_PIN;
  IN_PORT_CLK_ENABLE();
  HAL_GPIO_Init(IN_PORT, &GPIO_Config);
}

void setStepperMotor(int step)
{
  // Define the step sequence for the stepper motor
  uint8_t stepSequence[4][4] = {
    {GPIO_PIN_SET, GPIO_PIN_RESET, GPIO_PIN_SET, GPIO_PIN_RESET}, // Step 1
    {GPIO_PIN_RESET, GPIO_PIN_SET, GPIO_PIN_SET, GPIO_PIN_RESET}, // Step 2
    {GPIO_PIN_RESET, GPIO_PIN_SET, GPIO_PIN_RESET, GPIO_PIN_SET}, // Step 3
    {GPIO_PIN_SET, GPIO_PIN_RESET, GPIO_PIN_RESET, GPIO_PIN_SET}  // Step 4
  };

  HAL_GPIO_WritePin(IN_PORT, IN1_PIN, stepSequence[step][0]);
  HAL_GPIO_WritePin(IN_PORT, IN2_PIN, stepSequence[step][1]);
  HAL_GPIO_WritePin(IN_PORT, IN3_PIN, stepSequence[step][2]);
  HAL_GPIO_WritePin(IN_PORT, IN4_PIN, stepSequence[step][3]);
}

void Delay(__IO uint32_t nCount)
{
  while(nCount--)
  {
  }
}

int main(void)
{
  const char * hello_world = "Hello STM32\r\n";

  HAL_Init();
  SystemClock_Config();

  initGPIO();
  MX_USART2_UART_Init();

  HAL_UART_Transmit(&huart2, (uint8_t *)hello_world, strlen(hello_world), HAL_MAX_DELAY);

  while (1)
  {
    for (int step = 0; step < 4; step++)
    {
      setStepperMotor(step);
      Delay(100000);
    }
  }

  return 0;
}

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

  /* 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_NONE;

  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_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
    @brief USART2 Initialization Function
    @param None
    @retval None
*/
static void MX_USART2_UART_Init(void)
{
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;

  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
}

#define STDOUT_FILENO   1
#define STDERR_FILENO   2

int _write(int file, char *ptr, int len)
{
  switch (file)
  {
    case STDOUT_FILENO: /*stdout*/
      HAL_UART_Transmit(&huart2, (uint8_t *)ptr, len, HAL_MAX_DELAY);
      break;
    case STDERR_FILENO: /* stderr */
      HAL_UART_Transmit(&huart2, (uint8_t *)ptr, len, HAL_MAX_DELAY);
      break;
    default:
      return -1;
  }
  return len;
}

void Error_Handler(void)
{
  /* User can add his own implementation to report the HAL error return state */
}

#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 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) */
}
#endif /* USE_FULL_ASSERT */