// Insert compiler directives to set the optimization to zero
// We do not want the compiler to optimize out any code
#pragma GCC push_options
#pragma GCC optimize ("O0")

// Include the header file.
//  In STM32 microcontroller programming, the header files provided by the
//  manufacturer (STMicroelectronics) contain the necessary definitions,
//  constants, and function prototypes specific to the microcontroller's peripherals
//  and features.
#include "stm32c0xx.h"
#include <AccelStepper.h>

#define MSI_PORT GPIOB
#define MS3_PIN_Pin GPIO_PIN_14
#define MS2_PIN_Pin GPIO_PIN_15
#define MS1_PIN_Pin GPIO_PIN_2

#define DIR_PORT GPIOB
#define DIR_PIN_Pin GPIO_PIN_13

#define STEP_PORT GPIOB
#define STEP_PIN GPIO_PIN_4

TIM_HandleTypeDef htim3;

void Error_Handler(void);
void SystemClock_Config(void);
static void MX_TIM3_Init(void);

float STPMOTOR_REV = 200.00;
float MAX_MICRO_STEP = 3200.00;

//AccelStepper stepper(1, STEP_PIN,DIR_PIN_Pin);

static void GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, MS1_PIN_Pin|DIR_PIN_Pin|MS3_PIN_Pin|MS2_PIN_Pin, STEP_PIN | GPIO_PIN_RESET);

  /*Configure GPIO pins : MS1_PIN_Pin DIR_PIN_Pin MS3_PIN_Pin MS2_PIN_Pin */
  GPIO_InitStruct.Pin = MS1_PIN_Pin|DIR_PIN_Pin|MS3_PIN_Pin|MS2_PIN_Pin | STEP_PIN;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}



int main() {
  // put your setup code here, to run once:
  HAL_Init();
  SystemClock_Config();
  GPIO_Init();
  MX_TIM3_Init();
  /*
  // put your main code here, to run repeatedly:
  for(int i = 0; i < MAX_MICRO_STEP; i ++)
  {
    HAL_GPIO_WritePin(GPIOB, STEP_PIN, GPIO_PIN_SET);
    delay(1);
    HAL_GPIO_WritePin(GPIOB, STEP_PIN, GPIO_PIN_RESET);
    delay(1);
  }
  delay(1); // this speeds up the simulation
  */
  //stepper.moveTo(100);
}


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 */
}

static void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 48-1;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */

}



void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  __HAL_FLASH_SET_LATENCY(FLASH_LATENCY_1);

  /** 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;
  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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }

}