#include "stm32c0xx_hal.h"
#include "lcd.h"
#include <string.h>
#include <stdio.h>

ADC_HandleTypeDef hadc1;

// 电机控制引脚（对应 Wokwi JSON 里的 A4988）
#define STEP_Pin    GPIO_PIN_2   // PA2 -> A4988 STEP
#define DIR_Pin     GPIO_PIN_3   // PA3 -> A4988 DIR
#define EN_Pin      GPIO_PIN_13  // PA13 -> A4988 ENABLE
#define Motor_Port  GPIOA

// LCD 引脚（和 JSON 一致）
#define RS_Pin GPIO_PIN_0
#define E_Pin  GPIO_PIN_1
#define D4_Pin GPIO_PIN_2
#define D5_Pin GPIO_PIN_3
#define D6_Pin GPIO_PIN_4
#define D7_Pin GPIO_PIN_5
#define LCD_Port GPIOB

// 函数声明
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void);
uint32_t read_pot(void);
void delayMicroseconds(uint32_t us);

int main(void) {
    HAL_Init();
    SystemClock_Config();
    MX_GPIO_Init();
    MX_ADC1_Init();

    LCD_Init();
    LCD_SetCursor(0, 0);
    LCD_WriteString("Stepper + POT");

    HAL_GPIO_WritePin(Motor_Port, EN_Pin, GPIO_PIN_RESET); // 使能电机

    while (1) {
        // 读取电位器
        uint32_t pot_val = read_pot();   // 0 - 4095
        int speed = (pot_val * 100) / 4095; // 转换为百分比 0~100%

        // 判断方向
        if (pot_val > 2048) {
            HAL_GPIO_WritePin(Motor_Port, DIR_Pin, GPIO_PIN_SET);   // 正转
            LCD_SetCursor(0, 12);
            LCD_WriteString("FWD");
        } else {
            HAL_GPIO_WritePin(Motor_Port, DIR_Pin, GPIO_PIN_RESET); // 反转
            LCD_SetCursor(0, 12);
            LCD_WriteString("REV");
        }

        // LCD 显示速度
        char buffer[16];
        sprintf(buffer, "Speed:%3d%%   ", speed);
        LCD_SetCursor(1, 0);
        LCD_WriteString(buffer);

        // 根据电位器调整步进延时 (速度控制)
        uint32_t delay_time = 200 + ((4095 - pot_val) * 3000 / 4095);

        // 连续运行电机
        HAL_GPIO_WritePin(Motor_Port, STEP_Pin, GPIO_PIN_SET);
        delayMicroseconds(5);
        HAL_GPIO_WritePin(Motor_Port, STEP_Pin, GPIO_PIN_RESET);
        delayMicroseconds(delay_time);
    }
}

// 读取电位器
uint32_t read_pot(void) {
    HAL_ADC_Start(&hadc1);
    HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
    return HAL_ADC_GetValue(&hadc1);
}

// 微秒延时
void delayMicroseconds(uint32_t us) {
    uint32_t count = (HAL_RCC_GetHCLKFreq() / 1000000) * us / 5;
    while (count--) {
        __NOP();
    }
}

// GPIO 初始化
static void MX_GPIO_Init(void) {
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();

    GPIO_InitTypeDef GPIO_InitStruct = {0};

    // 步进电机引脚
    GPIO_InitStruct.Pin = STEP_Pin | DIR_Pin | EN_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(Motor_Port, &GPIO_InitStruct);

    // LCD 引脚
    GPIO_InitStruct.Pin = RS_Pin|E_Pin|D4_Pin|D5_Pin|D6_Pin|D7_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(LCD_Port, &GPIO_InitStruct);
}

// ADC 初始化（电位器接 PA0）
static void MX_ADC1_Init(void) {
    __HAL_RCC_ADC_CLK_ENABLE();

    hadc1.Instance = ADC1;
    hadc1.Init.Resolution = ADC_RESOLUTION_12B;
    hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
    hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
    hadc1.Init.ContinuousConvMode = DISABLE;
    hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
    HAL_ADC_Init(&hadc1);

    ADC_ChannelConfTypeDef sConfig = {0};
    sConfig.Channel = ADC_CHANNEL_0; // PA0
    sConfig.Rank = ADC_REGULAR_RANK_1;
    sConfig.SamplingTime = ADC_SAMPLINGTIME_COMMON_1;
    HAL_ADC_ConfigChannel(&hadc1, &sConfig);
}

// 系统时钟配置
void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    HAL_RCC_OscConfig(&RCC_OscInitStruct);

    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
}

void Error_Handler(void) {
    while (1) {}
}