/* 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 "cmsis_os.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 */

/* USER CODE END PD */

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim5;

UART_HandleTypeDef huart6;

/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for balance */
osThreadId_t balanceHandle;
const osThreadAttr_t balance_attributes = {
  .name = "balance",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for motor */
osThreadId_t motorHandle;
const osThreadAttr_t motor_attributes = {
  .name = "motor",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM4_Init(void);
static void MX_TIM5_Init(void);
static void MX_USART6_UART_Init(void);
void StartDefaultTask(void *argument);
void start_balance(void *argument);
void start_motor(void *argument);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#define TIM4_ARR_VALUE 1024
uint32_t TIM4_CurrentCount;
uint32_t TIM4_PreviousCount = 0;
#define TS 0.01
#define TSmillis TS*1000
#define M_PI 3.1415
float encoder_TIM4_speed_rad() {
	int32_t TIM4_DiffCount;
	TIM4_CurrentCount = __HAL_TIM_GET_COUNTER(&htim4);
	/* evaluate increment of TIM3 counter from previous count */
	if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim4)) {
		/* check for counter underflow */
		if (TIM4_CurrentCount <= TIM4_PreviousCount)
			TIM4_DiffCount = TIM4_CurrentCount - TIM4_PreviousCount;
		else
			TIM4_DiffCount = -((TIM4_ARR_VALUE + 1) - TIM4_CurrentCount)
					- TIM4_PreviousCount;
	} else {
		/* check for counter overflow */
		if (TIM4_CurrentCount >= TIM4_PreviousCount)
			TIM4_DiffCount = TIM4_CurrentCount - TIM4_PreviousCount;
		else
			TIM4_DiffCount = ((TIM4_ARR_VALUE + 1) - TIM4_PreviousCount)
					+ TIM4_CurrentCount;
	}
	TIM4_PreviousCount = TIM4_CurrentCount;

	return (float) TIM4_DiffCount / (TIM4_ARR_VALUE * TS) * 2 * M_PI;
}
#define TIM1_ARR_VALUE 1024
uint32_t TIM1_CurrentCount;
uint32_t TIM1_PreviousCount = 0;
float encoder_TIM1_speed_rad() {
	int32_t TIM1_DiffCount;
	TIM1_CurrentCount = __HAL_TIM_GET_COUNTER(&htim3);
	/* evaluate increment of TIM3 counter from previous count */
	if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3)) {
		/* check for counter underflow */
		if (TIM1_CurrentCount <= TIM1_PreviousCount)
			TIM1_DiffCount = TIM1_CurrentCount - TIM1_PreviousCount;
		else
			TIM1_DiffCount = -((TIM1_ARR_VALUE + 1) - TIM1_CurrentCount)
					- TIM1_PreviousCount;
	} else {
		/* check for counter overflow */
		if (TIM1_CurrentCount >= TIM1_PreviousCount)
			TIM1_DiffCount = TIM1_CurrentCount - TIM1_PreviousCount;
		else
			TIM1_DiffCount = ((TIM1_ARR_VALUE + 1) - TIM1_PreviousCount)
					+ TIM1_CurrentCount;
	}
	TIM1_PreviousCount = TIM1_CurrentCount;
	//TIM1->SR&=~TIM_SR_BIF;
	//TIM1->SR&=~TIM_SR_COMIF;
	//TIM1->SR=1606;

	return (float) TIM1_DiffCount / (TIM1_ARR_VALUE * TS) * 2 * M_PI;
}
#define TIM5_ARR_VALUE 4000
void set_pwm(float duty, char motor, char mode) {
	// Limit the duty cycle to ±70%
	duty = fabsf(duty) > 0.7f ? (duty / fabsf(duty)) * 0.7f : duty;

	if (motor == 'r') {
		duty = -duty;
		if (duty >= 0) { // rotate forward
			if (mode == 'c') { // coast
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_1,
						duty * TIM5_ARR_VALUE);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_2, 0);
			} else if (mode == 'b') { // brake
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_1, TIM5_ARR_VALUE);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_2,
						TIM5_ARR_VALUE - duty * TIM5_ARR_VALUE);
			}
		} else { // rotate backward
			if (mode == 'c') { // coast
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_1, 0);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_2,
						(-duty) * TIM5_ARR_VALUE);
			} else if (mode == 'b') { // brake
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_1,
						TIM5_ARR_VALUE - (-duty) * TIM5_ARR_VALUE);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_2, TIM5_ARR_VALUE);
			}
		}
	}

	if (motor == 'l') {
		duty = -duty;
		if (duty >= 0) { // rotate forward
			if (mode == 'c') {
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_3,
						duty * TIM5_ARR_VALUE);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_4, 0);
			} else if (mode == 'b') {
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_3, TIM5_ARR_VALUE);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_4,
						TIM5_ARR_VALUE - duty * TIM5_ARR_VALUE);
			}
		} else { // rotate backward
			if (mode == 'c') {
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_3, 0);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_4,
						(-duty) * TIM5_ARR_VALUE);
			} else if (mode == 'b') {
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_3,
						TIM5_ARR_VALUE - (-duty) * TIM5_ARR_VALUE);
				__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_4, TIM5_ARR_VALUE);
			}
		}
	}
}
/* 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_I2C1_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_USART6_UART_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* USER CODE BEGIN RTOS_MUTEX */
	/* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
	/* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
	/* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
	/* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of balance */
  balanceHandle = osThreadNew(start_balance, NULL, &balance_attributes);

  /* creation of motor */
  motorHandle = osThreadNew(start_motor, NULL, &motor_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
	/* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
	/* add events, ... */
  /* USER CODE END RTOS_EVENTS */

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

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

    /* USER CODE BEGIN 3 */
	}
  /* USER CODE END 3 */
}

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

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  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 buses 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 I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief TIM3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != 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 */
	HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
  /* USER CODE END TIM3_Init 2 */

}

/**
  * @brief TIM4 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM4_Init(void)
{

  /* USER CODE BEGIN TIM4_Init 0 */

  /* USER CODE END TIM4_Init 0 */

  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM4_Init 1 */

  /* USER CODE END TIM4_Init 1 */
  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 0;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 65535;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM4_Init 2 */
	HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
  /* USER CODE END TIM4_Init 2 */

}

/**
  * @brief TIM5 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM5_Init(void)
{

  /* USER CODE BEGIN TIM5_Init 0 */

  /* USER CODE END TIM5_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM5_Init 1 */

  /* USER CODE END TIM5_Init 1 */
  htim5.Instance = TIM5;
  htim5.Init.Prescaler = 15;
  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim5.Init.Period = 4000;
  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM5_Init 2 */
	__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_1, 100);
	__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_2, 100);
	__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_3, 100);
	__HAL_TIM_SET_COMPARE(&htim5, TIM_CHANNEL_4, 100);

	HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_3);
	HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_4);

  /* USER CODE END TIM5_Init 2 */
  HAL_TIM_MspPostInit(&htim5);

}

/**
  * @brief USART6 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART6_UART_Init(void)
{

  /* USER CODE BEGIN USART6_Init 0 */

  /* USER CODE END USART6_Init 0 */

  /* USER CODE BEGIN USART6_Init 1 */

  /* USER CODE END USART6_Init 1 */
  huart6.Instance = USART6;
  huart6.Init.BaudRate = 115200;
  huart6.Init.WordLength = UART_WORDLENGTH_8B;
  huart6.Init.StopBits = UART_STOPBITS_1;
  huart6.Init.Parity = UART_PARITY_NONE;
  huart6.Init.Mode = UART_MODE_TX_RX;
  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart6) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART6_Init 2 */

  /* USER CODE END USART6_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_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_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);

  /*Configure GPIO pin : PC13 */
  GPIO_InitStruct.Pin = GPIO_PIN_13;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */
	HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET); //turn it on
  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/* USER CODE BEGIN Header_StartDefaultTask */
/**
 * @brief  Function implementing the defaultTask thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN 5 */
	/* Infinite loop */
	for (;;) {
		osDelay(500);
		HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET); //turn it on
		osDelay(500);
		HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET); //turn it on
	}
  /* USER CODE END 5 */
}

/* USER CODE BEGIN Header_start_balance */
struct motorstruct {
	float wr, ur;
	float wl, ul;
} motor;

#define MPU6050_ADDR       (0x68 << 1)
#define MPU6050_REG_DATA   0x3B
#define MPU6050_PWR_MGMT_1 0x6B

// Sensitivity (default ±2g, ±250°/s)
#define ACCEL_SENS 16384.0f
#define GYRO_SENS  131.0f

typedef struct {
	float accel[3];  // g
	float gyro[3];   // °/s
	float temp;      // °C
} MPU6050_Data;

void MPU6050_Init(void) {
	uint8_t wake = 0x00;
	HAL_I2C_Mem_Write(&hi2c1,
	MPU6050_ADDR,
	MPU6050_PWR_MGMT_1,
	I2C_MEMADD_SIZE_8BIT, &wake, 1, 100);
	HAL_Delay(100);
}

HAL_StatusTypeDef MPU6050_Read(MPU6050_Data *data) {
	uint8_t raw[14];
	HAL_StatusTypeDef ret;

	ret = HAL_I2C_Mem_Read(&hi2c1,
	MPU6050_ADDR,
	MPU6050_REG_DATA,
	I2C_MEMADD_SIZE_8BIT, raw, 14, 100);

	if (ret != HAL_OK)
		return ret;

	int16_t accel_raw[3], gyro_raw[3], temp_raw;

	accel_raw[0] = (int16_t) (raw[0] << 8 | raw[1]);
	accel_raw[1] = (int16_t) (raw[2] << 8 | raw[3]);
	accel_raw[2] = (int16_t) (raw[4] << 8 | raw[5]);

	temp_raw = (int16_t) (raw[6] << 8 | raw[7]);

	gyro_raw[0] = (int16_t) (raw[8] << 8 | raw[9]);
	gyro_raw[1] = (int16_t) (raw[10] << 8 | raw[11]);
	gyro_raw[2] = (int16_t) (raw[12] << 8 | raw[13]);

	// Scale to real units
	data->accel[0] = accel_raw[0] / ACCEL_SENS;
	data->accel[1] = accel_raw[1] / ACCEL_SENS;
	data->accel[2] = accel_raw[2] / ACCEL_SENS;

	data->gyro[0] = gyro_raw[0] / GYRO_SENS;
	data->gyro[1] = gyro_raw[1] / GYRO_SENS;
	data->gyro[2] = gyro_raw[2] / GYRO_SENS;

	data->temp = (temp_raw / 340.0f) + 36.53f;

	return HAL_OK;
}
/**
 * @brief Function implementing the balance thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_balance */
void start_balance(void *argument)
{
  /* USER CODE BEGIN start_balance */
	/* Infinite loop */
	MPU6050_Data sensor;
	MPU6050_Init();

	HAL_Delay(500);
	float alpha = 0.9;
	float Kp = 5;      //80 good
	float Ki = 5 * 0.15*0;
	float Kd = 100 * 0;

	float integral;
	float sat_diff;
	float pitch;
	float last_pitch;
	float Kw = 0.01;

	float position;
	float position_kp = -10;
	for (;;) {
		vTaskDelay(TSmillis);
		if (MPU6050_Read(&sensor) == HAL_OK) {
			// Now sensor.accel[], sensor.gyro[], sensor.temp are ready to use
			// Example: print over UART, use in control loop, etc.
			// XYZ
			float gyro_pitch = sensor.gyro[0] * (M_PI / 180.0f) * TS; // convert °/s → rad/s
			float acc_pitch = atan2f(sensor.accel[1], sensor.accel[2]);
			pitch = alpha * (pitch + gyro_pitch) + (1.0f - alpha) * acc_pitch;

			float error = pitch;
			//
			//			float anti_windup_1 = Ki * error1 - sat_diff_1 * Kw;
			//			integral1 += anti_windup_1 * TS;
			//			float control1 = integral1 + Kp * error1;
			//			float unsat_control_1 = control1;
			//			control1 =
			//					fabsf(control1) > 0.7f ?
			//							(control1 / fabsf(control1)) * 0.7f : control1;
			//			sat_diff_1 = unsat_control_1 - control1;
			integral += error;
			float control = Kp * error + integral * Ki
					+ (last_pitch - pitch) * Kd + position * position_kp;

			set_pwm(control, 'l', 'c');
			set_pwm(-control , 'r', 'c');


			//motor.ul = motor.ur;

			last_pitch = pitch;

			position += motor.wl * 0.03 * 2 * M_PI * TS; //3cm wheel radius

		} else {
			//motor.ur = 0;
			//motor.ul = motor.ur
			set_pwm(0, 'l', 'c');
			set_pwm(0, 'r', 'c');
		}

		//char uart_buf[20];
		//int len = sprintf(uart_buf, "%.3fp\r\n", pitch);
		//HAL_UART_Transmit(&huart6, (uint8_t*) uart_buf, len, HAL_MAX_DELAY);

	}
  /* USER CODE END start_balance */
}

/* USER CODE BEGIN Header_start_motor */
/**
 * @brief Function implementing the motor thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_motor */
void start_motor(void *argument)
{
  /* USER CODE BEGIN start_motor */
	/* Infinite loop */
	float tempspeed;
	float Ki = 4;
	float Kp = 0.005 * 10;
	float Kw = 5;
	float integral1 = 0;
	float integral2 = 0;
	float sat_diff_1 = 0;
	float sat_diff_2 = 0;
	static char statsBuffer[200];
	motor.ul = 0.0 * M_PI;
	motor.ur = 0.0 * M_PI;

	for (;;) {
		vTaskDelay(TSmillis);

		//vTaskGetRunTimeStats(statsBuffer);
		//motor.wr = encoder_TIM3_speed_rad();

		tempspeed = -encoder_TIM4_speed_rad();
		if (fabsf(tempspeed - motor.wr) < 700.0f) {
			motor.wr = tempspeed;

		}
		tempspeed = encoder_TIM1_speed_rad();
		if (fabsf(tempspeed - motor.wl) > 70.0f) {

		} else {
			motor.wl = tempspeed;
		}

		// Calculation for Motor 1 control signal
		float error1 = (-1) * motor.ur - motor.wr;
		if (error1 > 10) {
			int t = 0;
		}
		float anti_windup_1 = Ki * error1 - sat_diff_1 * Kw;
		integral1 += anti_windup_1 * TS;
		float control1 = integral1 + Kp * error1;
		float unsat_control_1 = control1;
		control1 =
				fabsf(control1) > 0.7f ?
						(control1 / fabsf(control1)) * 0.7f : control1;
		sat_diff_1 = unsat_control_1 - control1;

		//set_pwm(control1, 'r', 'c');
		//set_pwm(0.15, 'r', 'c');

		// Calculation for Motor 2 control signal
		float error2 = motor.ul - motor.wl;
		if (error2 > 10) {
			int t = 0;
		}
		float anti_windup_2 = Ki * error2 - sat_diff_2 * Kw;
		integral2 += anti_windup_2 * TS;
		float control2 = integral2 + Kp * error2;
		float unsat_control_2 = control2;
		control2 =
				fabsf(control2) > 0.7f ?
						(control2 / fabsf(control2)) * 0.7f : control2;
		sat_diff_2 = unsat_control_2 - control2;

		//set_pwm(control2, 'l', 'c');
		//set_pwm(0.15, 'l', 'c');

	}
  /* USER CODE END start_motor */
}

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM10 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM10)
  {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @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 */