#include "up.h"
#include "gpio.h"
#include "user_math.h"
#include "bsp_buzzer.h"
#include "bsp_delay.h"

#define GEAR_RATIO_2006         (36)   // 2006减速比
#define GEAR_RATIO_3508         (19)

#define CAN_MOTOR_ENC_RES  8191   // 编码器分辨率
#define MOTOR2006_ECD_TO_ANGLE  (360.0 / 8191.0 / (GEAR_RATIO_2006))   //2006编码值转轴角度
#define MOTOR3508_ECD_TO_ANGLE  (360.0 / 8191.0 / (GEAR_RATIO_3508))   //3508编码值转轴角度







int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
{
	u->param = param; 	/*初始化参数 */
	/*go电机初始化*/
	GO_M8010_init();
	/*pid初始化*/
	PID_init (&u->pid.VESC_5065_M1 ,PID_POSITION ,&(u->param ->VESC_5065_M1_param  ));
	PID_init (&u->pid.VESC_5065_M2 ,PID_POSITION ,&(u->param ->VESC_5065_M2_param ));

	PID_init (&u->pid .M2006_angle ,PID_POSITION ,&(u->param->M2006_angle_param  ));
	PID_init (&u->pid .M2006_speed ,PID_POSITION ,&(u->param->M2006_speed_param ));
	
	PID_init (&u->pid .M3508_angle ,PID_POSITION ,&(u->param->M3508_angle_param  ));
	PID_init (&u->pid .M3508_speed ,PID_POSITION ,&(u->param->M3508_speed_param ));
	
	PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
	PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
		

	for(int i=0;i<2;i++){		 //go初始位置设置为0 
	    GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,0,u->param->go_param .K_P ,u->param->go_param .K_W );		
	}

	/**/
	
	u->state .Dribble_flag =Not_started_dri;
	u->state. Pitch_flag=Not_started_Pit;
	u->state .last_state = Not_started_dri;

}

/*can，上层状态更新*/
int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
		for(int i=0;i<2;i++){		     //go初始位置设置为0 
	  u->motorfeedback .GO_motor_info [i] = getGoPoint(i);
	}
	
	u->motorfeedback .M2006 .motor =M2006;
	u->motorfeedback .M3508 .motor =M3508;

	u->motorfeedback .VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
	u->motorfeedback .VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;

	u->motorfeedback .rotor_pit6020ecd =can ->motor .chassis6020.as_array [2].rotor_ecd ;
	u->motorfeedback .rotor_pit6020rpm =can ->motor .chassis6020.as_array [2].rotor_speed  ;
	
	for(int i=0;i<4;i++){
	u->motorfeedback .M3508_rpm[i] =can ->motor .motor3508 .as_array [i].rotor_speed ;
	u->motorfeedback .M3508_angle [i]=can ->motor .motor3508 .as_array [i].rotor_ecd ;
	}
	
	u->cmd =c;
	
	if(HAL_GPIO_ReadPin (GPIOE,GPIO_PIN_9)==GPIO_PIN_RESET) 	u->Light_Flag  =1;
	else u->Light_Flag  =0; 

	
	return 0;
}



/*上层电机控制,使用can1的id1和2*/
int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor) {
    // 获取当前编码器角度
		 int8_t cnt=0;
	fp32 angle ,delta;

	switch(motor)
	{
		case M2006 :  			
    angle = u->motorfeedback.M3508_angle[0]; 
    if (u->motorfeedback .M2006 .init_cnt < 50) {
        u->motorfeedback .M2006.orig_angle = angle;    // 记录初始编码器值
        u->motorfeedback .M2006.last_angle = angle;    
			
        u->motorfeedback .M2006.init_cnt++;            // 初始化计数器递增
        return 0;                       
    }
		
		    delta = angle - u->motorfeedback .M2006.last_angle;
	    	delta = angle - u->motorfeedback .M2006.last_angle;
    if (delta > 4096) {
        u->motorfeedback .M2006.round_cnt--;           // 逆时针跨圈
    } else if (delta < -4096) {
        u->motorfeedback .M2006.round_cnt++;           // 顺时针跨圈
    }
        u->motorfeedback.M2006.last_angle = angle;
		    // 计算总角度
    float total_angle = (u->motorfeedback.M2006 .round_cnt * 8191 + (angle - u->motorfeedback.M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
    u->motorfeedback.M2006.total_angle =total_angle;
    
    float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle);
    float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M3508_rpm [0], delta_angle);
    u->motor_target.M2006_angle = target_angle;
    u->final_out .final_3508out [0] =delta_speed;

		break ;
		
		case M3508 : 
			
    angle = u->motorfeedback.M3508_angle[1]; 
    if (u->motorfeedback .M3508 .init_cnt < 50) {
        u->motorfeedback .M3508.orig_angle = angle;    // 记录初始编码器值
        u->motorfeedback .M3508.last_angle = angle;    
			
        u->motorfeedback .M3508.init_cnt++;            // 初始化计数器递增
        return 0;                       
    }
		
		    delta = angle - u->motorfeedback .M3508.last_angle;
	    	delta = angle - u->motorfeedback .M3508.last_angle;
    if (delta > 4096) {
        u->motorfeedback .M3508.round_cnt--;           // 逆时针跨圈
    } else if (delta < -4096) {
        u->motorfeedback .M3508.round_cnt++;           // 顺时针跨圈
    }
        u->motorfeedback.M3508.last_angle = angle;
		    // 计算总角度
     total_angle = (u->motorfeedback.M3508 .round_cnt * 8191 + (angle - u->motorfeedback.M3508.orig_angle)) * MOTOR2006_ECD_TO_ANGLE; 
    u->motorfeedback.M3508.total_angle =total_angle;
    
     delta_angle = PID_calc(&u->pid.M3508_angle , total_angle, target_angle);
     delta_speed = PID_calc(&u->pid.M3508_speed , u->motorfeedback.M3508_rpm [1], delta_angle);
		
    u->motor_target.M3508_angle  = target_angle;
    u->final_out .final_3508out[1] =delta_speed;

		break ;  

	}
    return 0;
}

//int8_t UP_M3508_speed(UP_t *u,fp32 speed)
//{
//	u->motor_target .M3508_speed [] =speed;
//	for(int i=0;i<3;i++){
//	    u->final_out .final_3508out [i] =
//	        PID_calc (&(u->pid .M3508_speed[i] ),u->motorfeedback .M3508_speed [i],speed );	
//	}
//	
//}


int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
{
	u->motor_target .VESC_5065_M1_rpm =speed;
	u->motor_target .VESC_5065_M2_rpm =speed;
	
	u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
  u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
	
	
}


int8_t GM6020_control(UP_t *u,fp32 angle)
{	
	fp32 delat_speed;
//	Clip(&angle,90,270);

	delat_speed =
	PID_calc (&(u->pid .GM6020_angle ),u->motorfeedback .rotor_pit6020ecd ,(angle /360*8191));
	u->final_out .final_pitchout =
	PID_calc (&(u->pid .GM6020_speed  ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
	u->motor_target .rotor_pit6020angle =angle ;
}

/*go电机控制*/
int8_t GO_SendData(UP_t *u,int id,float pos)
{
	
	 GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), id,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,AngleChange(RADIAN,pos),u->param->go_param .K_P ,u->param->go_param .K_W );

}



int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
{
	//电机控制	，传进can
	
	UP_angle_control(u,u->motor_target .M2006_angle ,M2006);
	UP_angle_control(u,u->motor_target .M3508_angle ,M3508 );
	
	

	GO_SendData(u,0 ,u->motor_target .go_shoot );
	GO_SendData(u,1 ,u->motor_target .go_spin);

  VESC_M5065_Control(u,  u->motor_target .VESC_5065_M1_rpm );

	
	for(int i=0;i<4;i++){
	out ->motor3508 .as_array[i]=u->final_out.final_3508out [i] ;
	}
	
	out ->chassis5065 .erpm [0]=  u->final_out .final_VESC_5065_M1out ;
	out ->chassis5065 .erpm [1]=  -u->final_out .final_VESC_5065_M2out ;
	
	out ->chassis6020 .as_array [2]=u->final_out .final_pitchout ;
	
	
	
}






























int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{
	
	if(u ==NULL)  return 0;
	if(u ==NULL)  return 0;
	
    switch (c->CMD_CtrlType  )
	{
	case UP_RCcontrol:  //在手动模式下
		
   switch (c->CMD_UP_mode ) 
			{
				
				case Normal :
         
				u->state .Pitch_flag  =Not_started_Pit;
				u->state .last_state = Not_started_Pit;

        
				break;
				
				case Pitch_pull :
				 if(u->state .last_state == Not_started_Pit)					 
				 {

				      u->motor_target .VESC_5065_M1_rpm = 40000;
				      u->motor_target .VESC_5065_M2_rpm = 40000;				
 
							u->state .Pitch_flag = Launch_Ready ;
					    u->state .last_state = Launch_Ready;

						 
						 
					 
				 }

				 break ;
			  case Pitch_shoot :
         if (u->state .last_state == Launch_Ready)
				 {
 
			       	u->motor_target .M2006_angle =-140;
					 if((u->Light_Flag) ==1){
						 
					    u->motor_target .VESC_5065_M1_rpm = 0;
				      u->motor_target .VESC_5065_M2_rpm = 0;	
						 
				       	u->motor_target .M2006_angle =0;
			  
							u->state .Pitch_flag = Done_Pit ;
					    u->state .last_state = Done_Pit;
				 
					 
					 }
					 
				 }
				 {	 

				 }
				 break;
					 
				
		
			}
			break;
			
				case  MID_NAVI :
				 {	 
				 }
	     break ;
	
	   case  PICK_t :
				 {	 
				 }
	
	
		break;
	
	default:
		break;
	}

			
			


	
}