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

#define GEAR_RATIO         (36)   // 2006减速比
#define CAN_MOTOR_ENC_RES  8191   // 编码器分辨率
#define MOTOR2006_ECD_TO_ANGLE  (360.0 / 8191.0 / (GEAR_RATIO))   //2006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 */

	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 .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<3;i++){
	PID_init (&u->pid .M3508_speed[i] ,PID_POSITION ,&(u->param ->M3508_speed_param ));
	    }
	
			
}


int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) {

	u->motorfeedback .M2006_angle=can ->motor .motor3508 .as_array [0].rotor_ecd ;
	u->motorfeedback .M2006_rpm =can ->motor .motor3508 . as_array [0].rotor_speed  ;
	
	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<3;i++){
	u->motorfeedback .M3508_speed[i] =can ->motor .motor3508 .as_array [i+1].rotor_speed ;
	}
}

	 int8_t cnt=0;

/*上层电机控制*/
int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
    // 获取当前编码器角度
    float angle = u->motorfeedback.M2006_angle;

    // 初始化阶段：前50次循环记录初始值
    if (u->M2006.init_cnt < 50) {
        u->M2006.orig_angle = angle;    // 记录初始编码器值
        u->M2006.last_angle = angle;     // 初始化上一次角度
        u->M2006.init_cnt++;            // 初始化计数器递增
        return 0;                       // 初始化阶段不执行控制
    }

    // 计算角度差值（处理编码器溢出）
    float delta = angle - u->M2006.last_angle;
    if (delta > 4096) {
        u->M2006.round_cnt--;           // 逆时针跨圈
    } else if (delta < -4096) {
        u->M2006.round_cnt++;           // 顺时针跨圈
    }

    u->M2006.last_angle = angle;

    // 计算总角度（基于初始偏移和圈数）
    float total_angle = (u->M2006.round_cnt * 8191 + (angle - u->M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
    u->M2006 .total_angle =total_angle;
    // PID控制计算
    float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle);
    float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M2006_rpm, delta_angle);
    u->motor_target.M2006_angle = target_angle;
    u->final_out .final_2006out =delta_speed;
    
    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 ;
}



int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
{
	//电机控制	，传进can
	out ->motor3508 .as_array [0]=u->final_out .final_2006out ;
	
	for(int i=1;i<4;i++){
	out ->motor3508 .as_array[i]=u->final_out.final_3508out [i-1] ;
	}
	
	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)
{
//	if(u ==NULL)  return 0;
//	if(u ==NULL)  return 0;
//   UP_M2006_angle(u,2500);
	switch (u->ctrl)
	{
		case STATE_IDLE         :			     break ;
    case STATE_PRE_DRIBBLE  :	         break ;
    case STATE_POST_DRIBBLE :	         break ;
    case STATE_PRE_LAUNCH   : 	       break ;
    case STATE_POST_LAUNCH  :  	       break ;		
	}
}