#include "config.h"
#include "flash.h"
#include "string.h"
#define DEBUG

#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)

#define DEG_TO_RAD(x) ((x) * (3.141592653 / 180.0)) //角度转弧度

//#ifdef DEBUG

//ConfigParam_t param_up ={

//#else	
//static const ConfigParam_t param_up ={
//#endif
//	
//	
//	
//	
//};

#ifdef DEBUG

ConfigParam_t param_chassis ={

#else
	
static const ConfigParam_t param_chassis ={

//	
//typedef struct
//{	
//	/*该部分决定PID的参数整定在config中修改*/
//	pid_param_t VESC_5065_M1_param;
//	pid_param_t VESC_5065_M2_param;
//	
//	pid_param_t UP_GM6020_speed_param;
//	pid_param_t UP_GM6020_angle_param;
//	
//	pid_param_t M2006_speed_param;	
//	pid_param_t M2006_angle_param;	
//	
//}UP_Param_t;


#endif
	.up={

.M2006_angle_param = {  // 外环（角度环）
    .p = 25.0f,        // 原13.0 → 提升P加速响应
    .i = 0.0f,         // 保持
    .d = 1.5f,         // 原1.8 → 增强D抑制振荡
    .i_limit = 1000.0f,// 原2000 → 限制积分累积
    .out_limit = 3000.0f,
},
.M2006_speed_param = {  // 内环（速度环）
    .p = 5.0f,         // 原5.5 → 提升P加快跟踪
    .i = 0.3f,         // 保持
    .d = 0.0f,         // 原0.4 → 抑制新增高频噪声
    .i_limit = 2000.0f,
    .out_limit = 3000.0f,
},
.UP_GM6020_angle_param={
			.p = 30.0f,
			.i = 20.0f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 1500.0f,
}	,
.UP_GM6020_speed_param={
      .p =3.0f,
			.i =0.5f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 3000.0f  			
},
.M3508_speed_param={
		 .p = 15.1f,
		 .i = 0.02f,
		 .d = 3.2f,
		 .i_limit = 200.0f,
		 .out_limit =6000.0f,
}
	
	},

   .chassis = {/**/
    .C6020pitAngle_param = {
			.p = 15.0f,
			.i = 0.3f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 3000.0f,
		},
		.C6020pitOmega_param = {
			.p =30.0f,
			.i =0.3f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 3000.0f				
		},
		
		.Gimbal_yawAngle_param = {
			.p =8.0f,
			.i =0.0f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 3000.0f
		},
		
		.Gimbal_yawOmega_param = {
			.p =18.0f,
			.i =0.0f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 3000.0f
		},
		
		.Gimbal_pitchAngle_param = {
			.p =8.0f,
			.i =0.0f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 3000.0f
		},
		
		.Gimbal_pitchOmega_param = {
			.p =18.0f,
			.i =0.0f,
			.d =0.0f,
			.i_limit = 200.0f,
			.out_limit = 3000.0f
		},
     .AngleCor_param = {
			.p =0.8f,
			.i =0.0f,
			.d =1.0f,
			.i_limit = 0.0f,
			.out_limit =5000.0f,
     },
		 
     .OmegaCor_param = {
			.p =23.5f,
			.i =0.0f,
			.d =0.05f,
			.i_limit = 0.0f,
			.out_limit =5000.0f,
     },
		 
   .ImuCor_param = {
	    .p =95.0f,
	 		.i =0.0f,
			.d =0.0f,
			.i_limit = 0.0f,
			.out_limit =200.0f,
    }, 
	 
	 .DisCamera_param = {
       .p =80.0f,
		   .i =0.1f,
		   .d =0.0f,
		   .i_limit = 0.0f,
		   .out_limit =5000.0f,
	 },
	 
	 	 .M3508_param = {
		 .p = 15.1f,
		 .i = 0.02f,
		 .d = 3.2f,
		 .i_limit = 200.0f,
		 .out_limit =6000.0f,
	 }
		 

   },

	 
   .can = {
		   .pitch6020 =  BSP_CAN_1,
       .motor3508 = BSP_CAN_1,  
		   .chassis6020 = BSP_CAN_1,
       .chassis5065 = BSP_CAN_1,
		 
		   .sick = BSP_CAN_2,
   },

};
const ConfigParam_t *Config_ChassisGet(void)
{
  return &param_chassis;
}

///*获取导航地图*/
//void set_ops_path(ConfigParam_t *config, const point_t *path, int8_t path_num) {
//    config->ops.path = path;
//    config->ops.path_num = path_num;
//}
/**
 * \brief 从Flash读取配置信息
 *
 * \param cfg 配置信息
 */
void Config_Get(Config_t *cfg) {
  BSP_Flash_ReadBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
//  /* 防止第一次烧写后访问NULL指针 */
	 cfg->chassis_config = &param_chassis;
  if (cfg->chassis_config == NULL) cfg->chassis_config = &param_chassis;
  /* 防止擦除后全为1 */
  if ((uint32_t)(cfg->chassis_config) == UINT32_MAX)
    cfg->chassis_config = &param_chassis;
	
	  if (memcmp(&cfg->cali_088.gyro_offset.x, "\xFF\xFF\xFF\xFF", 4) == 0) {
        cfg->cali_088.gyro_offset.x = 0.0f;
    }
    if (memcmp(&cfg->cali_088.gyro_offset.y, "\xFF\xFF\xFF\xFF", 4) == 0) {
        cfg->cali_088.gyro_offset.y = 0.0f;
    }
    if (memcmp(&cfg->cali_088.gyro_offset.z, "\xFF\xFF\xFF\xFF", 4) == 0) {
        cfg->cali_088.gyro_offset.z = 0.0f;
    }
}

/**
 * \brief 将配置信息写入Flash
 *
 * \param cfg 配置信息
 */
void Config_Set(Config_t *cfg) {
  osKernelLock();
  BSP_Flash_EraseSector(11);
  BSP_Flash_WriteBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
  osKernelUnlock();
}