#include "dji.h"
#include "TopDefine.h"
#include "remote_control.h"
#include "calc_lib.h"

//可以在此完成电机pid初始化，以及电机的控制
//然后再去task里发送电机控制指令
//应该也可以在此发送电机指令
extern RC_mess_t RC_mess;

//编码器数据
const motor_measure_t *motor_3508_data;//3508电机数据

pid_type_def speed_pid;//3508速度环pid结构体
pid_type_def angle_pid;//3508位置环pid结构体

//pid

fp32 M3508_speed_PID[3]={5.0,0.3,0.0};	//P,I,D(速度环)
fp32 M3508_angle_PID[3]={25.0,0.0,1.5};	//P,I,D(角度环)
//速度环pid参数
fp32  M3508_PID[3]={4.9,0.01,0.0};

int16_t result; //速度环
float angleSet[MOTOR_NUM]; //位置环

//trigger
//编码器数据
const motor_measure_t *trigger_motor_data;//3508电机数据


pid_type_def t_speed_pid;//2006速度环pid结构体
pid_type_def t_angle_pid;//2006位置环pid结构体

fp32 M2006_speed_PID[3]={15.0,0.3,0.0};	//P,I,D(速度环)
fp32 M2006_angle_PID[3]={25.0,0.0,1.5};	//P,I,D(角度环)
//速度环pid参数
fp32  M2006_PID[3]={4.9,0.01,0.0};

int16_t t_result; //速度环 //can最后发送的数据
float t_angleSet[1]; //位置环

//GM6020电机数据
const motor_measure_t *GM6020_motor_data;//3508电机数据

//6020pid
pid_type_def speed_6020_pid;
pid_type_def angle_6020_pid;

const fp32 PID_6020_angle[3] = {50, 0.1, 0};
const fp32 PID_6020_speed[3]={5,0.01,0};



void motor_init(void)
{
//   motor_3508_data=get_motor_point(0);
    trigger_motor_data=get_motor_point(0);
    GM6020_motor_data=get_6020_motor_point(0);

	
	  // PID_init(&speed_pid,PID_POSITION,M3508_speed_PID,500000,500000);
    // PID_init(&angle_pid,PID_POSITION,M3508_angle_PID,500000,100000);

    PID_init(&t_speed_pid,PID_POSITION,M2006_speed_PID,500000,500000);
    PID_init(&t_angle_pid,PID_POSITION,M2006_angle_PID,500000,100000);


    PID_init(&speed_6020_pid,PID_POSITION,PID_6020_speed,15000,15000);//6020 pid初始化
    PID_init(&angle_6020_pid,PID_POSITION,PID_6020_angle,600,500);


}

float trigger_angle = 0;
void trigger_pos(fp32 angle)
{
 
  int16_t delta[1];
  
  delta[0]=PID_calc(&t_angle_pid,trigger_motor_data->total_angle,angle);
  t_result=PID_calc(&t_speed_pid,trigger_motor_data->speed_rpm,delta[0]);

   CAN_cmd_200(t_result,0,0,0,&hcan1);
   osDelay(2);

}

   
void motor_speed(fp32 speed)
{
 
     result=PID_calc(&speed_pid,motor_3508_data->speed_rpm,speed);

}

void motor_pos(fp32 angle)
{
  int16_t delta[1];
  
  delta[0]=PID_calc(&angle_pid,motor_3508_data->total_angle,angle);
  result=PID_calc(&speed_pid,motor_3508_data->speed_rpm,delta[0]);

}

//6020控制
void my_GM6020_control(fp32 angle)
{

    fp32 angle_get;
	  fp32 my_angle;
	  int32_t M6020_speed;

    //6020串级
    angle_get= angle;

    //外环角度环
    my_angle=PID_calc(&angle_6020_pid,GM6020_motor_data->total_angle,angle_get);//角度环
    //内环速度环	
    M6020_speed=PID_calc(&speed_6020_pid,GM6020_motor_data->speed_rpm, my_angle);//速度环

    CAN_cmd_1FF(M6020_speed, M6020_speed, M6020_speed, M6020_speed,&hcan1);
    osDelay(2);

}