/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.h"
#include "device/motor_dm.h"


/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

/* Exported variables ------------------------------------------------------- */

// 机器人参数配置
Config_RobotParam_t robot_config = {
    .shoot_param = {
            .trig_step_angle=M_2PI/8,
            .shot_delay_time=0.05f,
            .shot_burst_num=50,
            .fric_motor_param[0] = {
                .can = BSP_CAN_2,
                .id = 0x201,
                .module = MOTOR_M3508,
                .reverse = true,
                .gear=false,
            },
            .fric_motor_param[1] = {
                .can = BSP_CAN_2,
                .id = 0x202,
                .module = MOTOR_M3508,
                .reverse = false,
                .gear=false,
            },
            .trig_motor_param = {
                .can = BSP_CAN_1,
                .id = 0x201,
                .module = MOTOR_M2006,
                .reverse = true,
                .gear=true,
            },
            .fric_follow = {
                .k=1.0f,
                .p=1.8f,
                .i=0.0f,
                .d=0.0f,
                .i_limit=0.0f,
                .out_limit=0.9f, 
                .d_cutoff_freq=30.0f,
                .range=-1.0f,
            },
            
            .fric_err = {
                .k=1.0f,
                .p=4.0f,
                .i=0.4f,
                .d=0.04f,
                .i_limit=0.25f,
                .out_limit=0.25f, 
                .d_cutoff_freq=40.0f,
                .range=-1.0f, 
            },
            .trig_omg = {
            .k=1.0f,
            .p=1.5f,
            .i=0.3f,
            .d=0.5f,
            .i_limit=0.2f,
            .out_limit=0.9f,
            .d_cutoff_freq=-1.0f,
            .range=-1.0f,
            },
            .trig = {
                .k=1.0f,
                .p=1.0f,
                .i=0.1f,
                .d=0.05f,
                .i_limit=0.8f,
                .out_limit=0.5f,
                .d_cutoff_freq=-1.0f,
                .range=M_2PI,
            },
            .filter.fric = {
                .in = 30.0f,
                .out = 30.0f,
            },
            .filter.trig = {
                .in = 30.0f,
                .out = 30.0f,
            },
            
        
        },
        
    .gimbal_param = {
        .pid = {
            .yaw_omega = {
                .k = 1.0f,
                .p = 1.0f,
                .i = 0.3f,
                .d = 0.0f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .yaw_angle = {
                .k = 8.0f,
                .p = 3.0f,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
            .pit_omega = {
                .k = 0.25f,
                .p = 1.0f,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .pit_angle = {
                .k = 5.0f,
                .p = 5.0f,
                .i = 2.5f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
        },
        .mech_zero = {
            .yaw = 0.0f,
            .pit = 1.77f,
        },
        .travel = {
            .yaw = -1.0f,
            .pit = 0.8f,
        },
        .low_pass_cutoff_freq = {
            .out = -1.0f,
            .gyro = 1000.0f,
        },
        .pit_motor ={
            .can = BSP_CAN_2,
            .id = 0x206,
            .gear = false,
            .module = MOTOR_GM6020,
            .reverse = true,
        },
        .yaw_motor = {
            .can = BSP_CAN_1,
            .can_id = 0x1,
            .master_id = 0x11,
            .module = MOTOR_DM_J4310,
            .reverse = false,
        }
    },

    .chassis_param = {
        .yaw={
            .k=0.8f,
            .p=1.2f,
            .i=0.01f,
            .d=0.05f,
            .i_limit=0.0f,
            .out_limit=1.0f,
            .d_cutoff_freq=30.0f,
            .range=M_2PI, /* 2*PI，用于处理角度循环误差 */
        },

        .roll={
            .k=20.0f,
            .p=5.0f,           /* 横滚角比例系数 */
            .i=0.0f,           /* 横滚角积分系数 */
            .d=0.2f,           /* 横滚角微分系数 */
            .i_limit=0.0f,     /* 积分限幅 */
            .out_limit=50.0f,  /* 输出限幅，腿长差值限制 */
            .d_cutoff_freq=30.0f, /* 微分截止频率 */
            .range=-1.0f,      /* 不使用循环误差处理 */
        },

        .leg_length={
            .k = 50.0f,
            .p = 10.0f,
            .i = 0.0f,
            .d = 1.0f,
            .i_limit = 0.0f,
            .out_limit = 100.0f,
            .d_cutoff_freq = -1.0f,
            .range = -1.0f,
        },
        .leg_theta={
            .k=5.0f,
            .p=2.0f,           /* 摆角比例系数 */
            .i=0.0f,           /* 摆角积分系数 */
            .d=0.0f,           /* 摆角微分系数 */
            .i_limit=0.0f,     /* 积分限幅 */
            .out_limit=0.05f,  /* 输出限幅，腿长差值限制 */
            .d_cutoff_freq=30.0f, /* 微分截止频率 */
            .range=-1.0f,      /* 不使用循环误差处理 */
        },

        .tp={
            .k=1.0f,
            .p=2.0f,          /* 俯仰角比例系数 */
            .i=0.0f,           /* 俯仰角积分系数 */
            .d=0.0f,           /* 俯仰角微分系数 */
            .i_limit=0.0f,     /* 积分限幅 */
            .out_limit=2.0f,   /* 输出限幅，腿长差值限制 */
            .d_cutoff_freq=30.0f, /* 微分截止频率 */
            .range=-1.0f,      /* 不使用循环误差处理 */
        },
        

        .low_pass_cutoff_freq = {
            .in = 30.0f,
            .out = 30.0f,
        },

        .yaw_motor = { // 云台Yaw轴电机
            .can = BSP_CAN_2,
            .can_id = 0x1,
            .master_id = 0x11,
            .module = MOTOR_DM_J4310,
            .reverse = false,
        },

        .mech_zero_yaw = 4.34085676f, /* 250.5度，机械零点 */
        
        .vmc_param = {
            { // 左腿
                .leg_1 = 0.215f,      // 后髋连杆长度 (L1) (m)
                .leg_2 = 0.258f,      // 后膝连杆长度 (L2) (m)
                .leg_3 = 0.258f,      // 前膝连杆长度 (L3) (m)
                .leg_4 = 0.215f,      // 前髋连杆长度 (L4) (m)
                .hip_length = 0.0f    // 髋宽 (L5) (m)
            },
            { // 右腿
                .leg_1 = 0.215f,      // 后髋连杆长度 (L1) (m)
                .leg_2 = 0.258f,      // 后膝连杆长度 (L2) (m)
                .leg_3 = 0.258f,      // 前膝连杆长度 (L3) (m)
                .leg_4 = 0.215f,      // 前髋连杆长度 (L4) (m)
                .hip_length = 0.0f    // 髋宽 (L5) (m)
            }
        },
.lqr_gains = {
    .k11_coeff = { -1.541653276294261e+02f, 1.944240977607161e+02f, -1.094196687050347e+02f, -1.991862922476537e+00f }, // theta
    .k12_coeff = { 7.958802216156968e+00f, -6.496301522626967e+00f, -6.793798563394576e+00f, -9.768935145474957e-02f },  // d_theta
    .k13_coeff = { -3.265025394715387e+01f, 3.775539494427401e+01f, -1.577293629786055e+01f, -6.143705005307794e-01f },  // x
    .k14_coeff = { -3.342861178786544e+01f, 4.027907112212562e+01f, -1.860920837741005e+01f, -1.011945860330850e+00f },  // d_x
    .k15_coeff = { -4.173395770434105e+00f, 2.208051577637197e+01f, -2.060462131200154e+01f, 7.510277938071905e+00f }, // phi
    .k16_coeff = { -2.731905689135932e+00f, 4.861408834763942e+00f, -3.379865397362515e+00f, 1.218262454432878e+00f },  // d_phi
    .k21_coeff = { 3.310056906118938e+02f, -2.839582288120425e+02f, 6.078882971562280e+01f, 1.248056097881360e+01f }, // theta
    .k22_coeff = { 2.029863884910664e+01f, -2.130214391291087e+01f, 7.397797146713744e+00f, 1.234955263546594e+00f },  // d_theta
    .k23_coeff = { 4.920315528337404e+00f, 1.585029096342149e+01f, -2.001513921771265e+01f, 7.602599395836243e+00f },  // x
    .k24_coeff = { -6.228021022229131e+00f, 2.987205717969141e+01f, -2.731854197984320e+01f, 9.786304250377514e+00f },  // d_x
    .k25_coeff = { 1.782118404877848e+02f, -2.009255508273753e+02f, 8.203108121734316e+01f, 7.691004625305012e-01f }, // phi
    .k26_coeff = { 2.601707340816693e+01f, -2.955760901249582e+01f, 1.229540979299611e+01f, -3.567767355508533e-01f },  // d_phi
},

        .theta = 0.0f,
        .x = 0.0f,
        .phi = -0.1f,

        .virtual_chassis_param = {
            .motors = {
                    .can = BSP_CAN_1,
                    .enable_id = 121,
                    .joint_cmd_id = 122,
                    .joint_feedback_base_id = 124,
                    .wheel_left_id = 0x128,
                    .wheel_right_id = 0x129,
                    .wheel_left_feedback_id = 0x82,
                    .wheel_right_feedback_id = 0x83,
            },
            .imu = {
                    .can = BSP_CAN_1,
                    .accl_id = 0x301,
                    .gyro_id = 0x302,
                    .euler_id = 0x303,   
                    .quat_id = 0x304,
            },
        },
    },


};

/* Private function prototypes ---------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * @brief 获取机器人配置参数
 * @return 机器人配置参数指针
 */
Config_RobotParam_t* Config_GetRobotParam(void) {
    return &robot_config;
}