/*
 * 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=1.0f,
            .p=1.0f,
            .i=0.0f,
            .d=0.3f,
            .i_limit=0.0f,
            .out_limit=10.0f,      /* 位置环输出限制为角速度 rad/s */
            .d_cutoff_freq=30.0f,
            .range=M_2PI, /* 2*PI，用于处理角度循环误差 */
        },

        .yaw_omega={
            .k=1.0f,
            .p=0.8f,
            .i=0.1f,
            .d=0.0f,
            .i_limit=0.3f,
            .out_limit=1.0f,       /* 速度环输出力矩限制 */
            .d_cutoff_freq=-1.0f,
            .range=-1.0f,
        },

        .roll={
            .k=1.0f,
            .p=0.5f,           /* 横滚角比例系数 */
            .i=0.01f,           /* 横滚角积分系数 */
            .d=0.01f,           /* 横滚角微分系数 */
            .i_limit=0.2f,     /* 积分限幅 */
            .out_limit=1.0f,  /* 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 = 40.0f,
            .p = 20.0f,
            .i = 0.01f,
            .d = 2.0f,
            .i_limit = 0.0f,
            .out_limit = 200.0f,
            .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=4.0f,
            .p=3.0f,          /* 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=10.0f,   /* 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 = {
            .joint = 30.0f,  // 关节电机滤波器截止频率
            .wheel = 50.0f,  // 轮子电机滤波器截止频率
            .velocity_est = 10.0f, // 速度估计滤波器截止频率
        },

        .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 = { -2.521608956196071e+02f, 2.726920584021966e+02f, -1.226029917752676e+02f, -3.658425589113113e+00f }, // theta
    .k12_coeff = { -2.791745431179899e+00f, 2.977171588171382e+00f, -8.482847921716969e+00f, -2.549251989061084e-01f },  // d_theta
    .k13_coeff = { -7.117984035711224e+01f, 7.136358210118603e+01f, -2.482097503246936e+01f, -1.465382594689337e+00f },  // x
    .k14_coeff = { -5.096413946871127e+01f, 5.158481633857484e+01f, -1.949187011275690e+01f, -1.578480316034549e+00f },  // d_x
    .k15_coeff = { -5.143495490166011e+01f, 6.689655927757387e+01f, -3.271512900728912e+01f, 6.773814929578457e+00f }, // phi
    .k16_coeff = { -1.834269104867269e+01f, 2.340972691877904e+01f, -1.144818100011914e+01f, 2.495597855798016e+00f },  // d_phi
    .k21_coeff = { 7.774379313049623e+01f, -2.541134089584162e+01f, -2.498975065689273e+01f, 1.426556516484627e+01f }, // theta
    .k22_coeff = { 2.767476224142276e+00f, 2.139939778695216e-02f, -1.895904297557682e+00f, 1.658428058979244e+00f },  // d_theta
    .k23_coeff = { -7.402087120213977e+01f, 9.414895415370154e+01f, -4.552133085081052e+01f, 9.802187964966528e+00f },  // x
    .k24_coeff = { -7.810684593036375e+01f, 9.325962600072852e+01f, -4.231509773607639e+01f, 8.736511218580238e+00f },  // d_x
    .k25_coeff = { 1.628215249943350e+02f, -1.638967569586973e+02f, 5.714874400700918e+01f, 5.761974669276071e+00f }, // phi
    .k26_coeff = { 5.976470654409622e+01f, -6.012998591768613e+01f, 2.100604855465028e+01f, 1.219608179868111e+00f },  // d_phi
},
        .theta = 0.0f,
        .x = 0.3f,
        .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;
}