/*
 * 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 = {

    .imu_param = {
        .can = BSP_CAN_2,
        .can_id = 0x6FF,      
        .device_id = 0x42,   
        .master_id = 0x43,   
    },

    .chassis_param = {
        .yaw={
            .k=1.0f,
            .p=1.2f,
            .i=0.0f,
            .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=10.0f,
            .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 = 20.0f,
            .p = 5.0f,
            .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=1.0f,
            .p=5.0f,           /* 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 = { -1.971875171647865e+02f, 2.333085109680034e+02f, -1.246153590631013e+02f, -1.174312882115276e+00f }, // theta
    .k12_coeff = { 1.013831636839851e+01f, -9.401172931240684e+00f, -7.093019361028483e+00f, -1.965070661986029e-01f },  // d_theta
    .k13_coeff = { -8.071626496047382e+01f, 8.488840381053994e+01f, -3.185529183755884e+01f, 8.124359207371032e-01f },  // x
    .k14_coeff = { -9.146471594077464e+01f, 9.719345618895781e+01f, -3.842805305561099e+01f, 7.255654659220748e-01f },  // d_x
    .k15_coeff = { 6.971426904628133e+00f, 1.184154915473761e+00f, -5.491870448330107e+00f, 1.440694962464955e+00f }, // phi
    .k16_coeff = { -1.435148366342453e+00f, 3.514683607111185e+00f, -2.799267599341074e+00f, 7.265018312372623e-01f },  // d_phi
    .k21_coeff = { 2.190542850560747e+02f, -1.777611537012371e+02f, 2.829510877414540e+01f, 1.179295840423852e+01f }, // theta
    .k22_coeff = { 1.499600560463937e+01f, -1.645293844666804e+01f, 6.159388841822305e+00f, 1.123989134168646e+00f },  // d_theta
    .k23_coeff = { -2.101291454047308e+00f, 2.194459164295155e+01f, -2.170715123911771e+01f, 7.721879713384771e+00f },  // x
    .k24_coeff = { -8.999340091522836e+00f, 3.152322448910924e+01f, -2.733558805289098e+01f, 9.654200348790059e+00f },  // d_x
    .k25_coeff = { 2.294462014541718e+01f, -2.777789794229430e+01f, 1.160794075992378e+01f, 2.826138680231716e+00f }, // phi
    .k26_coeff = { 1.624214174273862e+01f, -1.723094946447953e+01f, 6.402650924792812e+00f, 8.755827436652930e-02f },  // d_phi
},
        .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;
}