/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.h"
#include "module/gimbal.h"
#include "module/shoot_control.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

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

// 机器人参数配置
Config_RobotParam_t robot_config = {

//云台参数   
.gimbal_param = {

	/*欧拉角限位和电机角度限位*/
	 .Set_Limit_t= {
						.pit_max=0.69,
						.pit_min=-0.47,
						.yaw_max= 1.0,//yaw的限位作用于小yaw
						.yaw_min=-1.0,
						.pit_ecd_max=0,
						.pit_ecd_min=0,
						.yaw_ecd_max=0,
						.yaw_ecd_min=0,
	},
	 
//	.mech_zero = {
//            .yaw = 0.0f,
//            .pit = -0.69f,
//        },
	
	/*是否启动限位,1启动，-1不启动
		小yaw默认限位
		一般pit统一限位*/
				.travel = {
            .yaw = -1.0f,
            .pit = 1.0f,
						.ecd_yaw=-1.0f,
						.ecd_pit=1.0f,
        },
	
				
				.motor={
					/*按自己需求选择电机*/
					.pit=DM,
					.yaw=RM,
					
					.yaw_rm_motor={BSP_CAN_1,
												0x205,
												MOTOR_GM6020,
												false,
												false},	
						/*达妙电机参数自己配*/ //并且是在motor_dm.h里的，目前是正确的
					.pit_dm_motor={
						//需要再写
												 BSP_CAN_1,
												 0x1,
												 0x11,
												 MOTOR_DM_J4310,
												 false},
					//.yaw_dm_motor={},
				},

    .low_pass_cutoff_freq = {
      .out = -1.0f,
      .gyro = 1000.0f,
    },

        .pid = {
					/*欧拉角控制参数*/
             .yaw_omega = {
                .k = 0.45f,
                .p = 1.0f,
                .i = 6.0f,
                .d = 0.0008f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .yaw_angle = {
                .k = 10.0f,
                .p =	2.0f ,
                .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 = 0.001901f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .pit_angle = {
                .k = 12.0f,
                .p = 2.1,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
						/*电机控制参数*/
             .yaw_velocity = {
                .k = 1.0f,
                .p = 1.0f,
                .i = 0.0f,
                .d = 0.000f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .yaw_ecd_angle = {
                .k = 1.0f,
                .p = 1.0f ,
                .i =	0.0f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
            .pit_velocity = {
                .k = 0.0f,
                .p = 0.0f,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .pit_ecd_angle = {
                .k = 1.0f,
                .p = 0.0f,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,	
            },						
					}       
		},


//发射参数		
    .shoot_param = {
		.proj=SHOOT_PROJECTILE_17MM,
		.fric_num=2,
		.extra_deceleration_ratio=1.0f,
        .num_trig_tooth=4,
        .shot_freq=20.0f,
        .shot_burst_num=10,
		.num_multilevel=1,
        .jam_enable=false,
        .jam_threshold=120.0f, 
        .jam_suspected_time=0.5f, 
        .trig_motor_param = {
            .can = BSP_CAN_2,
            .id = 0x207,
            .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_2006 = {
            .k=2.5f,
            .p=1.0f,
            .i=0.1f,
            .d=0.04f,
            .i_limit=0.4f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=M_2PI,
        },
        .trig_omg_2006 = {
            .k=1.0f,
            .p=1.5f,
            .i=0.3f,
            .d=0.5f,
            .i_limit=0.2f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=-1.0f,
        },
        .trig_3508 = {
            .k=0.5f,
            .p=1.8f,
            .i=0.3f,
            .d=0.1f,
            .i_limit=0.15f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=M_2PI,
        },
        .trig_omg_3508 = {
            .k=1.0f,
            .p=1.0f,
            .i=0.0f,
            .d=0.0f,
            .i_limit=0.0f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=-1.0f,
        },
        .filter.fric = {
            .in = 30.0f,
            .out = 30.0f,
        },
        .filter.trig = {
            .in = 30.0f,
            .out = 30.0f,
        },
    }
};

/* 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;
}

/**
 * @brief 初始化发射部分配置参数
 * @return 初始化结果
 */
int8_t Config_ShootInit(void) {
    int fric_num = robot_config.shoot_param.fric_num;
	int num_multilevel = robot_config.shoot_param.num_multilevel;
    robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
    if (robot_config.shoot_param.fric_motor_param == NULL) {
        BSP_Free(robot_config.shoot_param.fric_motor_param);
        return -1; // 内存分配失败
    }
    robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float));
    if (robot_config.shoot_param.ratio_multilevel == NULL) {
        BSP_Free(robot_config.shoot_param.ratio_multilevel);
        return -1; // 内存分配失败
	}
    /* 初始化摩擦轮电机参数 */
    for (uint8_t i = 0; i < fric_num; i++) {
        robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){
            .can = BSP_CAN_2,
            .id = 0x201 + i,
            .module = MOTOR_M3508,
			/*设置电机反装；example***********************
			.reverse = (i == 0||1||3||5) ? true : false,*/
            .reverse = (i == 1) ? true : false,
            .gear = false,
        };
    }
	/*规定电机属于哪级发射；example************************
	robot_config.shoot_param.fric_motor_param[0].level=1;*/
    robot_config.shoot_param.fric_motor_param[0].level=1;
    robot_config.shoot_param.fric_motor_param[1].level=1;
	/*规定各级摩擦轮转速比；example*********************
	robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/
	robot_config.shoot_param.ratio_multilevel[0]=1.0f;
    return SHOOT_OK;
}