/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.h"
#include "device/motor_dm.h"
#include <stdbool.h>
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

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

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

    
    .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 = 4.0f,
                .i = 0.0f,
                .d = 0.2f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
            .pit_omega = {
                .k = 0.4f,
                .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 = 8.0f,
                .p = 5.0f,
                .i = 2.5f,
                .d = 0.2f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
        },
        .mech_zero = {
            .yaw = 0.0f,
            .pit = 2.98220015,  //0.195206895
        },
        .travel = {
            .yaw = -1.0f,
            .pit = 0.85367393f,
        },
        .low_pass_cutoff_freq = {
            .out = -1.0f,
            .gyro = 1000.0f,
        },
        .pit_motor ={
            .can = BSP_CAN_1,
            .can_id = 0x2,
            .master_id = 0x12,
            .module = MOTOR_DM_J4310,
            .reverse = false,
        },
        .yaw_motor = {
            .can = BSP_CAN_1,
            .can_id = 0x50,
            .master_id = 0x60,
            .module = MOTOR_DM_J4310,
            .reverse = false,
        }
    },

    .shoot_param = {
		.proj=SHOOT_PROJECTILE_42MM,
		.fric_num=3,
		.extra_deceleration_ratio=1.0f,
        .num_trig_tooth=5,
        .shot_freq=1.0f,
        .shot_burst_num=3,
		.num_multilevel=1,
        .jam_enable=true,
        .jam_threshold=240.0f, 
        .jam_suspected_time=0.5f, 
        .trig_motor_param = {
            .can = BSP_CAN_1,
            .id = 0x207,
            .module = MOTOR_M3508,
            .reverse = false,
            .gear=true,
        },
        .fric_follow = {
            .k=1.0f,
            .p=1.8f,
            .i=0.1f,
            .d=0.05f,
            .i_limit=0.1f,
            .out_limit=0.9f, 
            .d_cutoff_freq=30.0f,
            .range=-1.0f,
        },
        .fric_err = {
            .k=0.0f,
            .p=4.0f,
            .i=0.4f,
            .d=0.04f,
            .i_limit=0.25f,
            .out_limit=0.01f, 
            .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||i == 1) ? true : false,*/
//            .reverse = (i == 1||i == 2||i == 4||i == 5) ? true : false,
			.reverse = (i == 1||i == 2) ? 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;
    robot_config.shoot_param.fric_motor_param[2].level=1;
//    robot_config.shoot_param.fric_motor_param[3].level=1;
//    robot_config.shoot_param.fric_motor_param[4].level=1;
//    robot_config.shoot_param.fric_motor_param[5].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;
}