/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.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 = {
		.fric_num=6,
        .num_trig_tooth=8,
        .shot_freq=20.0f,
        .shot_burst_num=1,
		.num_multilevel=1,
        .jam_enable=true,
        .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=0.0f,
            .p=0.0f,
            .i=0.0f,
            .d=0.00f,
            .i_limit=0.0f,
            .out_limit=0.0f,
            .d_cutoff_freq=-1.0f,
            .range=M_2PI,
        },
        .trig_omg_3508 = {
            .k=0.0f,
            .p=0.0f,
            .i=0.0f,
            .d=0.0f,
            .i_limit=0.0f,
            .out_limit=0.0f,
            .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 初始化机器人配置参数
 * @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) {
        return -1; // 内存分配失败
    }

    // 初始化摩擦轮参数
    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,
            .reverse = (i == 0||1) ? true : false,
            .gear = false,
        };
    }
    robot_config.shoot_param.fric_motor_param[0].level=1;
    robot_config.shoot_param.fric_motor_param[1].level=1;
	if(num_multilevel==1){
		robot_config.shoot_param.ratio_multilevel[0]=1.0f;
	}
	else if(num_multilevel>1){
		robot_config.shoot_param.ratio_multilevel[0]=1.0f;
		robot_config.shoot_param.ratio_multilevel[1]=1.1f;
	}

    return SHOOT_OK;
}