/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "user_math.h"
#include "module/config.h"
#include "bsp/can.h"
#include "shoot.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 = {
		.proj=SHOOT_PROJECTILE_17MM,
		.fric_num=4,
		.extra_deceleration_ratio=1.0f,
        .num_trig_tooth=2,
        .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_motor_param = (Shoot_MOTOR_RM_Param_t[]){
//    {
//			.param = {
//								.can = BSP_CAN_2, 
//								.id = 0x201, 
//								.module = MOTOR_M3508,
//								.reverse = false,
//								.gear=true,},
//								.level = 1},
//								{
//			.param = {
//								.can = BSP_CAN_2, 	
//								.id = 0x203,
//								.module = MOTOR_M3508,
//								.reverse = true,
//								.gear=true,}, 
//								.level = 1},
////    {.param = {.can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508}, .level = 2},
//    {.param = {.can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508}, .level = 2},
//							},
        .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,
        },
    },
	
.gimbal_param = {
	/* 云台欧拉角与角速度自由选择 */
	.Direction={
			.Eulr={
					.pit=Rol,
					.yaw=Yaw,			
				},
			.Gyro={
					.pit=Gyro_x,
					.yaw=Gyro_z,
			},	
//			.Accl={
//					.pit=Accl_z,
//					.yaw=Accl_y,
//			},				
			
	},
	/*欧拉角限位和电机角度限位*/
	 .Limit_t= {
						.pit_max= 0.15,
						.pit_min=-0.23,
		 			/*零点参数*/
				.zero={
					.yaw_encoder=1.26,
					
					.travel={
						.yaw=1.5,				
					},
				},
			},
	 

			.feedforward={
				.imu = {
					.yaw=false,
					.pit=false,
					.coefficient_yaw=0,
					.coefficient_pit=0,
					},

			},
			

				
				.motor={
					/*按自己需求选择电机*/
					.major_yaw=DM,
					.pit=DM,
					.yaw=RM,
					/*是否开启限位*/
					.limit_yaw=false,
					.limit_pit=true,
					.pit_rm_motor={},
					.yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,false},	
						/*达妙电机参数自己配*/
					.major_yaw_dm_motor={
					    .can=BSP_CAN_2,
							.can_id = 0x1,
							.master_id=0x11,
							.module = MOTOR_DM_J4310,
							.reverse=false
					},
					.pit_dm_motor={
					    .can=BSP_CAN_2,
							.can_id = 0x2,
							.master_id=0x12,
							.module = MOTOR_DM_J4310,
							.reverse=true,					
					},
//					.yaw_dm_motor={},
				},
			.dm_Params_t={
//			.yaw_dm={.kd=0.1,},
//			.yaw_dm_Reduction_ratio=1.0f,//减速比
			.pit_dm={.kd=0.2,},
			.pit_dm_Reduction_ratio=1.0f,
			.major_yaw_dm={.kd=0.1,},
			.major_yaw_dm_Reduction_ratio=1.0f,//减速比
		},
			
    .low_pass_cutoff_freq = {
      .out = -1.0f,
      .gyro = 1000.0f,
    },

        .pid = {
					/* 大yaw参数 */
						.major_yaw_omega={
								.k = 0.0f,
								.p = 0.3f,
								.i = 0.0f,
								.d = 0.0f,
								.i_limit = 0.0f,
								.out_limit = 1.0f,
								.d_cutoff_freq = -1.0f,
								.range = -1.0f						
						},
						.major_yaw_angle={
								.k = 2.0f,
								.p = 40.5f,//36.5
								.i = 0.0f,
								.d = 0.12f,
								.i_limit = 0.0f,
								.out_limit = 7.0f,
								.d_cutoff_freq = 20.0f,
								.range = M_2PI							
						},					
					
					/*欧拉角控制参数*/
			
             .yaw_omega = {
								.k = 0.30f,
								.p = 0.4f,
								.i = 0.01f,
								.d = 0.0f,
								.i_limit = 1.0f,
								.out_limit = 1.0f,
								.d_cutoff_freq = -1.0f,
								.range = -1.0f
            },
            .yaw_angle = {
								.k = 2.0f,
								.p = 2.5f,
								.i = 0.0f,
								.d = 0.0f,
								.i_limit = 0.0f,
								.out_limit = 10.0f,
								.d_cutoff_freq = 0.0f,
								.range = M_2PI
            },
            .pit_omega = {
                .k = 0.3f,
                .p = 0.3f,
                .i = 0.0f,
                .d = 0.0,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .pit_angle = {
                .k = -2.0f,
                .p = 9.0f,
                .i = 4.0f,
                .d = 0.1f,
                .i_limit = 1.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },		

						
					}       
		},
};


/**
 * @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;
}

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;
}