#include "apphal.hpp"
#include "bsp.h"
#include "appcfg.h"
using namespace iflytop;

SPI_HandleTypeDef hspi1;

#define MOTOR_SPI_SCK_PIN GPIO_PIN_5
#define MOTOR_SPI_SDO_PIN GPIO_PIN_6
#define MOTOR_SPI_SDI_PIN GPIO_PIN_5

#define MOTOR_SPI_SCK_PORT GPIOA
#define MOTOR_SPI_SDO_PORT GPIOA
#define MOTOR_SPI_SDI_PORT GPIOB

void AppHal::tmc_spi_init() {
#if (MOTOR_SPI_INDEX == 1)

	__HAL_RCC_SPI1_CLK_ENABLE();
	// __HAL_RCC_GPIOA_CLK_ENABLE();
	// 使能相关 GPIO 端口时钟
	__HAL_RCC_GPIOA_CLK_ENABLE();
	__HAL_RCC_GPIOB_CLK_ENABLE();

  static_assert(&MOTOR_SPI_INS == &hspi1);
#if 0
  hspi1.Instance               = SPI1;
  hspi1.Init.Mode              = SPI_MODE_MASTER;
  hspi1.Init.Direction         = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize          = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity       = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase          = SPI_PHASE_1EDGE;
  hspi1.Init.NSS               = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  hspi1.Init.FirstBit          = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode            = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial     = 10;
#else
	hspi1.Instance               = SPI1;
	hspi1.Init.Mode              = SPI_MODE_MASTER;
	hspi1.Init.Direction         = SPI_DIRECTION_2LINES;
	hspi1.Init.DataSize          = SPI_DATASIZE_8BIT;
	hspi1.Init.CLKPolarity       = SPI_POLARITY_HIGH;
	hspi1.Init.CLKPhase          = SPI_PHASE_2EDGE;
	hspi1.Init.NSS               = SPI_NSS_SOFT;
	hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
	hspi1.Init.FirstBit          = SPI_FIRSTBIT_MSB;
	hspi1.Init.TIMode            = SPI_TIMODE_DISABLE;
	hspi1.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
	hspi1.Init.CRCPolynomial     = 10;
#endif
  if (HAL_SPI_Init(&hspi1) != HAL_OK) {
    Error_Handler();
  }

  static_assert(MOTOR_SPI_SCK == PA5);
  static_assert(MOTOR_SPI_SDO == PA6);
  static_assert(MOTOR_SPI_SDI == PB5);

#if 0
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin              = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
  GPIO_InitStruct.Mode             = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull             = GPIO_NOPULL;
  GPIO_InitStruct.Speed            = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate        = GPIO_AF5_SPI1;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
#else
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	// 使能相关 GPIO 端口时钟
	// __HAL_RCC_GPIOA_CLK_ENABLE();
	// __HAL_RCC_GPIOB_CLK_ENABLE();

	// 配置 SCK 引脚
	GPIO_InitStruct.Pin = MOTOR_SPI_SCK_PIN;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
	GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
	HAL_GPIO_Init(MOTOR_SPI_SCK_PORT, &GPIO_InitStruct);

	// 配置 SDO 引脚
	GPIO_InitStruct.Pin = MOTOR_SPI_SDO_PIN;
	HAL_GPIO_Init(MOTOR_SPI_SDO_PORT, &GPIO_InitStruct);

	// 配置 SDI 引脚
	GPIO_InitStruct.Pin = MOTOR_SPI_SDI_PIN;
	HAL_GPIO_Init(MOTOR_SPI_SDI_PORT, &GPIO_InitStruct);
#endif


#else
#error "MOTOR_SPI_INDEX not supported"
#endif
}