#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "board.h"
#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
/*******************************************************************************
 *                               PROJECT_INCLUDE                               *
 *******************************************************************************/
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\step_motor_ctrl_module\tmc51x0_motor.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"

#define TAG "main"
using namespace iflytop;
using namespace std;

static ZCancmderSubboardIniter initer;

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }

extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
}
/*******************************************************************************
 *                                GET_DEVICE_ID                                *
 *******************************************************************************/
static int32_t getDeviceId() {
  static bool  init = false;
  static ZGPIO ID0;
  static ZGPIO ID1;
  static ZGPIO ID2;
  static ZGPIO ID3;
  static ZGPIO ID4;
  if (!init) {
    ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    init = true;
  }
  uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16;
  return id;
}
/*******************************************************************************
 *                               INIT_SUBMODULE                                *
 *******************************************************************************/
void        nvs_init_cb() {}
static void initsubmodule() {
  osDelay(1000);
  {
    static TMC5130      g_motor;
    static TMC51X0Motor g_stepMotorCtrlModule;
    TMC5130::cfg_t      cfg = {
             .spi             = &TMC_MOTOR_SPI,          //
             .csgpio          = MOTOR0_CSN,              //
             .ennPin          = MOTOR0_ENN,              //
             .spi_mode_select = MOTOR0_SPI_MODE_SELECT,  //
    };
    g_motor.initialize(&cfg);
    ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
    g_motor.enable(false);
    g_motor.setMotorShaft(false);

#if 0
    // g_motor.setMotorShaft(true);

    // void    writeInt(uint8_t address, int32_t value);
    // int32_t readInt(uint8_t address);

    int32_t enc_const_integral   = 12;
    float   enc_const_fractional = 0.8;

    int32_t setval = (enc_const_integral << 16) + enc_const_fractional * 10000;
    // setval         = -setval;
    ZLOGI(TAG, "setval:%d", setval);
    g_motor.writeInt(TMC5130_ENC_CONST, setval);
    g_motor.writeInt(TMC5130_ENCMODE, 0x1 << 10);

    g_motor.setIHOLD_IRUN(2, 6, 1000);
    g_motor.setENCVAL(0);
    g_motor.enable(true);
    osDelay(100);
    g_motor.setENCVAL(0);
    // g_motor.moveBy(51200, 100000);
    // g_motor.moveBy(51200, 100000);

    while (true) {
      int32_t enc     = g_motor.readInt(TMC5130_XENC);
      int32_t xactual = g_motor.readInt(TMC5130_XACTUAL);
      ZLOGI(TAG, "enc:%d %d %d", enc, xactual, enc - xactual);
      osDelay(3000);
      g_motor.moveBy(51200/4, 100000);
    }
#endif

    static ZGPIO input[10];
    input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);

    TMC51X0Motor::flash_config_t smcm_cfg = {0};
    TMC51X0Motor::create_default_cfg(smcm_cfg);
    smcm_cfg.base_param.motor_one_circle_pulse             = 1000;
    smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
    smcm_cfg.base_param.stepmotor_ihold                    = 1;
    smcm_cfg.base_param.stepmotor_irun                     = 1;
    smcm_cfg.base_param.motor_shaft                        = 0;
    smcm_cfg.base_param.motor_default_velocity             = 1;
    smcm_cfg.base_param.motor_run_to_zero_speed            = 0;
    smcm_cfg.base_param.max_d                              = 0;
    smcm_cfg.base_param.min_d                              = 0;
    smcm_cfg.base_param.motor_run_to_zero_max_d            = 0;
    smcm_cfg.base_param.motor_run_to_zero_speed            = 1;
    smcm_cfg.base_param.motor_run_to_zero_dec              = 0;
    smcm_cfg.base_param.motor_look_zero_edge_max_d         = 0;
    smcm_cfg.base_param.motor_look_zero_edge_speed         = 1;
    smcm_cfg.base_param.motor_look_zero_edge_dec           = 0;

    g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
    g_stepMotorCtrlModule.enable(false);
    initer.register_module(&g_stepMotorCtrlModule);
  }

  {
    // 115200
    /*******************************************************************************
     *                                试管帽夹舵机                                 *
     *******************************************************************************/
    static FeiTeServoMotor     feiteservomotor_bus;  // 飞特舵机总线
    static MiniRobotCtrlModule mini_servo;

    // 飞特舵机总线
    ZASSERT(huart3.Init.BaudRate == 115200);
    feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);

    static MiniRobotCtrlModule::flash_config_t cfg = {0};
    cfg.default_torque                             = 330;
    mini_servo.initialize(initer.get_module_id(2), &feiteservomotor_bus, 1, &cfg);
    initer.register_module(&mini_servo);
  }
}

/*******************************************************************************
 *                                    MAIN                                     *
 *******************************************************************************/
void umain() {
  ZCancmderSubboardIniter::cfg_t cfg =  //
      {
          .deviceId    = getDeviceId(),
          .input_gpio  = {},
          .output_gpio = {},
      };
  initer.init(&cfg);
  initsubmodule();
  initer.loop();
}