#pragma once
#if 1

#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>

#include "../basic/tmc_ic_interface.hpp"
#include "sdk/os/zos.hpp"
#include "tmc_driver_ic.hpp"
extern "C" {
#include "TMC2160\TMC2160.h"
#include "TMC4361A\TMC4361A.h"
}
#ifdef HAL_SPI_MODULE_ENABLED

namespace iflytop {
#define TMC4361A_LISTENER_MAX 5
class TMC4361A : public IStepperMotor {
 public:
  typedef enum {
    IC_TMC2130 = 0,  //
    IC_TMC2160,
    IC_TMC2660,
  } driver_ic_type_t;

#if 0
  typedef struct {
    SPI_HandleTypeDef *spi;                //
    ZGPIO             *csgpio;             //
    ZGPIO             *resetPin;           //
    ZGPIO             *fREEZEPin;          //
    ZGPIO             *ennPin;             //
    ZGPIO             *driverIC_ennPin;    //
    ZGPIO             *driverIC_resetPin;  //
  } cfg_t;
#endif

  class cfg_t {
   public:
    SPI_HandleTypeDef *spi               = nullptr;  //
    Pin_t              csgpio            = PinNull;  //
    Pin_t              resetPin          = PinNull;  //
    Pin_t              fREEZEPin         = PinNull;  //
    Pin_t              ennPin            = PinNull;  //
    Pin_t              driverIC_ennPin   = PinNull;  //
    Pin_t              driverIC_resetPin = PinNull;  //
  };

  typedef enum {
    kvelmode,
    kposmode,
  } motor_mode_t;

 private:
  int32_t        shadowRegister[TMC_REGISTER_COUNT];
  const uint8_t *m_registerAccessTable       = nullptr;
  const int32_t *m_defaultRegisterResetState = nullptr;

  driver_ic_type_t m_driver_ic_type;
  uint32_t         m_lastCallPeriodicJobTick;
  uint8_t          m_status;

  SPI_HandleTypeDef *m_spi = nullptr;

  ZGPIO *m_csgpio    = nullptr;
  ZGPIO *m_resetPin  = nullptr;
  ZGPIO *m_fREEZEPin = nullptr;
  ZGPIO *m_ennPin    = nullptr;

  ZGPIO *m_driverIC_ennPin   = nullptr;
  ZGPIO *m_driverIC_resetPin = nullptr;

  motor_mode_t m_motor_mode = kvelmode;

  int32_t m_scale              = 10000;
  int32_t m_scale_deceleration = 1;

 public:
  TMC4361A(/* args */);

  /*******************************************************************************
   *                               初始化相关方                                *
   *******************************************************************************/

  /**
   * @brief 静态方法，创建默认的TMC4361A配置参数,使用时只需修改自己需要的参数即可
   *
   *  注意:
   *    1. 该方法内部使用的是一个静态变量，所以每次调用该方法时，返回的都是同一个对象的地址
   *    2. 该方法返回的数值不需要被释放
   * @param config
   */

  void         initialize(cfg_t *cfg);
  void         enableIC(bool enable);
  virtual void enable(bool enable) { enableIC(enable); }

  /*******************************************************************************
   *                             IStepperMotor impl                              *
   *******************************************************************************/
  // virtual void    registerListener(MotorEventListener *listener);
  virtual void    rotate(int32_t velocity);
  virtual void    moveTo(int32_t position, uint32_t velocityMax);
  virtual void    moveBy(int32_t relativePosition, uint32_t velocityMax);
  virtual void    stop();
  virtual int32_t getXACTUAL();
  virtual int32_t getXTARGET();
  virtual void    setXACTUAL(int32_t value);
  virtual int32_t getVACTUAL();
  virtual int32_t getENC_POS();
  virtual void    setENC_POS(int32_t value);
  virtual void    setAcceleration(float accelerationpps2);  // 设置最大加速度,最大值4000000
  virtual void    setDeceleration(float accelerationpps2);  // 设置最大减速度,最大值4000000

  virtual void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { driverIC_setIHOLD_IRUN(ihold, irun, iholddelay); }
  virtual void setMotorShaft(bool reverse) { driverIC_setMotorShaft(reverse); }

  virtual void setScale(int32_t scale);
  virtual void setScaleDenominator(int32_t scale);

  // Left Virtual Limit Switch  XACTUAL ≤ VIRT_STOP_LEFT 时触发
  void setLeftVirtualLimitSwitch(bool enable, int32_t position);

  // Right Virtual Limit Switch  XACTUAL ≥ VIRT_STOP_RIGHT 时触发
  void setRightVirtualLimitSwitch(bool enable, int32_t position);

  /*******************************************************************************
   *                              驱动器初始化方法                               *
   *******************************************************************************/
  /**
   * @brief 初始化方
   *
   * @param channel SPI通道
   * @param driver_ic_type 驱动芯片的类
   *
   * TMC4361A:0x2 DriverIC:0x30
   */
  int32_t readICVersion();
  uint8_t reset();
  uint8_t restore();
  /*******************************************************************************
   *                             驱动器寄存器读写方法                              *
   *******************************************************************************/
  void    writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
  void    writeInt(uint8_t address, int32_t value);
  int32_t readInt(uint8_t address);
  void    readWriteCover(uint8_t *data, size_t length);
  void    writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value);

  int32_t  getENC_POS_DEV();  // ENC_POS和XACTUAL的偏差
  uint32_t readEVENTS();      // 读取事件寄存
  /*******************************************************
   *                    driverIc function                *
   *******************************************************/
  int32_t      readSubICVersion();
  virtual bool isReachTarget();
  virtual bool isStoped() { return isReachTarget(); }

 public:
  // only used in tmc4361A.cpp
  void tmc4361AConfigCallback(ConfigState state);
  void readWriteArray(uint8_t *data, size_t length);

 private:
  uint32_t haspassedms(uint32_t now, uint32_t last);

  void     driverIC_reset();
  void     driverIC_enableIC(bool enable);
  void     driverIC_setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
  void     driverIC_writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
  void     driverIC_writeInt(uint8_t address, int32_t value);
  int32_t  driverIC_readInt(uint8_t address);
  void     driverIC_setMotorShaft(bool reverse);
  uint32_t driverIC_readICVersion();

 private:
  int32_t to_motor_acc(int32_t acc);  // rpm/s^2
  int32_t to_motor_vel(int32_t vel);  // rpm
  int32_t to_motor_pos(int32_t pos);  //

  int32_t to_user_pos(int32_t pos);  //
  int32_t to_user_vel(int32_t vel);
};
}  // namespace iflytop

#endif
#endif