#include "hardware.hpp"

#include "zsdk/zcanreceiver/zcanreceiver.hpp"
#define TAG "PROTO"
using namespace iflytop;

/***********************************************************************************************************************
 *                                                         EXT                                                         *
 ***********************************************************************************************************************/
void Hardware::init() {
  /***********************************************************************************************************************
   *                                                  水浸传感器初始化                                                   *
   ***********************************************************************************************************************/
  m_evaporation_bin_water_sensor.initAsInput(EVAPORATION_BIN_WATER_SENSOR_GPIO, kxs_gpio_nopull, kxs_gpio_no_irq, EVAPORATION_BIN_WATER_SENSOR_MIRROR /*mirror*/);
  m_device_bottom_water_sensor.initAsInput(DEVICE_BOTTOM_WATER_SENSOR_GPIO, kxs_gpio_nopull, kxs_gpio_no_irq, DEVICE_BOTTOM_WATER_SENSOR_MIRROR /*mirror*/);

  /***********************************************************************************************************************
   *                                                    驱动器初始化                                                     *
   ***********************************************************************************************************************/
  m_motor_spi.init(&MOTOR_SPI);

  m_motor[0].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
  m_motor[0].setIHOLD_IRUN(1, 15, 0);
  m_motor[0].setMotorShaft(true);
  m_motor[0].setAcceleration(300000);
  m_motor[0].setDeceleration(300000);

  m_motor[1].initialize(&m_motor_spi, MOTOR2_ENN, MOTOR2_CSN);
  m_motor[1].setIHOLD_IRUN(1, 15, 0);
  m_motor[1].setMotorShaft(true);
  m_motor[1].setAcceleration(300000);
  m_motor[1].setDeceleration(300000);

  int32_t chipv0 = m_motor[0].readChipVERSION();  // 5130:0x11
  int32_t chipv1 = m_motor[1].readChipVERSION();  // 5130:0x11
  // m_motor[0].rotate(500000);
  // m_motor[1].rotate(500000);
  ZLOGI(TAG, "chipv0: %x, chipv1: %x", chipv0, chipv1);

  auto gstate0 = m_motor[0].getGState();
  auto gstate1 = m_motor[1].getGState();

  ZLOGI(TAG, "motor0: reset:%d  drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
  ZLOGI(TAG, "motor1: reset:%d  drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);

  gstate0 = m_motor[0].getGState();
  gstate1 = m_motor[1].getGState();

  ZLOGI(TAG, "motor0: reset:%d  drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
  ZLOGI(TAG, "motor1: reset:%d  drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);

  /***********************************************************************************************************************
   *                                                  三色指示灯初始化                                                   *
   ***********************************************************************************************************************/

  triLight_R.initAsOutput(TRI_LIGHT_R, kxs_gpio_nopull, false, false);
  triLight_G.initAsOutput(TRI_LIGHT_G, kxs_gpio_nopull, false, false);
  triLight_B.initAsOutput(TRI_LIGHT_B, kxs_gpio_nopull, false, false);
  triLight_BEEP.initAsOutput(TRI_LIGHT_BEEP, kxs_gpio_nopull, false, false);

  /***********************************************************************************************************************
   *                                                    压力传感器初始化                                                   *
   ***********************************************************************************************************************/
  osDelay(1500);  // 等待传感器上电
  m_modbusBlockHost.initialize(&PRESSURE_SENSOR_UART);
  m_pressureSensorBus.init(&m_modbusBlockHost);
}