#include "motor.h"

/*****步进电机接口******/
static void step_motor_init(motor_t *motor, gpio_t dir, gpio_t en, float32 min_step_angle, TIM_TypeDef *pwm_timer, uint32_t pwm_channel)
{
    DBG_ASSERT(motor != NULL __DBG_LINE);
    motor->handle.step_motor.gpios.dir = gpio_create(dir.port, dir.pin);
    motor->handle.step_motor.gpios.en = gpio_create(en.port, en.pin);
    motor->handle.step_motor.pwm_timer = pwm_timer;
    motor->handle.step_motor.pwm_channel = pwm_channel;
    motor->handle.step_motor.attribute.min_step_angle = min_step_angle;
    PWM_STOP(motor->handle.step_motor.pwm_timer, motor->handle.step_motor.pwm_channel);
}

static void step_motor_run(motor_t *motor, dir_e dir)
{
    DBG_ASSERT(motor != NULL __DBG_LINE);
    step_motor_t *handle = &motor->handle.step_motor;
    DBG_ASSERT(handle != NULL __DBG_LINE);
    handle->attribute.dir = dir;
    handle->attribute.en = TRUE;
    dir == DIR_CCW ? handle->gpios.dir->set(*handle->gpios.dir) : handle->gpios.dir->reset(*handle->gpios.dir);
    LL_TIM_EnableIT_UPDATE(handle->pwm_timer);
    // LL_TIM_EnableIT_CC2(handle->pwm_timer);
    PWM_START(handle->pwm_timer, handle->pwm_channel);
}

static void step_motor_stop(motor_t *motor)
{
    DBG_ASSERT(motor != NULL __DBG_LINE);
    step_motor_t *handle = &motor->handle.step_motor;
    DBG_ASSERT(handle != NULL __DBG_LINE);
    handle->attribute.en = FALSE;
    handle->attribute.angle = 0;
    handle->attribute.pulse_count = 0;
    PWM_STOP(handle->pwm_timer, handle->pwm_channel);
    LL_TIM_DisableIT_UPDATE(handle->pwm_timer);
    LL_TIM_ClearFlag_UPDATE(TIM21);
    if (handle->interface.stop_cb != NULL)
    {
        handle->interface.stop_cb(motor);
    }
}

static void step_motor_set_angle(motor_t *motor, float32 angle, dir_e dir)
{
    DBG_ASSERT(motor != NULL __DBG_LINE);
    step_motor_t *handle = &motor->handle.step_motor;
    DBG_ASSERT(handle != NULL __DBG_LINE);
    if (TRUE == handle->attribute.en)
    {
        return;
    }

    handle->attribute.pulse_count = angle / handle->attribute.min_step_angle;
    handle->attribute.step_angle = 0;
    if (handle->attribute.pulse_count == 0)
    {
        handle->interface.stop(motor);
    }
    else
    {
        handle->interface.run(motor, dir);
    }
}

/**
 * @brief 步进电机中断处理函数
 * @param {motor_t} *motor
 * @return {*}
 * @note
 */
void step_motor_update(motor_t *motor)
{
    DBG_ASSERT(motor != NULL __DBG_LINE);
    step_motor_t *handle = &motor->handle.step_motor;
    DBG_ASSERT(handle != NULL __DBG_LINE);

    handle->attribute.pulse_count--; /* 每一个完整的脉冲就-- */
    handle->attribute.step_angle++;  /* 每一个完整的脉冲就++ */
    if (handle->attribute.dir == DIR_CW)
    {
        handle->attribute.add_pulse_count++; /* 绝对位置++ */
    }
    else
    {
        handle->attribute.add_pulse_count--; /* 绝对位置-- */
    }

    if (handle->attribute.pulse_count <= 0) /* 当脉冲数等于0的时候 代表需要发送的脉冲个数已完成，停止定时器输出 */
    {
        LOG_PRINT("累计旋转的角度:%d\r\n", (int)(handle->attribute.add_pulse_count * handle->attribute.min_step_angle)); /* 打印累计转动了多少角度 */
        handle->interface.stop(motor);
        /* 停止接口一输出 */
    }
}

motor_t *motor_create(motor_type_e motor_type)
{
    motor_t *motor = (motor_t *)osel_mem_alloc(sizeof(motor_t));
    DBG_ASSERT(motor != NULL __DBG_LINE);
    osel_memset((uint8_t *)motor, 0, sizeof(motor_t));
    motor->type = motor_type;
    switch (motor_type)
    {
    case STEP_MOTOR:
        motor->handle.step_motor.interface.init = step_motor_init;
        motor->handle.step_motor.interface.run = step_motor_run;
        motor->handle.step_motor.interface.stop = step_motor_stop;
        motor->handle.step_motor.interface.set_angle = step_motor_set_angle;
        break;

    default:
        return NULL;
    }

    return motor;
}