#include "board.h"
#include "motor.h"

uart_t *uarts[UART_NUM_MAX];
motor_t *motor;
motor_ctrl_t *motor_param = NULL;
uint8_t motor_state = MOTOR_IDEL;

adc_t adc1 = {
    .adc = ADC1,
    .dma = DMA1,
    .dma_channel = LL_DMA_CHANNEL_1,
};

// 单位：N·m
float32 torsion_detect(uint16_t adc)
{
    float32 val = 0;
    val = (float32)adc / 4096 * 3000;
    val = (val - 1500) / 101 / (1.934 * 3) * 10;

    return val;
}

// 单位：kPa
float32 pressure_detect(uint16_t adc)
{
    float32 val = 0;
    val = (float32)adc / 4096 * 3000;
    val = (val - 600) / (10 * 15) / 16 * 1000;

    return val;
}

// 单位：SLPM
float32 flow_detect(uint16_t adc)
{
    float32 val = 0;
    val = (float32)adc / 4096 * 3000;
    val = (val - 600) / (10 * 15) / 16 * 300;

    return val;
}

static void motor_init(void)
{
    motor = motor_create(STEP_MOTOR);
    gpio_t dir = {
        .port = DIR_GPIO_Port,
        .pin = DIR_Pin,
    };
    gpio_t en = {
        .port = ENA_GPIO_Port,
        .pin = ENA_Pin,
    };
    motor->handle.step_motor.interface.init(motor, dir, en, MAX_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2);
}

void motor_process_init(void)
{
    motor_param = (motor_ctrl_t *)osel_mem_alloc(sizeof(motor_ctrl_t));
    DBG_ASSERT(motor_param != NULL __DBG_LINE);
    osel_memset((uint8_t *)motor_param, 0, sizeof(motor_ctrl_t));
}

void motor_process(void)
{
    step_motor_t *step_motor = &motor->handle.step_motor;

    switch (motor_state)
    {
    case MOTOR_RUN:
        step_motor->interface.run(motor, (dir_e)motor_param->dir);
        motor_state = MOTOR_IDEL;
        break;
    case MOTOR_STOP:
        step_motor->interface.stop(motor);
        motor_state = MOTOR_IDEL;
        break;
    case MOTOR_STEP:
        step_motor->interface.set_angle(motor, motor_param->angle, (dir_e)motor_param->dir);
        motor_state = MOTOR_IDEL;
        break;
    case MOTOR_IDEL:
        break;
    default:
        break;
    }
}

void board_init(void)
{
    motor = NULL;
    osel_memset((uint8_t *)uarts, 0, sizeof(uarts));
    my_mem_init(SRAMIN);

    motor_init();     // 电机初始化
    adc_init(adc1);   // 初始化ADC1通道，默认采集AD
    ENABLE_TIM(TIM6); // 任务流程定时器使能
}