#include "bsp/adc.h"
#include "libs/utils.h"
#include "os/co_task.h"
static void _gpio_init(void);
static void _adc0_init(void);
static void _adc0_insert_chan_init(void);
static void _adc0_regular_chan_init(void);
static void _adc1_init(void);
static void _adc1_insert_chan_init(void);
static void _adc1_regular_chan_init(void);
/*
ADC0 inserted 采集母线电流
ADC1 inserted 采集三相电流
每次同时发送母线电流和响应的相电流，通过母线电流给相电流采集的MOS内阻校准
可以理解为FOC工作在三电阻采样模式下，只是需要不停的校准MOS的内阻
*/
void adc_init(void){
	/* init adc input gpio */
	_gpio_init();
    /* config ADC clock */
    rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4); //APB2 clk 120M, adc clk 30M

	_adc0_init();

	_adc1_init();

	adc_config_trigger(ADC_TRIGGER_PHASE);

	nvic_irq_enable(ADC0_1_IRQn, 0, 0);
}

static void _gpio_init(void) {
	rcu_periph_clock_enable(RCU_GPIOA);
	rcu_periph_clock_enable(RCU_GPIOB);
	gpio_init(GPIOA, GPIO_MODE_AIN, GPIO_OSPEED_50MHZ, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
	gpio_init(GPIOB, GPIO_MODE_AIN, GPIO_OSPEED_50MHZ, GPIO_PIN_0|GPIO_PIN_1);
}

static void _adc0_init(void) {
	u32 adc_dev = ADC0;
    /* enable ADC1 clock */
    rcu_periph_clock_enable(RCU_ADC0);
    /* ADC mode config,adc0 master, adc1 slave */
    adc_mode_config(ADC_DAUL_INSERTED_PARALLEL);
    /* ADC special function config */
    adc_special_function_config(adc_dev, ADC_SCAN_MODE, ENABLE);
    adc_special_function_config(adc_dev, ADC_CONTINUOUS_MODE, DISABLE);  
    /* ADC data alignment config */
    adc_data_alignment_config(adc_dev, ADC_DATAALIGN_RIGHT);
	/* init insert chans*/
	_adc0_insert_chan_init();
	/* init regular chans*/
	_adc0_regular_chan_init();
	adc_interrupt_disable(adc_dev, ADC_INT_EOIC);
	adc_interrupt_disable(adc_dev, ADC_INT_EOC);
	adc_interrupt_disable(adc_dev, ADC_INT_WDE);	
    /* enable ADC interface */
    adc_enable(adc_dev);
    delay_ms(1);
    /* ADC calibration and reset calibration */
    adc_calibration_enable(adc_dev);
}

static void _adc1_init(void) {
	u32 adc_dev = ADC1;
    /* enable ADC1 clock */
    rcu_periph_clock_enable(RCU_ADC1);
    /* ADC mode config,adc0 master, adc1 slave */
    adc_mode_config(ADC_DAUL_INSERTED_PARALLEL); 
    /* ADC special function config */
    adc_special_function_config(adc_dev, ADC_SCAN_MODE, ENABLE);
    adc_special_function_config(adc_dev, ADC_CONTINUOUS_MODE, DISABLE);  
    /* ADC data alignment config */
    adc_data_alignment_config(adc_dev, ADC_DATAALIGN_RIGHT);
	/* init insert chans*/
	_adc1_insert_chan_init();
	/* init regular chans*/
	_adc1_regular_chan_init();
	adc_interrupt_disable(adc_dev, ADC_INT_EOIC);
	adc_interrupt_disable(adc_dev, ADC_INT_EOC);
	adc_interrupt_disable(adc_dev, ADC_INT_WDE);
    /* enable ADC interface */
    adc_enable(adc_dev);
    delay_ms(1);
    /* ADC calibration and reset calibration */
    adc_calibration_enable(adc_dev);

}

/* ADC0 insert chan sample phase I(use two chan, selected by foc) */
static void _adc0_insert_chan_init(void) {
	u32 adc_dev = ADC0;
	//adc_discontinuous_mode_config(adc_dev, ADC_INSERTED_CHANNEL, 0);	
    /* ADC channel length config */
    adc_channel_length_config(adc_dev, ADC_INSERTED_CHANNEL, 1);
    /* ADC inserted channel ran config, use ISQ2,ISQ3 */
	adc_update_insert_sample_rank(adc_dev, U_PHASE_I_CHAN);
	/* config inserted channel sample time */
	adc_update_insert_sample_time(adc_dev, U_PHASE_I_CHAN, ADC_SAMPLETIME_7POINT5);
	adc_update_insert_sample_time(adc_dev, V_PHASE_I_CHAN, ADC_SAMPLETIME_7POINT5);
	adc_update_insert_sample_time(adc_dev, W_PHASE_I_CHAN, ADC_SAMPLETIME_7POINT5);
    /* ADC trigger config */
    adc_external_trigger_source_config(adc_dev, ADC_INSERTED_CHANNEL, ADC0_1_EXTTRIG_INSERTED_T0_CH3); 
	/* ADC external trigger enable */
    adc_external_trigger_config(adc_dev, ADC_INSERTED_CHANNEL, ENABLE);	
}

/* ADC1 insert chan sample vbus I */
static void _adc1_insert_chan_init(void) {
	u32 adc_dev = ADC1;
	//adc_discontinuous_mode_config(adc_dev, ADC_INSERTED_CHANNEL, 0);
    /* ADC channel length config */
    adc_channel_length_config(adc_dev, ADC_INSERTED_CHANNEL, 1);
    /* ADC inserted channel config */
	adc_update_insert_sample_rank(adc_dev, V_PHASE_I_CHAN);
	/* config inserted channel sample time */
	adc_update_insert_sample_time(adc_dev, U_PHASE_I_CHAN, ADC_SAMPLETIME_7POINT5);
	adc_update_insert_sample_time(adc_dev, V_PHASE_I_CHAN, ADC_SAMPLETIME_7POINT5);
	adc_update_insert_sample_time(adc_dev, W_PHASE_I_CHAN, ADC_SAMPLETIME_7POINT5);

    /* ADC trigger config, slave must config to software trigger */
    adc_external_trigger_source_config(adc_dev, ADC_INSERTED_CHANNEL, ADC0_1_2_EXTTRIG_REGULAR_NONE); 
	/* ADC external trigger enable */
    adc_external_trigger_config(adc_dev, ADC_INSERTED_CHANNEL, ENABLE);
}

static void _adc0_regular_chan_init(void) {
	adc_discontinuous_mode_config(ADC0, ADC_REGULAR_CHANNEL, 1); //每次转化一个
	/* ADC channel length config */
	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 1);
	adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);
	adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL, ADC0_1_2_EXTTRIG_REGULAR_NONE); 
	adc_regular_channel_config(ADC0, 0, MOTOR_TEMP_CHAN, ADC_SAMPLETIME_55POINT5);
	//adc_regular_channel_config(ADC0, 1, HANDLERBAR_CHAN, ADC_SAMPLETIME_55POINT5);
	//adc_regular_channel_config(ADC0, 2, VBUS_V_CHAN, ADC_SAMPLETIME_55POINT5);
}

static void _adc1_regular_chan_init(void) {
	adc_discontinuous_mode_config(ADC1, ADC_REGULAR_CHANNEL, 1); //每次转化一个
	/* ADC channel length config */
	adc_channel_length_config(ADC1, ADC_REGULAR_CHANNEL, 1);
	adc_external_trigger_config(ADC1, ADC_REGULAR_CHANNEL, ENABLE);
	adc_external_trigger_source_config(ADC1, ADC_REGULAR_CHANNEL, ADC0_1_2_EXTTRIG_REGULAR_NONE);
	adc_regular_channel_config(ADC1, 0, W_PHASE_V_CHAN, ADC_SAMPLETIME_55POINT5);
	//adc_regular_channel_config(ADC1, 1, V_PHASE_V_CHAN, ADC_SAMPLETIME_55POINT5);
	//adc_regular_channel_config(ADC1, 2, U_PHASE_V_CHAN, ADC_SAMPLETIME_55POINT5);
}

void adc_start_insert_convert(void) {
    /* clear the ADC flag */
    adc_interrupt_flag_clear(ADC0, ADC_INT_FLAG_EOC);
    adc_interrupt_flag_clear(ADC0, ADC_INT_FLAG_EOIC);
    adc_interrupt_flag_clear(ADC1, ADC_INT_FLAG_EOC);
    adc_interrupt_flag_clear(ADC1, ADC_INT_FLAG_EOIC);	
    /* enable ADC interrupt */
    adc_interrupt_enable(ADC0, ADC_INT_EOIC);
	adc_interrupt_enable(ADC1, ADC_INT_EOIC);
}

s32 adc_sample_regular_channel(int channel, int times) {
	u32 adc_device = ADC0;
	if (channel >= W_PHASE_V_CHAN && channel <= U_PHASE_V_CHAN) {
		adc_device = ADC1;
	}
	int value = 0;
	int count = 0;
	int min = 0xFFFFF;
	int max = -0xFFFFF;
	u64 start_time;
	adc_regular_channel_config(adc_device, 0, channel, ADC_SAMPLETIME_55POINT5);
	while(count < times){
restart:		
		start_time = co_task_sys64_ticks();
		adc_software_trigger_enable(adc_device, ADC_REGULAR_CHANNEL);
    	while(SET != adc_flag_get(adc_device, ADC_FLAG_EOC)){
			if (co_task_sys64_ticks() - start_time >= 2){
				goto restart;
			}
		};
    	int one = adc_regular_data_read(adc_device);
		adc_flag_clear(adc_device, ADC_FLAG_EOC);		
		value += (one & 0xFFF);
		count ++;
		if (one > max){
			max = one;
		}
		if (one < min) {
			min = one;
		}
	}
	if (times <= 2) {
		return value/times;
	}
	return (value - min - max)/(times-2);	
}