#include <string.h>
#include "os/os_type.h"
#include "libs/utils.h"
#include "bsp/bsp.h"
#include "bsp/adc.h"
#include "bsp/pwm.h"
#include "foc/foc_api.h"
#include "foc/park_clark.h"
#include "foc/svpwm.h"
#include "foc/foc_core.h"
#include "foc/foc_stm.h"
#include "foc/phase_current.h"
#include "foc/hall_sensor.h"
#include "foc/gas_sensor.h"
extern motor_foc_t g_foc;
static void foc_defulat_value(void);

void foc_init(void) {
	foc_defulat_value();
	adc_init();
	pwm_3phase_init();
	hall_sensor_init();
	foc_core_init();
}

static void foc_defulat_value(void){
	g_foc.state = IDLE;
	g_foc.mosfec_gate = false;
	g_foc.vbus = MAX_VBUS_VOLTAGE;
	g_foc.mode = FOC_MODE_OPEN_LOOP;
	g_foc.alpha_beta.alpha = 0;
	g_foc.alpha_beta.beta = 0;
	g_foc.dq_command.Id = 0;
	g_foc.dq_command.Iq = 0;
	g_foc.foc_fault = foc_success;
	g_foc.speed_command = -1;
	memset(&g_foc.phase_time, 0, sizeof(g_foc.phase_time));
	g_foc.sector = 0;
	g_foc.dq_last.Id = 0;
	g_foc.dq_last.Iq = 0;
	phase_current_init(&g_foc.current_samp);
	ramp_ctrl_init(&g_foc.voltage_ramp);
	ramp_ctrl_init(&g_foc.current_ramp);
	ramp_ctrl_init(&g_foc.speed_ramp);
	pi_clear(&g_foc.id_controller);
	pi_clear(&g_foc.iq_controller);
	pi_clear(&g_foc.speed_controller);	
}

float speed_to_voltage(u16 rpm) {
	return foc_get_vbus_voltage() * rpm / MAX_SPEED_RPM;
}

float speed_to_current(u16 rpm) {
	return MAX_CURRENT * rpm / MAX_SPEED_RPM;
}

void foc_clear(void) {
	pwm_stop();
	g_foc.mosfec_gate = false;
	foc_defulat_value();
	hall_sensor_init();
}

u32 foc_get_speed(void) {
	float speed = hall_sensor_avg_speed()/(g_foc.motor_param.poles);
	//printf("avg speed %f, %d\n", speed, g_foc.motor_p.poles);
	return abs(speed);
}


void foc_set_dq_command(float d, float q) {
	g_foc.dq_command.Vd = d;
	g_foc.dq_command.Vq = q;
}

void foc_set_voltage_ramp(float final){
	printf("voltage %f\n", final);
	ramp_set_target(&g_foc.voltage_ramp, g_foc.dq_last.Vq, final, START_RAMP_DURATION);
	ramp_exc(&g_foc.voltage_ramp);
}

void foc_set_speed_ramp(u16 rpm){
	ramp_set_target(&g_foc.speed_ramp, foc_get_speed(), rpm, SPEED_RAMP_DURATION);
	ramp_exc(&g_foc.speed_ramp);
}

void foc_set_controller_mode(control_mode_t mode) {
	g_foc.mode = mode;
}

void foc_set_speed(u16 rpm) {
	if (g_foc.state == IDLE || g_foc.state == ANY_STOP) {
		return;
	}
	g_foc.speed_command = rpm;
	if (g_foc.mode == FOC_MODE_OPEN_LOOP) {
		foc_set_voltage_ramp(speed_to_voltage(rpm));
	}
}

foc_fault_t foc_start_motor(void){
	if (gas_detect_speed_signal()) {
		return foc_start_with_gas_error;
	}
	return foc_stm_nextstate(START);
}

foc_fault_t foc_stop_motor(void) {
	if (foc_get_speed() > 0) {
		return foc_stop_with_speed_error;
	}
	return foc_stm_nextstate(ANY_STOP);
}

bool foc_motor_is_started(void) {
	return g_foc.state >= START;
}

void foc_current_calibrate(void){
	g_foc.current_samp.adc_offset_a = 0;
	g_foc.current_samp.adc_offset_b = 0;
	g_foc.current_samp.adc_offset_c = 0;
	g_foc.current_samp.adc_offset_ivbus = 0;

	pwm_disable_channel();
	foc_pwm_start(false);

	cpu_udelay(10);
	
	phase_current_init(&g_foc.current_samp);
	g_foc.current_samp.is_calibrating_offset = true;
	g_foc.current_samp.sector = SECTOR_5;
	foc_pwm_start(true);
	adc_start_insert_convert();
	while(g_foc.current_samp.offset_sample_count != 0){};
	
	foc_pwm_start(false);
	cpu_udelay(100);
	phase_current_init(&g_foc.current_samp);	
	g_foc.current_samp.sector = SECTOR_1;
	foc_pwm_start(true);
	while(g_foc.current_samp.offset_sample_count != 0){};
	g_foc.current_samp.is_calibrating_offset = false;
	pwm_enable_channel();
}

float foc_get_vbus_voltage(void){
	return g_foc.vbus;
}