#include "bsp/bsp.h"
#include "foc/core/foc_observer.h"
#include "foc/core/smo_observer.h"
#include "foc/motor/motor.h"

static foc_observer_t foc_obser;
void foc_observer_init(void) {
	foc_obser.smo_enabled = false;
	foc_obser.smo_used = false;
#ifdef CONFIG_SMO_OBSERVER
	smo_observer_init(CONFIG_SMO_PLL_BANDWITH, CONFIG_SMO_LFP_WC, CONFIG_SMO_GAIN_K, CONFIG_SMO_SIGMOID_MAX);
	foc_obser.smo_enabled = true;
#endif
}
float foc_observer_update(float uAlp, float uBeta, float iAlp, float iBeta){
	if (foc_obser.smo_enabled) {
		foc_obser.smo_angle = smo_observer_update(uAlp, uBeta, iAlp, iBeta);
		foc_obser.smo_speed = smo_observer_est_rpm();
	}
	foc_obser.enc_angle = motor_encoder_get_angle();
	foc_obser.enc_speed = motor_encoder_get_speed();
	
	if (foc_obser.smo_used) {
		return foc_obser.smo_angle;
	}
	return foc_obser.enc_angle;
}

float foc_observer_speed(void) {
	if (foc_obser.smo_used) {
		return foc_obser.smo_speed;
	}
	return foc_obser.enc_speed;
}

bool  foc_observer_is_encoder(void) {
	return !foc_obser.smo_used;
}
void  foc_observer_use_smo(bool use_smo) {
	if (foc_obser.smo_enabled) {
		foc_obser.smo_used = use_smo;
	}else {
		foc_obser.smo_used = false;
	}
}
void  foc_observer_enable_smo(bool enable) {
	foc_obser.smo_enabled = enable;
}

float foc_observer_smo_angle(void) {
	return foc_obser.smo_angle;
}

float foc_observer_smo_speed(void) {
	return foc_obser.smo_speed;
}