#include <math.h>
#include "bsp/adc.h"
#include "bsp/pwm.h"
#include "foc/motor/current.h"
#include "foc/core/PMSM_FOC_Core.h"
#include "libs/utils.h"
#include "libs/logger.h"
#include "math/fix_math.h"
static current_samp_t g_cs;

#define NB_OFFSET_SAMPLES 32

#define Rvbus  0.0005f
#define Gvbus (13.1f) //母线电流的运放 
#define Rds_Defualt  0.005f//欧
#define Gmos  (1.7f)//mos 电流的运放
#define Sample_R Rds_Defualt
#define Lower_Pass_p 0.2f

#define VBUS_VOL(adc) (((float)(adc)) * 3.3f / 4096.0f / Gvbus)
#define MOSds_VOL(adc) (((float)(adc)) * 3.3f / 4096.0f / Gmos)

#define current_i(v, r) ((v)/(r))
/*
va = iv*kv - ia*k
vb = iv*kv - ib*k
vc = iv*kv - ic*k  -> vb+vc = 2iv*kv - (ib+ic)*k ->vb+vc = 2iv*kv + ia*k -->va+vb+vc = 
ia = -(ib+ic)
*/
void phase_current_init(void) {
	current_samp_t *cs = &g_cs;
	cs->offset_sample_count = NB_OFFSET_SAMPLES + 1;
	cs->adc_ia = 0;
	cs->adc_ib = 0;
	cs->adc_ic = 0;
}

void phase_current_start_cali(void){
	g_cs.adc_offset_a = 0;
	g_cs.adc_offset_b = 0;
	g_cs.adc_offset_c = 0;

	phase_current_init();
	g_cs.is_calibrating_offset = true;
	g_cs.c_phases = PHASE_AB;
	adc_current_sample_config(g_cs.c_phases);
}

void phase_current_wait_cali(void) {
	while(g_cs.is_calibrating_offset) {
		wdog_reload();
	}
}

bool phase_current_offset(void) {
	current_samp_t *cs = &g_cs;
	if (!cs->is_calibrating_offset) {
		return false;
	}
	s32 phase_current1 = 0 , phase_current2 = 0;
	adc_phase_current_read(cs->c_phases, &phase_current1, &phase_current2);
	if (cs->offset_sample_count == (NB_OFFSET_SAMPLES + 1)) {
		cs->offset_sample_count --;
		return true;
	}
	if (cs->offset_sample_count > 0) {
		cs->offset_sample_count--;
		if (cs->c_phases == PHASE_AB && cs->offset_sample_count >= 0) {
			cs->adc_offset_a += phase_current1;
			cs->adc_offset_b += phase_current2;
			if (cs->offset_sample_count == 0) {
				cs->adc_offset_a = cs->adc_offset_a / NB_OFFSET_SAMPLES;
				cs->adc_offset_b = cs->adc_offset_b / NB_OFFSET_SAMPLES;
			}
		}
		if (cs->c_phases == PHASE_BC && cs->offset_sample_count >= 0) {
			cs->adc_offset_c += phase_current2;
			if (cs->offset_sample_count == 0) {
				cs->adc_offset_c = cs->adc_offset_c / NB_OFFSET_SAMPLES;
			}
		}
	}else {
		if (cs->c_phases == PHASE_AB) {
			cs->c_phases = PHASE_BC;
			phase_current_init();
			adc_current_sample_config(cs->c_phases);
		}else {
			cs->is_calibrating_offset = false;
			sys_debug("offset %d, %d, %d\n", g_cs.adc_offset_a, g_cs.adc_offset_b, g_cs.adc_offset_c);
		}

	}
	return true;
}


void phase_current_get(float *iABC){
	current_samp_t *cs = &g_cs;
	s32 phase_current1, phase_current2;

	adc_phase_current_read(cs->c_phases, &phase_current1, &phase_current2);

	if (cs->c_phases == PHASE_AB) {
		/* Current on Phase C is not accessible */
		/* Ia = PhaseAOffset - ADC converted value) */
		cs->adc_ia = (phase_current1 - cs->adc_offset_a);
		cs->adc_ib = (phase_current2 - cs->adc_offset_b);
		cs->adc_ic = -(cs->adc_ia + cs->adc_ib);
	}else if (cs->c_phases == PHASE_BC) {
		/* Current on Phase A is not accessible 	*/
		/* Ib = PhaseBOffset - ADC converted value) */
		cs->adc_ib = (phase_current1 - cs->adc_offset_b);
		cs->adc_ic = (phase_current2 - cs->adc_offset_c);
		cs->adc_ia = -(cs->adc_ib + cs->adc_ic);
	}else if (cs->c_phases == PHASE_AC) {
		/* Current on Phase B is not accessible 	*/
		/* Ia = PhaseAOffset - ADC converted value) */
		cs->adc_ia = (phase_current1 - cs->adc_offset_a);
		cs->adc_ic = (phase_current2 - cs->adc_offset_c);
		cs->adc_ib = -(cs->adc_ia + cs->adc_ic);
	}
	iABC[0] = -cs->adc_ia * ADC_TO_CURR_ceof;
	iABC[1] = -cs->adc_ib * ADC_TO_CURR_ceof;
	iABC[2] = -cs->adc_ic * ADC_TO_CURR_ceof;
}

#if 0
void phase_current_point(void *p){
	FOC_OutP *out = p;
	current_samp_t *cs = &g_cs;
	u32 low_side_low_duty = FOC_PWM_Half_Period - out->n_lowDuty;
	u32 low_side_mid_duty = FOC_PWM_Half_Period - out->n_midDuty;
	cs->sector = out->n_Sector;
	out->n_Sample1 = FOC_PWM_Half_Period + 1;
	out->n_Sample2 = FOC_PWM_Half_Period + 1;
	s16 potest = 7;
	/*底边开mos的时间是2倍的 low_side_low_duty(一个周期)*/
	if (low_side_low_duty * 2 >= TSampleMIN) { //可以采样
		if (low_side_low_duty >= (TADC + TDead)) {//可以在pwm的中心点采样
			out->n_Sample1 = FOC_PWM_Half_Period - 1;
			cs->sector = SECTOR_1;
			potest = 1;
		}else {
			u32 Samp_p = out->n_lowDuty + TSampleBefore;
			if (Samp_p >= FOC_PWM_Half_Period) { //需要在pwm中心点过后采样，需要配置PWM0模式
				out->n_Sample2 = ( 2u * FOC_PWM_Half_Period ) - Samp_p - (uint16_t) 1;
				potest = 2;
			}else {
				out->n_Sample1 = Samp_p;
				potest = 3;
			}
		}
	}else if (low_side_mid_duty * 2 >= TSampleMIN){
		if (low_side_mid_duty >= (TADC + TDead)) {//可以在pwm的中心点采样
			out->n_Sample1 = FOC_PWM_Half_Period - 1;
			potest = 4;
		}else {
			u32 Samp_p = out->n_midDuty + TSampleBefore;
			if (Samp_p >= FOC_PWM_Half_Period) { //需要在pwm中心点过后采样，需要配置PWM0模式
				out->n_Sample2 = ( 2u * FOC_PWM_Half_Period ) - Samp_p - (uint16_t) 1;
				potest = 5;
			}else {
				out->n_Sample1 = Samp_p;
				potest = 6;
			}
		}
	}
	plot_1data16(potest);
	out->n_Sector = cs->sector;
}
#else
static __inline__ s16 get_mid_duty(u32 max_hi_side, FOC_OutP *out) {
	u32 min_low_side = FOC_PWM_Half_Period - max_hi_side;
	if (min_low_side >= MAX(TSampleBefore, TADC)) { //可以采样
		if ((min_low_side > TSampleBefore) && (min_low_side > TADC)) {
			out->n_Sample1 = FOC_PWM_Half_Period - 1;
			return 0;
		}else {
			u32 Samp_p = max_hi_side + TSampleBefore;
			if (Samp_p >= FOC_PWM_Half_Period) { //需要在pwm中心点过后采样，需要配置PWM0模式
				out->n_Sample2 = ( 2u * FOC_PWM_Half_Period ) - Samp_p - (uint16_t) 1;
				return 1;
			}else {
				out->n_Sample1 = Samp_p;
				return 2;
			}
		}
	}
	return -1;
}
void phase_current_point(void *p){
	FOC_OutP *out = p;
	current_samp_t *cs = &g_cs;
	u32 max_hi_side = MAX(out->n_Duty[0], MAX(out->n_Duty[1], out->n_Duty[2]));

	out->n_Sample1 = FOC_PWM_Half_Period + 1;
	out->n_Sample2 = FOC_PWM_Half_Period + 1;

	if (get_mid_duty(max_hi_side, out) == -1) {
		u32 mid_hi_side;
		out->n_Sample1 = FOC_PWM_Half_Period + 1;
		out->n_Sample2 = FOC_PWM_Half_Period + 1;		
		if (out->n_Duty[0] == max_hi_side) {
			//sample B, C
			mid_hi_side = MAX(out->n_Duty[1], out->n_Duty[2]);
			cs->c_phases = PHASE_BC;
		}else if (out->n_Duty[1] == max_hi_side) {
			//sample A, C
			mid_hi_side = MAX(out->n_Duty[0], out->n_Duty[2]);
			cs->c_phases = PHASE_AC;
		}else {
			//sample A, B
			mid_hi_side = MAX(out->n_Duty[0], out->n_Duty[1]);
			cs->c_phases = PHASE_AB;
		}
		get_mid_duty(mid_hi_side, out);
	}else {
		cs->c_phases = PHASE_AB;
	}
	out->n_CPhases = cs->c_phases;
}

#endif

void phase_current_adc_triger(void){
	adc_enable_ext_trigger();
}