#include <string.h>
#include "bsp/bsp.h"
#include "bsp/mc_hall_gpio.h"
#include "os/co_task.h"
#include "os/timer.h"
#include "libs/utils.h"
#include "libs/logger.h"
#include "math/fast_math.h"
#include "foc/motor/hall.h"
#include "foc/core/foc_api.h"
#include "app/nv_storage.h"
#include "bsp/timer_count32.h"

#define USE_DETECTED_ANGLE 1

#define HALL_READ_TIMES 3

static void _hall_detect_task(void *args);
static void _hall_init_el_angle(void);


#define HALL_PLACE_OFFSET (315) //(345) //315
/* 
4,5,1,3,2,6,4
*/

static hall_sensor_t _sensor_hander;

measure_time_t g_meas_hall = {.exec_max_time = 6,};

#define read_hall(h,t) {h = get_hall_stat(HALL_READ_TIMES); t = _hall_table[h];}
#define us_2_s(tick) ((float)tick / 1000000.0f)

#define rand_angle(a) {if (a >= PHASE_360_DEGREE) a-=PHASE_360_DEGREE;else if (a < 0) a +=PHASE_360_DEGREE;};

static float hall_speed[8];
static float  hall_angle[8];
static void __inline _hall_put_sample(u32 ticks, float angle) {
	hall_sample_t *s = &_sensor_hander.samples;
	s->ticks_sum -= s->ticks[s->index];
	s->angles_sum -= s->angles[s->index];
	s->ticks[s->index] = ticks;
	s->angles[s->index] = angle;
	s->ticks_sum += s->ticks[s->index];
	s->angles_sum += s->angles[s->index];
	s->index += 1;
	if (s->index >= SAMPLE_MAX_COUNT) {
		s->full = true;
		s->index = 0;
	}
}

static float __inline _hall_angle_speed(void){
	hall_sample_t *s = &_sensor_hander.samples;
	if (s->ticks_sum == 0) {
		return 0.0f;
	}
	
	if (!s->full) {
		return s->angles[s->index - 1] / us_2_s(s->ticks[s->index-1]);
	}else {
		return s->angles_sum / us_2_s(s->ticks_sum);
	}
}

void hall_debug_log(void) {
	for (int i = 0; i < 8; i++) {
		if (i != 0 && i != 7) {
			sys_debug("hall speed: %d,  %f - %f, %d\n", i, hall_speed[i], hall_angle[i], _sensor_hander.sensor_error);
			sys_debug("hall angle %d\n", _sensor_hander.angle_table[i]);
		}
	}
	sys_debug("angle dir %d\n", _sensor_hander.direction);
}

/*
static bool __inline _hall_data_empty(void) {
	hall_sample_t *s = &_sensor_hander.samples;
	if ((!s->full) && (s->index == 0)){
		return true;
	}
	return false;
}
*/

static void hall_sensor_default(void) {
	memset(&_sensor_hander, 0, sizeof(_sensor_hander));
	_sensor_hander.phase_offset = HALL_PLACE_OFFSET;//mc_config_get()->hall_offset;
	memcpy((char *)_sensor_hander.angle_table, (char *)mc_config_get()->hall_table, sizeof(_sensor_hander.angle_table));
	_hall_init_el_angle();
	hall_debug_log();
}

void hall_sensor_init(void) {
	mc_hall_init();
	hall_sensor_default();
	co_task_create(_hall_detect_task, NULL, 512);
}

void hall_sensor_clear(void) {
	hall_sensor_default();
}


static void _hall_detect_task(void *args) {
	while(1) {
		if (_sensor_hander.el_speed != 0) {
			u32 ticks_now = timer_count32_get();
			u32 delta_us = timer_count32_getus(ticks_now, _sensor_hander.hall_ticks);
			if (delta_us >= (1200*1000)) {
				hall_sensor_clear();
			}
		}
		co_task_delay(100);
	}
}

float hall_sensor_get_theta(void){
	if (_sensor_hander.is_override_angle) {
		return _sensor_hander.override_el_angle;
	}

	u32 us_now = timer_count32_delta_us(_sensor_hander.estimate_time_ticks, &_sensor_hander.estimate_time_ticks);
	
	float angle_step = _sensor_hander.estimate_el_speed * us_2_s(us_now);
	_sensor_hander.estimate_delta_angle += angle_step;

	if (_sensor_hander.direction == POSITIVE) {
		_sensor_hander.estimate_el_angle += angle_step;
	}else {
		_sensor_hander.estimate_el_angle -= angle_step;
	}

	rand_angle(_sensor_hander.estimate_el_angle);

	//log_chan_value(1, (int)_sensor_hander.estimate_el_angle);

	return _sensor_hander.estimate_el_angle;
}


void hall_sensor_set_theta(bool override, float theta){
	_sensor_hander.is_override_angle = override;
	_sensor_hander.override_el_angle = theta;
}

float hall_sensor_get_speed(void) {
	return _sensor_hander.rpm;
}

int hall_offset_increase(int inc) {
	if (_sensor_hander.phase_offset + inc >= 360) {
		_sensor_hander.phase_offset = _sensor_hander.phase_offset + inc - 360;
	}else {
		_sensor_hander.phase_offset += inc;
	}
	return _sensor_hander.phase_offset;
}

u16 *hall_get_table(void) {
	return _sensor_hander.angle_table;
}

int hall_sensor_calibrate(float voltage){
	foc_set_controller_mode(FOC_MODE_OPEN_LOOP);
	hall_sensor_set_theta(true, 0.0f);
	foc_set_dq_command(0.0f, 0.0f);
	foc_pwm_start(true);
	foc_start_adc(true);
	for (int i = 0;i < 100;i++) {
		foc_set_dq_command((float)i * voltage / 100.0f, 0.0f);
		co_task_delay(1);
		wdog_reload();
	}
	float sin_hall[8];
	float cos_hall[8];
	int hall_iterations[8];
	memset(sin_hall, 0, sizeof(sin_hall));
	memset(cos_hall, 0, sizeof(cos_hall));
	memset(_sensor_hander.angle_table, 0, sizeof(_sensor_hander.angle_table));
	memset(hall_iterations, 0, sizeof(hall_iterations));
	co_task_delay(2 * 1000);
	// Forwards
#if 1	
	for (int i = 0;i < 5;i++) {
		for (int j = 0;j < 360;j++) {
			hall_sensor_set_theta(true, j);
			co_task_delay(5);
			wdog_reload();
			int hall = get_hall_stat(7);
			float s, c;
			normal_sincosf(degree_2_pi(j), &s, &c);
			sin_hall[hall] += s;
			cos_hall[hall] += c;
			hall_iterations[hall]++;
		}
	}
#endif	
#if 0
	//hall_sensor_set_theta(true, 360);
	//co_task_delay(2 * 1000);
	sys_debug("Revers\n");
	// Reverse
	for (int i = 0;i < 5;i++) {
		for (int j = 360;j >= 0;j--) {
			hall_sensor_set_theta(true, j);
			co_task_delay(5);
			wdog_reload();
			int hall = get_hall_stat(7);
			float s, c;
			normal_sincosf(degree_2_pi(j), &s, &c);
			sin_hall[hall] += s;
			cos_hall[hall] += c;
			hall_iterations[hall]++;
		}
	}
#endif
	for (int i = 99;i >= 0;i--) {
		foc_set_dq_command((float)i * voltage / 100.0f, 0.0f);
		co_task_delay(1);
		wdog_reload();
	}
	foc_pwm_start(false);
	foc_start_adc(false);
	hall_sensor_set_theta(false, 0.0f);
	int fails = 0;
	for(int i = 0;i < 8;i++) {
		if (hall_iterations[i] > 30) {
			float ang = pi_2_degree(atan2f(sin_hall[i], cos_hall[i]));
			fast_norm_angle(&ang);
			_sensor_hander.angle_table[i] = (u16)ang;
			sys_debug("%d: %d\n", i, _sensor_hander.angle_table[i]);
			co_task_delay(10);
		} else {
			fails++;
			_sensor_hander.angle_table[i] = 0xFFFF;
		}
	}
	
	return fails == 2;	
}


static void _hall_init_el_angle(void) {
	_sensor_hander.hall_stat = get_hall_stat(HALL_READ_TIMES);
#ifdef USE_DETECTED_ANGLE
	if (_sensor_hander.hall_stat == 0 || _sensor_hander.hall_stat == 7) {
		_sensor_hander.sensor_error ++;
		return;
	}
	_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + _sensor_hander.angle_table[_sensor_hander.hall_stat];
#else
	s32 sector_center = PHASE_60_DEGREE/2;
  	switch ( _sensor_hander.hall_stat )
  	{
    case STATE_5:
      	_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + sector_center;
      	break;
    case STATE_1:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_60_DEGREE + sector_center;
      	break;
    case STATE_3:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_120_DEGREE + sector_center;
      	break;
    case STATE_2:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_180_DEGREE + sector_center;
      	break;
    case STATE_6:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_240_DEGREE + sector_center;
      	break;
    case STATE_4:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_300_DEGREE + sector_center;
      	break;
    default:
      	/* Bad hall sensor configutarion so update the speed reliability */
      	_sensor_hander.sensor_error ++;
      	return;
 	}
#endif
	_sensor_hander.sensor_error = 0;
  	/* Initialize the measured angle */
	rand_angle(_sensor_hander.measured_el_angle);
  	_sensor_hander.estimate_el_angle = _sensor_hander.measured_el_angle;
	_sensor_hander.hall_ticks = timer_count32_get();
	_sensor_hander.estimate_time_ticks = timer_count32_get();
}

static __inline__ s32 _get_angle(u8 state, s32 added) {
#ifdef USE_DETECTED_ANGLE
	return _sensor_hander.phase_offset + _sensor_hander.angle_table[state];
#else
	return _sensor_hander.phase_offset + added;
#endif
}
/* 4,5,1,3,2,6,4 */
static s32 _hall_position(u8 state_now, u8 state_prev) {
	s32 theta_now =  0xFFFFFFFF;
	switch (state_now) {
		case STATE_1:
			if (state_prev == STATE_5) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _get_angle(state_now, PHASE_60_DEGREE);//_sensor_hander.phase_offset + PHASE_60_DEGREE;
			}else if (state_prev == STATE_3) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _get_angle(state_now, PHASE_120_DEGREE);//_sensor_hander.phase_offset + PHASE_120_DEGREE;
			}
			break;
		case STATE_2:
			if (state_prev == STATE_3) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _get_angle(state_now, PHASE_180_DEGREE);//_sensor_hander.phase_offset + PHASE_180_DEGREE;
			}else if (state_prev == STATE_6) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _get_angle(state_now, PHASE_240_DEGREE);//_sensor_hander.phase_offset + PHASE_240_DEGREE;
			}
			break;
		case STATE_3:
			if (state_prev == STATE_1) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _get_angle(state_now, PHASE_120_DEGREE);//_sensor_hander.phase_offset + PHASE_120_DEGREE;
			}else if (state_prev == STATE_2) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _get_angle(state_now, PHASE_180_DEGREE);//_sensor_hander.phase_offset + PHASE_180_DEGREE;
			}
			break;
		case STATE_4:
			if (state_prev == STATE_6) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _get_angle(state_now, PHASE_300_DEGREE);//_sensor_hander.phase_offset + PHASE_300_DEGREE;
			}else if (state_prev == STATE_5) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _get_angle(state_now, PHASE_0_DEGREE);//_sensor_hander.phase_offset + PHASE_0_DEGREE;
			}
			break;
		case STATE_5:
			if (state_prev == STATE_4) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _get_angle(state_now, PHASE_0_DEGREE);//_sensor_hander.phase_offset + PHASE_0_DEGREE;
			}else if (state_prev == STATE_1) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _get_angle(state_now, PHASE_60_DEGREE);//_sensor_hander.phase_offset + PHASE_60_DEGREE;
			}
			break;
		case STATE_6:
			if (state_prev == STATE_2) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _get_angle(state_now, PHASE_240_DEGREE);//_sensor_hander.phase_offset + PHASE_240_DEGREE;
			}else if (state_prev == STATE_4) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _get_angle(state_now, PHASE_300_DEGREE);//_sensor_hander.phase_offset + PHASE_300_DEGREE;
			}
			break;
		default:
			_sensor_hander.sensor_error ++;
			return 0xFFFFFFFF;
	}
	rand_angle(theta_now);
	return theta_now;
}

static __inline u8 _next_hall(u8 hall_now) {
	switch (hall_now) {
		case STATE_1:
			if (_sensor_hander.direction == POSITIVE) {
				return STATE_3;
			}else {
				return STATE_5;
			}
		case STATE_2:
			if (_sensor_hander.direction == POSITIVE) {
				return STATE_6;
			}else {
				return STATE_3;
			}
		case STATE_3:
			if (_sensor_hander.direction == POSITIVE) {
				return STATE_2;
			}else {
				return STATE_1;
			}
		case STATE_4:
			if (_sensor_hander.direction == POSITIVE) {
				return STATE_5;
			}else {
				return STATE_6;
			}
		case STATE_5:
			if (_sensor_hander.direction == POSITIVE) {
				return STATE_1;
			}else {
				return STATE_4;
			}
		case STATE_6:
			if (_sensor_hander.direction == POSITIVE) {
				return STATE_4;
			}else {
				return STATE_2;
			}
		default: //not reached here
			return STATE_1;
	}

} 

#ifdef USE_DETECTED_ANGLE
static __inline__ float _get_delta_angle(u8 now, u8 next) {
	float delta_angle = _sensor_hander.angle_table[next] - _sensor_hander.angle_table[now];
	if (_sensor_hander.direction == POSITIVE) {
		if (delta_angle < 0) { //process cross 360 degree
			delta_angle += 360.0f;
		}
	}else if (_sensor_hander.direction == NEGATIVE) {
		if (delta_angle > 0) { //process cross 360 degree
			delta_angle -= 360.0f;
		}
		delta_angle = -delta_angle;
	}
	return delta_angle;
}
#endif
void hall_sensor_handler(void) {
	if (_sensor_hander.is_override_angle) {
		sys_debug("irq: %d:%d\n", (int)get_hall_stat(HALL_READ_TIMES), (int)_sensor_hander.override_el_angle);
		return;
	}
	time_measure_start(&g_meas_hall);
	u8 hall_stat_now = get_hall_stat(HALL_READ_TIMES);
	u8 hall_stat_prev = _sensor_hander.hall_stat;
	u32 hall_ticks_now = timer_count32_get();	

	/*获取当前转子角度*/
	s32 theta_now = _hall_position(hall_stat_now, hall_stat_prev);
	if (theta_now == 0xFFFFFFFF) {
		return;
	}
	//获取两次中断的时间间隔，估计速度
	u32 delta_us = timer_count32_getus(hall_ticks_now, _sensor_hander.hall_ticks);
	if (delta_us == 0) {
		return;
	}
	//获取两次中断之间转子转过的角度,获取预期的下次hall状态变换转过的角度
#ifdef USE_DETECTED_ANGLE
	float delta_angle = _get_delta_angle(hall_stat_prev, hall_stat_now);
	float next_delta_angle = _get_delta_angle(hall_stat_now, _next_hall(hall_stat_now));
#else
	float delta_angle = (float)PHASE_60_DEGREE;
	float next_delta_angle = delta_angle;
#endif
	float delta_time = us_2_s(delta_us);
	float prev_imme_el_speed = _sensor_hander.immediately_el_speed;
	_sensor_hander.immediately_el_speed = delta_angle/delta_time;
	float delta_el_speed = fabs(_sensor_hander.immediately_el_speed - prev_imme_el_speed);
	if (delta_el_speed/prev_imme_el_speed >= 0.1f) { //即时速度增加10%,认为不稳定，需要使用即时速度估计转子位置
		_sensor_hander.trns_detect = true;
	}else {
		_sensor_hander.trns_detect = false;
	}
	_hall_put_sample(delta_us, delta_angle);
	os_disable_irq();
	_sensor_hander.el_speed = _hall_angle_speed();	
	_sensor_hander.estimate_delta_angle = _sensor_hander.estimate_delta_angle - delta_angle;
	/*通过上次预估的转子位置，对当前的预估速度进行补偿*/
	if (_sensor_hander.trns_detect) {
		_sensor_hander.estimate_el_speed = (next_delta_angle - _sensor_hander.estimate_delta_angle)/delta_angle * _sensor_hander.immediately_el_speed;
	}else {
		_sensor_hander.estimate_el_speed = (next_delta_angle - _sensor_hander.estimate_delta_angle)/delta_angle * _sensor_hander.el_speed;
	}
	_sensor_hander.next_delta_angle = next_delta_angle;
	//_sensor_hander.measured_el_angle = theta_now;
	os_enable_irq();
	_sensor_hander.hall_stat = hall_stat_now;
	_sensor_hander.hall_ticks = hall_ticks_now;
	_sensor_hander.rpm = _sensor_hander.el_speed / 360.0f * 60.0f;
	
	time_measure_end(&g_meas_hall);
}