#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 "hall_sensor.h"
#include "foc/foc_api.h"
#include "app/nv_storage.h"
#include "bsp/timer_count32.h"


#define HALL_READ_TIMES 3

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

#define PWM_T  (0.000033f)

#define HALL_PLACE_OFFSET (315)//(345) //315
/* 
100
101
001
011
010
110
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, u8 hall) {
	hall_sample_t *s = &_sensor_hander.samples[hall];
	s->ticks_sum -= s->ticks[s->index];
	s->ticks[s->index] = ticks;
	s->ticks_sum += s->ticks[s->index];
	
	s->index += 1;
	if (s->index >= SAMPLE_MAX_COUNT) {
		s->full = true;
		s->index = 0;
	}
}

static u32 __inline _hall_angle_us_speed(u8 hall){
	hall_sample_t *s = &_sensor_hander.samples[hall];
	if (s->ticks_sum == 0) {
		return 0;
	}

	if (!s->full) {
		return (s->ticks[s->index-1]);
	}else {
		return s->ticks_sum/SAMPLE_MAX_COUNT;
	}
}

static float __inline _hall_angle_speed(void){
	u32 sum = 0 ;
	u32 num = 0;
	for (int hall = 1; hall < 7; hall++) {
		hall_sample_t *s = &_sensor_hander.samples[hall];
		if (s->ticks_sum == 0) {
			continue;
		}
	
		if (!s->full) {
			sum +=(s->ticks[s->index-1]);
			num ++;
		}else {
			sum  += s->ticks_sum;
			num += SAMPLE_MAX_COUNT;
		}
	}
	return (float)PHASE_60_DEGREE * (float)num / us_2_s(sum);
}


static bool __inline _hall_data_empty(u8 hall) {
	hall_sample_t *s = &_sensor_hander.samples[hall];
	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;
	_hall_init_el_angle();
}

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();
}


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("angle dir %d\n", _sensor_hander.direction);
	
}

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, NULL);
	float ration = (float)us_now / (float)_sensor_hander.speed_us_for_estimate;
	
	float angle_step = (float)PHASE_60_DEGREE * ration;
	_sensor_hander.estimate_delta_angle = angle_step;
	if (angle_step >= PHASE_60_DEGREE) {
		angle_step = PHASE_60_DEGREE;
	}

	if (_sensor_hander.direction == POSITIVE) {
		_sensor_hander.estimate_el_angle = _sensor_hander.measured_el_angle + angle_step;
	}else {
		_sensor_hander.estimate_el_angle = _sensor_hander.measured_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) {
	_sensor_hander.rpm = _sensor_hander.el_speed / 360.0f * 60.0f;
	return _sensor_hander.rpm;
}

float hall_sensor_avg_speed(void) {
	return _sensor_hander.el_speed / 360 * 60.0f;
}

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;
}


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);
	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(hall_iterations, 0, sizeof(hall_iterations));
	co_task_delay(2 * 1000);
	// Forwards
	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]++;
		}
	}
	//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]++;
		}
	}
	foc_pwm_start(false);
	hall_sensor_set_theta(false, 0.0f);
	foc_set_dq_command(0.0f, 0.0f);
	int fails = 0;
	for(int i = 0;i < 8;i++) {
		if (hall_iterations[i] > 30) {
		} else {
			fails++;
		}
	}
	return fails == 2;	
}


static void _hall_init_el_angle(void) {
	_sensor_hander.hall_stat = get_hall_stat(HALL_READ_TIMES);
  	switch ( _sensor_hander.hall_stat )
  	{
    case STATE_5:
      	_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_60_DEGREE/2;
      	break;
    case STATE_1:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_60_DEGREE + PHASE_60_DEGREE / 2;
      	break;
    case STATE_3:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_120_DEGREE + PHASE_60_DEGREE / 2;
      	break;
    case STATE_2:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_180_DEGREE + PHASE_60_DEGREE / 2;
      	break;
    case STATE_6:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_240_DEGREE + PHASE_60_DEGREE / 2;
      	break;
    case STATE_4:
		_sensor_hander.measured_el_angle = _sensor_hander.phase_offset + PHASE_300_DEGREE + PHASE_60_DEGREE / 2;
      	break;
    default:
      	/* Bad hall sensor configutarion so update the speed reliability */
      	_sensor_hander.sensor_error ++;
      	break;
 	}
  	/* 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();
}

/* 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 = _sensor_hander.phase_offset + PHASE_60_DEGREE;
			}else if (state_prev == STATE_3) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_120_DEGREE;
			}
			break;
		case STATE_2:
			if (state_prev == STATE_3) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_180_DEGREE;
			}else if (state_prev == STATE_6) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_240_DEGREE;
			}
			break;
		case STATE_3:
			if (state_prev == STATE_1) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_120_DEGREE;
			}else if (state_prev == STATE_2) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_180_DEGREE;
			}
			break;
		case STATE_4:
			if (state_prev == STATE_6) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_300_DEGREE;
			}else if (state_prev == STATE_5) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _sensor_hander.phase_offset;
			}
			break;
		case STATE_5:
			if (state_prev == STATE_4) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _sensor_hander.phase_offset;
			}else if (state_prev == STATE_1) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_60_DEGREE;
			}
			break;
		case STATE_6:
			if (state_prev == STATE_2) {
				_sensor_hander.direction = POSITIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_240_DEGREE;
			}else if (state_prev == STATE_4) {
				_sensor_hander.direction = NEGATIVE;
				theta_now = _sensor_hander.phase_offset + PHASE_300_DEGREE;
			}
			break;
		default:
			_sensor_hander.sensor_error ++;
			return 0xFFFFFFFF;
	}
	rand_angle(theta_now);
	return theta_now;
}

void hall_sensor_handler(void) {
	if (_sensor_hander.is_override_angle) {
		sys_debug("%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();	

	s32 theta_now = _hall_position(hall_stat_now, hall_stat_prev);
	if (theta_now == 0xFFFFFFFF) {
		return;
	}

	u32 delta_us = timer_count32_getus(hall_ticks_now, _sensor_hander.hall_ticks);
	if (delta_us == 0) {
		return;
	}

	float delta_time = us_2_s(delta_us);
	_hall_put_sample(delta_us, hall_stat_prev);
	u32 us_speed_prev = _sensor_hander.speed_us_for_estimate;
	u32 us_speed_now = 0;
	if (_hall_data_empty(hall_stat_now)) {
		us_speed_now = delta_us;
	}else {
		us_speed_now = _hall_angle_us_speed(hall_stat_now);
	}
	if (us_speed_now != 0) {
		hall_speed[hall_stat_now] = (float)us_speed_prev / (float)us_speed_now;
	}
	hall_angle[hall_stat_now] = (float)_sensor_hander.estimate_delta_angle/(float)PHASE_60_DEGREE;
	os_disable_irq();
	
	_sensor_hander.estimate_delta_angle = 0;
	_sensor_hander.measured_el_angle = theta_now;	
	_sensor_hander.estimate_el_angle = _sensor_hander.measured_el_angle;

	_sensor_hander.estimate_time_ticks = hall_ticks_now;
	_sensor_hander.speed_us_for_estimate = us_speed_now;
	os_enable_irq();
	_sensor_hander.el_speed = _hall_angle_speed();
	_sensor_hander.hall_stat = hall_stat_now;
	_sensor_hander.hall_ticks = hall_ticks_now;
	
	time_measure_end(&g_meas_hall);
}