#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"


volatile int posl = 0;
volatile int posr = 0;
volatile int pwml = 0;
volatile int pwmr = 0;

extern volatile adc_buf_t adc_buffer;

const int pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000

const uint8_t hall_to_pos[8] = {
    0,
    0,
    2,
    1,
    4,
    5,
    3,
    0,
};

inline void blockPWM(int pwm, int pos, int *u, int *v, int *w) {
  switch(pos) {
    case 0:
      *u = 0;
      *v = pwm;
      *w = -pwm;
      break;
    case 1:
      *u = -pwm;
      *v = pwm;
      *w = 0;
      break;
    case 2:
      *u = -pwm;
      *v = 0;
      *w = pwm;
      break;
    case 3:
      *u = 0;
      *v = -pwm;
      *w = pwm;
      break;
    case 4:
      *u = pwm;
      *v = -pwm;
      *w = 0;
      break;
    case 5:
      *u = pwm;
      *v = 0;
      *w = -pwm;
      break;
    default:
      *u = 0;
      *v = 0;
      *w = 0;
  }
}

inline void blockPhaseCurrent(int pos, int u, int v, int *q) {
  switch(pos) {
    case 0:
      *q = u - v;
      // *u = 0;
      // *v = pwm;
      // *w = -pwm;
      break;
    case 1:
      *q = u;
      // *u = -pwm;
      // *v = pwm;
      // *w = 0;
      break;
    case 2:
      *q = u;
      // *u = -pwm;
      // *v = 0;
      // *w = pwm;
      break;
    case 3:
      *q = v;
      // *u = 0;
      // *v = -pwm;
      // *w = pwm;
      break;
    case 4:
      *q = v;
      // *u = pwm;
      // *v = -pwm;
      // *w = 0;
      break;
    case 5:
      *q = -(u - v);
      // *u = pwm;
      // *v = 0;
      // *w = -pwm;
      break;
    default:
      *q = 0;
      // *u = 0;
      // *v = 0;
      // *w = 0;
  }
}

int last_pos     = 0;
int timer        = 0;
int max_time     = PWM_FREQ / 10;
volatile int vel = 0;

int offsetcount = 0;
int offsetrl1   = 2000;
int offsetrl2   = 2000;
int offsetrr1   = 2000;
int offsetrr2   = 2000;
int offsetdcl   = 2000;
int offsetdcr   = 2000;

int curl = 0;
// int errorl = 0;
// int kp = 5;
// volatile int cmdl = 0;

void DMA1_Channel1_IRQHandler() {
  DMA1->IFCR = DMA_IFCR_CTCIF1;
  // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);

  if(offsetcount < 1000) {  // calibrate ADC offsets
    offsetcount++;
    offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
    offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
    offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
    offsetrr2 = (adc_buffer.rr2 + offsetrr2) / 2;
    offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
    offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
    return;
  }

  if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT) {
    LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
    //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
  } else {
    LEFT_TIM->BDTR |= TIM_BDTR_MOE;
    //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
  }

  if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP  > DC_CUR_LIMIT) {
    RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
  } else {
    RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
  }

  int ul, vl, wl;
  int ur, vr, wr;

  uint8_t hall_ul = !(LEFT_HALL_U_PORT->IDR & LEFT_HALL_U_PIN);
  uint8_t hall_vl = !(LEFT_HALL_V_PORT->IDR & LEFT_HALL_V_PIN);
  uint8_t hall_wl = !(LEFT_HALL_W_PORT->IDR & LEFT_HALL_W_PIN);

  uint8_t hall_ur = !(RIGHT_HALL_U_PORT->IDR & RIGHT_HALL_U_PIN);
  uint8_t hall_vr = !(RIGHT_HALL_V_PORT->IDR & RIGHT_HALL_V_PIN);
  uint8_t hall_wr = !(RIGHT_HALL_W_PORT->IDR & RIGHT_HALL_W_PIN);

  uint8_t halll = hall_ul * 1 + hall_vl * 2 + hall_wl * 4;
  posl          = hall_to_pos[halll];
  posl += 2;
  posl %= 6;

  uint8_t hallr = hall_ur * 1 + hall_vr * 2 + hall_wr * 4;
  posr          = hall_to_pos[hallr];
  posr += 2;
  posr %= 6;

  blockPhaseCurrent(posl, adc_buffer.rl1 - offsetrl1, adc_buffer.rl2 - offsetrl2, &curl);

  consoleScope(0, 0, (adc_buffer.rl1 - offsetrl1) / 8, (adc_buffer.rl2 - offsetrl1) / 8, 0, 0, 0, 0);

  timer++;

  // if(timer > max_time){
  //   timer = max_time;
  //   vel = 0;
  // }

  // if(pos != last_pos){
  //   vel = 1000 * PWM_FREQ / timer / P / 6 * 2;

  //   if((pos - last_pos + 6) % 6 > 2){
  //     vel = -vel;
  //   }

  //   timer = 0;
  // }
  // last_pos = pos;

  //YOLOTEST
  // errorl = cmdl - curl;
  // pwml = kp * errorl;

  blockPWM(pwml, posl, &ul, &vl, &wl);
  blockPWM(pwmr, posr, &ur, &vr, &wr);

  LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
  LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
  LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10);

  RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
  RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
  RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
  // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);blockPhaseCurrent
}