#include "mymain.h"
#include "main.h"
#include "board.h"
#include "debug.h"
#include "core_delay.h"
#include "string.h"
#include "stdio.h"


typedef struct{
  pwm_def *pwm;
  int key_old;
  int key;
  int key1_old;
  int key1;
  int sen;
  char str_buff[200];
}mymain_def;

static mymain_def g_m={0};

void *mymain_init(void)
{
  
  delay_init();
//  m.pwm=dev_get("pwm");
//  m.pwm->init(m.pwm);
  //DBG_LOG("pwm start.");
//  m.pwm->start(m.pwm,1);
  GPIO_InitTypeDef init={0};
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOG_CLK_ENABLE();
  __HAL_RCC_GPIOI_CLK_ENABLE();
  
  
  // 输出脚
  init.Mode = GPIO_MODE_OUTPUT_PP;
  init.Pull = GPIO_PULLUP;
  init.Pin = GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
  PERIPH_LOCK(GPIOF);
  HAL_GPIO_Init(GPIOF, &init);
  HAL_GPIO_WritePin(GPIOF,GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9,GPIO_PIN_RESET);
  PERIPH_UNLOCK(GPIOF);

  // 指示灯PF1(绿) PG15(红)
  init.Pin = GPIO_PIN_1;
  PERIPH_LOCK(GPIOF);
  HAL_GPIO_Init(GPIOF, &init);
  HAL_GPIO_WritePin(GPIOF,GPIO_PIN_1,GPIO_PIN_RESET);
  PERIPH_UNLOCK(GPIOF);
  init.Pin = GPIO_PIN_15;
  PERIPH_LOCK(GPIOG);
  HAL_GPIO_Init(GPIOG, &init);
  HAL_GPIO_WritePin(GPIOG,GPIO_PIN_15,GPIO_PIN_RESET);
  PERIPH_UNLOCK(GPIOG);
  
  
  // 到位传感器
  init.Mode = GPIO_MODE_INPUT;
  init.Pull = GPIO_NOPULL;
  init.Pin = GPIO_PIN_6;
  PERIPH_LOCK(GPIOI);
  HAL_GPIO_Init(GPIOI, &init);
  PERIPH_UNLOCK(GPIOI);
  
  // 按键
  // PG3 key2 批检仪使用
  // PH7 key1 赋码仪批检仪使用
  init.Mode = GPIO_MODE_INPUT;
  init.Pull = GPIO_NOPULL;
  init.Pin = GPIO_PIN_3;
  PERIPH_LOCK(GPIOG);
  HAL_GPIO_Init(GPIOG, &init);
  PERIPH_UNLOCK(GPIOG);
  init.Pin = GPIO_PIN_7;
  PERIPH_LOCK(GPIOH);
  HAL_GPIO_Init(GPIOH, &init);
  PERIPH_UNLOCK(GPIOH);
  
  // 拨码
  init.Mode = GPIO_MODE_INPUT;
  init.Pull = GPIO_NOPULL;
  init.Pin = GPIO_PIN_1|GPIO_PIN_6;
  PERIPH_LOCK(GPIOE);
  HAL_GPIO_Init(GPIOE, &init);
  PERIPH_UNLOCK(GPIOE);
  init.Mode = GPIO_MODE_INPUT;
  init.Pull = GPIO_NOPULL;
  init.Pin = GPIO_PIN_8|GPIO_PIN_9;
  PERIPH_LOCK(GPIOH);
  HAL_GPIO_Init(GPIOH, &init);
  PERIPH_UNLOCK(GPIOH);
  
  return &g_m;
}


void send_str_to_a7(const char *str);


// 控制输出脚1=PF9;2=PF8;3=PF7
void out_set(int index,int power)
{
  mymain_def *m=&g_m;
  PERIPH_LOCK(GPIOF);
  HAL_GPIO_WritePin(GPIOF,1<<(10-index),power?GPIO_PIN_SET:GPIO_PIN_RESET);
  PERIPH_UNLOCK(GPIOF);
  sprintf(m->str_buff,"out_set:%d,%d",index,power);
  send_str_to_a7(m->str_buff);
}

// 控制ledr
void ledr_set(int power)
{
  PERIPH_LOCK(GPIOG);
  HAL_GPIO_WritePin(GPIOG,1<<15,power?GPIO_PIN_SET:GPIO_PIN_RESET);
  PERIPH_UNLOCK(GPIOG);
  send_str_to_a7("ledr seted");
}
// 控制ledg
void ledg_set(int power)
{
  PERIPH_LOCK(GPIOF);
  HAL_GPIO_WritePin(GPIOF,1<<1,power?GPIO_PIN_SET:GPIO_PIN_RESET);
  PERIPH_UNLOCK(GPIOF);
  send_str_to_a7("ledg seted");
}


// 发送一个脉冲
void moter_plused(int us)
{
  // out3
  //HAL_GPIO_TogglePin(GPIOF,1<<7); 
  // out1
  HAL_GPIO_TogglePin(GPIOF,1<<9); 
  delay_us(us);
}



// PF7-PWM PF8-DST PI6_STOP
// 低电平向下，向下为正
void moter_run(int pwm,int count)
{
  int use_sen=0;
  if(count>0){
    HAL_GPIO_WritePin(GPIOF,1<<8,GPIO_PIN_RESET);
  }else{
    HAL_GPIO_WritePin(GPIOF,1<<8,GPIO_PIN_SET);
    count=-count;
    use_sen=1;
  }
  int max_=500;
  int min_=35;
  int temp=max_;
  int add_count=0;
  int step_sub=0;
  for(int i=0;i<count;i++)
  {
    //已到位则退出
    if((HAL_GPIO_ReadPin(GPIOI,1<<6)==RESET)&&(use_sen!=0)) return;
    moter_plused(temp);
    if(pwm==0){ 
      // pwm==0时 自动加减速
      if(i<count/2){
        if(temp>min_) {step_sub+=temp; if(step_sub>=1000) {temp--; step_sub=0;}}
        else add_count++;
      }else{
        if(add_count>0) add_count--;
        else {step_sub+=temp; if(step_sub>=1000) {temp++; step_sub=0;}}
      }
    }else{
      // pwm!=0时 匀速
      temp=1000000/pwm;
    }
  }
  // out3
  //HAL_GPIO_WritePin(GPIOF,1<<7,GPIO_PIN_SET); 
  // out1
  HAL_GPIO_WritePin(GPIOF,1<<9,GPIO_PIN_SET); 
}







static int str_ainttoi(const char *s)
{
  int ret=0;
  int sig=1;
  if(*s=='-'){
    s++;
    sig=-1;
  }
  while(*s)
  {
    if(*s>='0'&&*s<='9')
    {
      ret*=10;
      ret+=*s-'0';
    }
    else return ret*sig;
    s++;
  }
  return ret*sig;
}



int read_key(void *mymain)
{
  mymain_def *m=mymain;
  int key=0,key2=0;
  key=HAL_GPIO_ReadPin(GPIOG,1<<3);
  if(key!=m->key_old)
  {
    //连续采集5次，都为相反电平时才输出此电平
    for(int i=0;i<2;i++)
    {
      delay_ms(20);
      key2=HAL_GPIO_ReadPin(GPIOG,1<<3);
      if(key!=key2) return key2;
    }
    return key;
  }
  return m->key_old;
  
}
int read_key1(void *mymain)
{
  mymain_def *m=mymain;
  int key=0,key2=0;
  key=HAL_GPIO_ReadPin(GPIOH,1<<7);
  if(key!=m->key1_old)
  {
    //连续采集5次，都为相反电平时才输出此电平
    for(int i=0;i<2;i++)
    {
      delay_ms(20);
      key2=HAL_GPIO_ReadPin(GPIOH,1<<7);
      if(key!=key2) return key2;
    }
    return key;
  }
  return m->key1_old;
  
}




void mymain_scan(void *mymain)
{
  mymain_def *m=mymain;
  m->key=read_key(mymain);
  m->key1=read_key1(mymain);
  m->sen=HAL_GPIO_ReadPin(GPIOI,1<<6);
  if(m->key_old!=m->key){
    if(m->key==RESET)
    {
      send_str_to_a7("key press");
    }else
    {
      send_str_to_a7("key up");
    }
    m->key_old=m->key;
  }
  if(m->key1_old!=m->key1){
    if(m->key1==RESET)
    {
      send_str_to_a7("ke1 press");
    }else
    {
      send_str_to_a7("ke1 up");
    }
    m->key1_old=m->key1;
  }
}


int read_sw(void *mymain)
{
  int ret=0;
  ret|=HAL_GPIO_ReadPin(GPIOE,1<<6);
  ret|=HAL_GPIO_ReadPin(GPIOH,1<<9)<<1;
  ret|=HAL_GPIO_ReadPin(GPIOE,1<<1)<<2;
  ret|=HAL_GPIO_ReadPin(GPIOH,1<<8)<<3;
  return ret;
}





void mymain_loop(void *mymain,char *cmd_str)
{
  mymain_def *m=mymain;
  if(strncmp(cmd_str,"moter ",6)==0)
  {
    // 上升下降
    int count=str_ainttoi(cmd_str+6);
    if(count!=0){
      moter_run(0,count);
      if(count>0){
        send_str_to_a7("moter down");
      }else{
        send_str_to_a7("moter up");
      }
    }
  }else if(strncmp(cmd_str,"moterinit",9)==0)
  {
    // 初始化
    moter_run(2000,-25000);
    send_str_to_a7("moterinited");
  }
  else if(strncmp(cmd_str,"motertest ",10)==0)
  {
    // 初始化
    int count=str_ainttoi(cmd_str+10);
    moter_run(2000,count);
    send_str_to_a7("motertest end");
  }
  else if(strncmp(cmd_str,"readsw",6)==0)
  {
    int sw=read_sw(mymain);
    sprintf(m->str_buff,"readsw %d",sw);
    send_str_to_a7(m->str_buff);
  }
  else if(strncmp(cmd_str,"readkey",7)==0){
    if(m->key)
      send_str_to_a7("key up");
    else
      send_str_to_a7("key press");
  }
  else if(strncmp(cmd_str,"readke1",7)==0){
    if(m->key1)
      send_str_to_a7("ke1 up");
    else
      send_str_to_a7("ke1 press");
  }
  else if(strncmp(cmd_str,"readsen",7)==0){
    // 光感
    if(m->sen)
      send_str_to_a7("sen high");
    else
      send_str_to_a7("sen low");
  }
  else if(strncmp(cmd_str,"out",3)==0){
    if((cmd_str[3]>='1')&&(cmd_str[3]<='3')){
      if(strncmp(cmd_str+5,"on",2)==0){
        out_set(cmd_str[3]-'0',1);
      }else if(strncmp(cmd_str+5,"off",3)==0){
        out_set(cmd_str[3]-'0',0);
      }
    }
  }
  else if(strncmp(cmd_str,"ledr",4)==0){
    if(strncmp(cmd_str+5,"on",2)==0){
      ledr_set(1);
    }else{
      ledr_set(0);
    }
  }
  else if(strncmp(cmd_str,"ledg",4)==0){
    if(strncmp(cmd_str+5,"on",2)==0){
      ledg_set(1);
    }else{
      ledg_set(0);
    }
  }
  else if(strncmp(cmd_str,"build",5)==0){
    send_str_to_a7("buildtime: " __DATE__ " " __TIME__);
  }else{
    send_str_to_a7("unknown cmd");
  }
}


void mymain_loop__(void *mymain,char *cmd_str)
{
  while(1){
    HAL_GPIO_TogglePin(GPIOF,1<<7); 
    HAL_GPIO_TogglePin(GPIOF,1<<8); 
    HAL_GPIO_TogglePin(GPIOF,1<<9); 
    HAL_Delay(2000);
  }
}