/*
 * Copyright (c) 2021, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "ti_msp_dl_config.h"
#include "delay.h"
#include "mt6701.h"
#include "dfoc.h"
#include <stdio.h>
#include <string.h>
#include <pwm.h>
#include "config.h"
#include <ctype.h>
#include <stdlib.h>



extern float angle_f;

extern bool gIsI2cError;

const float num_f = 0.123456f;

volatile uint16_t count = 0  ;
volatile float Target = 0; //串口目标值


const int pp = 7; //电机极对数
const int Dir = -1; //电机编码器方向


#define UART_PACKET_SIZE (6)

/* Data received from UART */
volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] ={'a','b','c','d','e','f'};

volatile bool gCheckUART;



void parse_uart_cmd(void)
{
		 char  num[10]={0};
	 int i = 1; 
   int j = 0;
				 if(gUartRxPacket[0] == 'T' && gUartRxPacket[UART_PACKET_SIZE-1] == '\n')//数据第一位与数据的最后一位
			 {
					 if(gUartRxPacket[1] != '-')//接受到的数据为正数
					 {
						 while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
						 Target = atof(num);
//						 Serial_SendFloatNumber(Target,3,2);
					 }
					 else//接收到的数据为负数
					 {
						 i=2;
						 while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
						 Target = -(atof(num));
//						 Serial_SendFloatNumber(Target,3,2);
					}
					printf("%s",gUartRxPacket);
			 }
			 else
			 {
				   printf((char *)"Input format error\n");
			 }
}





int main(void)
{
	
    SYSCFG_DL_init();
	
	    /* Configure DMA source, destination and size */
    DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA));
    DL_DMA_setDestAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t) &gUartRxPacket[0]);
    DL_DMA_setTransferSize(DMA, DMA_CH1_CHAN_ID, UART_PACKET_SIZE);
    DL_DMA_enableChannel(DMA, DMA_CH1_CHAN_ID);
	
	
    NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
    DL_TimerA_startCounter(PWM_0_INST);

    NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
    DL_TimerG_startCounter(TIMER_0_INST);


    FOC_Init(12.6);
    DL_SYSTICK_resetValue();

    while(1)
    {
        //DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
        //delay_ms(10);

        //开环
        //velocityopenloop(Target);
        //闭环
        //Set_Angle(Target);
				if(gCheckUART)
				{
					gCheckUART = false;
					parse_uart_cmd();
					Set_Angle(Target);
				}
				delay_ms(10);


    }
}


void TIMER_0_INST_IRQHandler(void)
{
    switch(DL_TimerA_getPendingInterrupt(TIMER_0_INST))
    {
        case DL_TIMERG_INTERRUPT_ZERO_EVENT:
            
						printf("Target is %f \n", Target);
						//printf("%s",gUartRxPacket);
				    DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);

            break;
        default:
            break;
    }
}
void UART_0_INST_IRQHandler(void)
{
    switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
        case DL_UART_MAIN_IIDX_DMA_DONE_RX:
            gCheckUART = true;
            break;
        default:
            break;
    }
}