/*
 * 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 "config.h"
#include "delay.h"
#include "dfoc.h"
#include "mt6701.h"
#include "soft_i2c.h"
#include "ti_msp_dl_config.h"
#include <ctype.h>
#include <pwm.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
extern float angle_f;

extern bool gIsI2cError;

const float num_f = 0.123456f;

volatile uint16_t count = 0;
volatile float Target = 20; // 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);

    // //test MT6701
    // MT6701_get_angle_degree();
    // printf("angle degree is %f \n", angle_f);

    // // 闭环
    // Set_Angle(Target);
    if (gCheckUART) {
      gCheckUART = false;
      parse_uart_cmd();
    }
  }
}

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;
  }
}