#include "HT04.h"
#include "memory.h"

joint_instance *joint_motor_info[HT_MOTOR_CNT];

static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
{
    float span = x_max - x_min;
    float offset = x_min;
    return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
}

static float uint_to_float(int x_int, float x_min, float x_max, int bits)
{
    float span = x_max - x_min;
    float offset = x_min;
    return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
}

static void DecodeJoint(can_instance *motor_instance)
{
    uint16_t tmp;
    for (size_t i = 0; i < HT_MOTOR_CNT; i++)
    {
        if (joint_motor_info[i]->motor_can_instace == motor_instance)
        {
            tmp = (motor_instance->rx_buff[1] << 8) | motor_instance->rx_buff[2];
            joint_motor_info[i]->last_ecd = joint_motor_info[i]->ecd;
            joint_motor_info[i]->ecd = uint_to_float(tmp, P_MAX, P_MIN, 16);
            tmp = (motor_instance->rx_buff[3] << 4) | (motor_instance->rx_buff[4] >> 4);
            joint_motor_info[i]->speed_rpm = uint_to_float(tmp, V_MAX, V_MIN, 12);
            tmp = ((motor_instance->rx_buff[4] & 0xf) << 8) | motor_instance->rx_buff[5];
            joint_motor_info[i]->given_current = uint_to_float(tmp, T_MAX, T_MIN, 12);
            break;
        }
    }
}

joint_instance *HTMotorInit(can_instance_config_s config)
{
    static uint8_t idx;
    joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
    CANRegister(joint_motor_info[idx++]->motor_can_instace, config);
    return joint_motor_info[idx++];
}

void JointControl(joint_instance *_instance, float current)
{
    uint16_t tmp;
    LIMIT_MIN_MAX(current, T_MIN, T_MAX);
    tmp = float_to_uint(current, T_MIN, T_MAX, 12);
    _instance->motor_can_instace->rx_buff[6] = tmp >> 8;
    _instance->motor_can_instace->rx_buff[7] = tmp & 0xff;
    CANTransmit(_instance->motor_can_instace);
}

void SetJointMode(joint_mode cmd, joint_instance *_instance)
{
    static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
    buf[7] = (uint8_t)cmd;
    memcpy(_instance->motor_can_instace->rx_buff, buf, 8 * sizeof(uint8_t));
    CANTransmit(_instance->motor_can_instace);
}