#include "LK9025.h"
#include "stdlib.h"

static uint8_t idx;
static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};

static void LKMotorDecode(CANInstance *_instance)
{
    static LKMotor_Measure_t *measure;
    static uint8_t *rx_buff;
    rx_buff = _instance->rx_buff;
    measure = &((LKMotorInstance *)_instance)->measure;

    measure->last_ecd = measure->ecd;
    measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
    measure->angle_single_round = ECD_ANGLE_COEF_LK * measure->ecd;
    measure->speed_aps = (1 - SPEED_SMOOTH_COEF) * measure->speed_aps +
                         SPEED_SMOOTH_COEF * (float)((int16_t)(rx_buff[5] << 8 | rx_buff[4]));
    measure->real_current = (1 - CURRENT_SMOOTH_COEF) * measure->real_current +
                            CURRENT_SMOOTH_COEF * (float)((int16_t)(rx_buff[3] << 8 | rx_buff[2]));
    measure->temperate = rx_buff[1];

    // 计算多圈角度
    if (measure->ecd - measure->last_ecd > 32678)
        measure->total_round--;
    else if (measure->ecd - measure->last_ecd < -32678)
        measure->total_round++;
    measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
}

void LKMotorControl()
{
    for (size_t i = 0; i < idx; ++i)
    {
    }
}

LKMotorInstance *LKMotroInit(Motor_Init_Config_s *config)
{
    lkmotor_instance[idx] = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
    memset(lkmotor_instance[idx], 0, sizeof(LKMotorInstance));

    lkmotor_instance[idx]->motor_settings = config->controller_setting_init_config;
    PID_Init(&lkmotor_instance[idx]->current_PID, &config->controller_param_init_config.current_PID);
    PID_Init(&lkmotor_instance[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
    PID_Init(&lkmotor_instance[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
    lkmotor_instance[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
    lkmotor_instance[idx]->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;

    config->can_init_config.id = lkmotor_instance[idx];
    config->can_init_config.can_module_callback = LKMotorDecode;
    config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id;
    config->can_init_config.tx_id = config->can_init_config.tx_id + 0x240;
    lkmotor_instance[idx]->motor_can_ins = CANRegister(&config->can_init_config);

    LKMotorEnable(lkmotor_instance[idx]);
    return lkmotor_instance[idx++];
}

void LKMotorStop(LKMotorInstance *motor)
{
    motor->stop_flag = MOTOR_STOP;
}

void LKMotorEnable(LKMotorInstance *motor)
{
    motor->stop_flag = MOTOR_ENALBED;
}

void LKMotorSetRef(LKMotorInstance *motor, float ref)
{
    motor->pid_ref = ref;
}