#include <stdio.h>
#include "by_fan_control.h"
#include "zf_common_headfile.h"
#include "jj_blueteeth.h"
#include "jj_motion.h"
#define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
#define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
// M4
#define FAN_RB_PWM_PIN TIM10_PWM_MAP3_CH4_D7
#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13
#define FAN_LS_PWM_PIN TIM1_PWM_MAP0_CH4_A11
#define FAN_RS_PWM_PIN TIM1_PWM_MAP0_CH1_A8
int32_t pwm_duty_ls_g;
int32_t pwm_duty_rs_g;
int32_t pwm_duty_lb_g;
int32_t pwm_duty_rb_g;

inline static uint32_t clip_u32(uint32_t x, uint32_t low, uint32_t up)
{
    return (x > up ? up : x < low ? low
                                  : x);
}

inline static int32_t clip_s32(int32_t x, int32_t low, int32_t up)
{
    return (x > up ? up : x < low ? low
                                  : x);
}

inline static float clip_f32(float x, float low, float up)
{
    return (x > up ? up : x < low ? low
                                  : x);
}

#define FIX_DRIVE 0
void by_pwm_init(void)
{
    gpio_init(D4, GPO, 1, GPO_PUSH_PULL);
    gpio_init(C8, GPO, 1, GPO_PUSH_PULL);
    pwm_init(FAN_LL_PWM_PIN, 50, 500);
    pwm_init(FAN_RL_PWM_PIN, 50, 500);
    pwm_init(FAN_LS_PWM_PIN, 50, 500);
    pwm_init(FAN_RS_PWM_PIN, 50, 500);
    pwm_init(FAN_LB_PWM_PIN, 300, 300);
    pwm_init(FAN_RB_PWM_PIN, 300, 300);
}

/**
 * @brief 更新升力风扇占空比
 *
 * @param update_pwm_duty1
 * @param update_pwm_duty2
 */
void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
{
    update_pwm_duty1 = clip_u32(update_pwm_duty1, 500, 1000);
    update_pwm_duty2 = clip_u32(update_pwm_duty2, 500, 1000);
    pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1);
    pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2);
}

/**
 * @brief 更新动力风扇占空比
 *
 * @param pwm_duty_ls
 * @param pwm_duty_rs
 * @param pwm_duty_lb
 * @param pwm_duty_rb
 */
void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_duty_lb, int32_t bpwm_duty_rb)
{
    bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 999);
    bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 999);
    bpwm_duty_lb = clip_s32(bpwm_duty_lb, 2500, 6000);
    bpwm_duty_rb = clip_s32(bpwm_duty_rb, 2500, 6000);
    pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls);
    pwm_set_duty(FAN_RS_PWM_PIN, bpwm_duty_rs);
    pwm_set_duty(FAN_LB_PWM_PIN, bpwm_duty_lb);
    pwm_set_duty(FAN_RB_PWM_PIN, bpwm_duty_rb);
}