#include "jj_param.h"
#include "./page/page_ui_widget.h"
#include "./page/page.h"
#include "zf_common_headfile.h"
#include "jj_motion.h"
#include "jj_blueteeth.h"

PARAM_INFO Param_Data[DATA_NUM];
soft_iic_info_struct eeprom_param;
TYPE_UNION iic_buffer[DATA_IN_FLASH_NUM];
TYPE_UNION temp_frame_param[20];

/**
 * @brief 参数初始化注册
 *
 */
void jj_param_eeprom_init(void)
{
    soft_iic_init(&eeprom_param, K24C02_DEV_ADDR, K24C02_SOFT_IIC_DELAY, K24C02_SCL_PIN, K24C02_SDA_PIN); // eeprom初始化
                                                                                                          ////////////////////////////////////////////////////////////////////////
    PARAM_REG(angle_Kp0, &an_Kp0, EFLOAT, 1, "an_P0:");                                                   // 注冊
    PARAM_REG(angle_Ki0, &an_Ki0, EFLOAT, 1, "an_I0:");                                                   // 注冊
    PARAM_REG(angle_Kd0, &an_Kd0, EFLOAT, 1, "an_D0:");

    PARAM_REG(gyro_Kp0, &gy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
    PARAM_REG(gyro_Ki0, &gy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
    PARAM_REG(gyro_Kd0, &rate_K2, EFLOAT, 1, "ra_K2:");

    PARAM_REG(can_Kp1, &cn_Kp1, EFLOAT, 1, "cn_P1:"); // 注冊
    PARAM_REG(can_Ki1, &yuc_Kp, EFLOAT, 1, "yu_P1:"); // 注冊
    PARAM_REG(can_Kd1, &rate_K1, EFLOAT, 1, "ra_K1:");

    PARAM_REG(fly_pwm, &bt_fly, EFLOAT, 1, "fly:");

    PARAM_REG(param_set_speed0, &set_speed0, EFLOAT, 1, "rate0:");
    /////////////////////////////////////////////////////////////////////
    PARAM_REG(angle_Kp1, &an_Kp1, EFLOAT, 1, "an_P1:"); // 注冊
    PARAM_REG(angle_Ki1, &an_Ki1, EFLOAT, 1, "an_I1:"); // 注冊
    PARAM_REG(angle_Kd1, &an_Kd1, EFLOAT, 1, "an_D1:");

    PARAM_REG(gyro_Kp1, &gy_Kp1, EFLOAT, 1, "gy_P1:"); // 注冊
    PARAM_REG(gyro_Ki1, &gy_Ki1, EFLOAT, 1, "gy_I1:"); // 注冊
    PARAM_REG(gyro_Kd1, &gy_Kd1, EFLOAT, 1, "gy_D1:");

    PARAM_REG(pos_Kp1, &po_Kp1, EFLOAT, 1, "po_P1:"); // 注冊
    PARAM_REG(pos_Ki1, &po_Ki1, EFLOAT, 1, "po_I1:"); // 注冊
    PARAM_REG(pos_Kd1, &po_Kd1, EFLOAT, 1, "po_D1:");

    PARAM_REG(param_set_speed1, &set_speed1, EFLOAT, 1, "rate1:");
    /////////////////////////////////////////////////////////////////////////
    PARAM_REG(yuan_Kp0, &yu_Kp0, EFLOAT, 1, "an_P0:"); // 注冊
    PARAM_REG(yuan_Ki0, &yu_Ki0, EFLOAT, 1, "an_I0:"); // 注冊
    PARAM_REG(yuan_Kd0, &yu_Kd0, EFLOAT, 1, "an_D0:");

    PARAM_REG(yugyro_Kp0, &ygy_Kp0, EFLOAT, 1, "gy_P0:"); // 注冊
    PARAM_REG(yugyro_Ki0, &ygy_Ki0, EFLOAT, 1, "gy_I0:"); // 注冊
    PARAM_REG(yugyro_Kd0, &ygy_Kd0, EFLOAT, 1, "gy_D0:");

    PARAM_REG(speed_Kp, &sp_Kp, EFLOAT, 1, "sp_P:"); // 注冊
    PARAM_REG(speed_Ki, &sp_Ki, EFLOAT, 1, "sp_I:"); // 注冊
    PARAM_REG(speed_Kd, &sp_Kd, EFLOAT, 1, "sp_D:");

    PARAM_REG(param_set_speed2, &set_speed2, EFLOAT, 1, "rate2:");
    PARAM_REG(param_set_speed3, &set_speed3, EFLOAT, 1, "rate3:");
    /////////////////////////////////////////////////////////////
    PARAM_REG(zhan_Kp, &za_Kp, EFLOAT, 1, "an_P:"); // 注冊
    PARAM_REG(zhan_Ki, &za_Ki, EFLOAT, 1, "an_I:"); // 注冊
    PARAM_REG(zhan_Kd, &za_Kd, EFLOAT, 1, "an_D:");

    PARAM_REG(zhgy_Kp, &zg_Kp, EFLOAT, 1, "gy_P1:"); // 注冊
    PARAM_REG(zhgy_Ki, &zg_Ki, EFLOAT, 1, "gy_I1:"); // 注冊
    PARAM_REG(zhgy_Kd, &zg_Kd, EFLOAT, 1, "gy_D1:");

    PARAM_REG(zhpo_Kp, &zp_Kp, EFLOAT, 1, "po_P1:"); // 注冊
    PARAM_REG(zhpo_Ki, &zp_Ki, EFLOAT, 1, "po_I1:"); // 注冊
    PARAM_REG(zhpo_Kd, &zp_Kd, EFLOAT, 1, "po_D1:");

    PARAM_REG(param_set_speed4, &set_speed4, EFLOAT, 1, "rate4:");

    PARAM_REG(bug_stop, &bug_sw, EFLOAT, 1, "bug:"); // 注冊
    PARAM_REG(out_stop, &out_sw, EFLOAT, 1, "out:"); // 注冊
    PARAM_REG(shock_stop, &sho_sw, EFLOAT, 1, "shock:");
    PARAM_REG(dis, &set_dis, EFLOAT, 1, "dis:");
    jj_param_read(); // 注冊
}
/**
 * @brief 参数写入
 *
 */
void jj_param_write(void)
{
    for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {
        switch (Param_Data[i].type) {
            case EFLOAT:
                iic_buffer[i].f32 = *((float *)(Param_Data[i].p_data));
                break;
            case EUINT32:
                iic_buffer[i].u32 = *((uint32 *)(Param_Data[i].p_data));
                break;
            case EINT32:
                iic_buffer[i].s32 = *((int32 *)(Param_Data[i].p_data));
                break;
            default:
                break;
        }
        eep_soft_iic_write_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
        system_delay_ms(10);
    }
}
/**
 * @brief 参数读出
 *
 */
void jj_param_read(void)
{
    for (uint8 i = 0; i < DATA_IN_FLASH_NUM; i++) {

        eep_soft_iic_read_8bit_registers(&eeprom_param, (4 * i) >> 8, (4 * i), (uint8 *)&iic_buffer[i], 4);
        switch (Param_Data[i].type) {
            case EFLOAT:
                *((float *)(Param_Data[i].p_data)) =
                    iic_buffer[i].f32;
                break;
            case EUINT32:
                *((uint32 *)(Param_Data[i].p_data)) =
                    iic_buffer[i].u32;
                break;
            case EINT32:
                *((int32 *)(Param_Data[i].p_data)) =
                    iic_buffer[i].s32;
                break;
            default:
                break;
        }
        system_delay_ms(10);
    }
}