#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_LB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 左后
#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后
// M1
#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后
#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后
// M3
#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧
#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧
// M2
#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧
#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧

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)
{
    pwm_init(FAN_LL_PWM_PIN, 50, 500);
    pwm_init(FAN_RL_PWM_PIN, 50, 500);

#if FIX_DRIVE == 1
    pwm_init(FAN_LS_PWM_A_PIN, 30000, 1000);
    pwm_init(FAN_LS_PWM_B_PIN, 30000, 1000);
    pwm_init(FAN_RS_PWM_A_PIN, 12000, 1000);
    pwm_init(FAN_RS_PWM_B_PIN, 12000, 1000);
    pwm_init(FAN_LB_PWM_A_PIN, 12000, 1000);
    pwm_init(FAN_LB_PWM_B_PIN, 12000, 1000);
    pwm_init(FAN_RB_PWM_A_PIN, 30000, 1000);
    pwm_init(FAN_RB_PWM_B_PIN, 30000, 1000);
    while (1);
#elif FIX_DRIVE == 2
    pwm_init(FAN_LS_PWM_A_PIN, 12000, 1000);
    pwm_init(FAN_LS_PWM_B_PIN, 12000, 0);
    pwm_init(FAN_RS_PWM_A_PIN, 12000, 1000);
    pwm_init(FAN_RS_PWM_B_PIN, 12000, 0);
    pwm_init(FAN_LB_PWM_A_PIN, 12000, 1000);
    pwm_init(FAN_LB_PWM_B_PIN, 12000, 0);
    pwm_init(FAN_RB_PWM_A_PIN, 12000, 1000);
    pwm_init(FAN_RB_PWM_B_PIN, 12000, 0);
    while(1);
#endif
    pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
    pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
    pwm_init(FAN_RS_PWM_A_PIN, 20000, 0);
    pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
    pwm_init(FAN_LB_PWM_A_PIN, 20000, 0);
    pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
    pwm_init(FAN_RB_PWM_A_PIN, 20000, 0);
    pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
}

/**
 * @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, -9000, 9000);
    bpwm_duty_rs = clip_s32(bpwm_duty_rs, -9000, 9000);
    bpwm_duty_lb = clip_s32(bpwm_duty_lb, -9000, 9000);
    bpwm_duty_rb = clip_s32(bpwm_duty_rb, -9000, 9000);

    // pwm_duty_ls_g = pwm_duty_ls;
    // pwm_duty_rs_g = pwm_duty_rs;
    // pwm_duty_lb_g = pwm_duty_lb;
    // pwm_duty_rb_g = pwm_duty_rb;

    if (bpwm_duty_ls >= 0) {
        pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls);
        pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
    } else {
        pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
        pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
    }

    if (bpwm_duty_rs >= 0) {
        pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs);
        pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
    } else {
        pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
        pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
    }

    if (bpwm_duty_lb >= 0) {
        pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb);
        pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
    } else {
        pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
        pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * bpwm_duty_lb);
    }

    if (bpwm_duty_rb >= 0) {
        pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb);
        pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
    } else {
        pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
        pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb);
    }
}