#include "jj_motion.h"
#include <math.h>
#include "zf_common_headfile.h"
#include "pid.h"

#include "jj_blueteeth.h"
#include "by_fan_control.h"
#include "by_imu.h"

PID_TypeDef far_angle_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef near_pos_pid;
PID_TypeDef speed_pid;

float an_Kp0 = 80.0f;
float an_Ki0 = 1.4f;
float an_Kd0 = 8.0f;

float an_Kp1 = 80.0f;
float an_Ki1 = 1.4f;
float an_Kd1 = 8.0f;
float in_angle;
float set_angle = 0.0f;
float out_angle;

float gy_Kp0 = 2.0f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.3f;

float gy_Kp1 = 2.0f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.3f;
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f;

float po_Kp0 = 827.0f;
float po_Ki0 = 16.0f;
float po_Kd0 = 13.0f;

float po_Kp1 = 500.0f;
float po_Ki1 = 2.0f;
float po_Kd1 = 1.0f;
float in_pos;
float out_pos;
float set_pos = 0.0f;

float sp_Kp = 19.0f;
float sp_Ki = 0.5f;
float sp_Kd = 0.0f;
float in_speed;
float out_speed;

float set_speed0   = 200.0f;
float set_speed1   = 300.0f;
int cnt1           = 0;
int cnt2           = 0;
int cnt3           = 0;
uint8_t cnt3_flag  = 0;
uint8_t in_state   = 0;
uint8_t in_stop    = 0;
uint8_t last_state = 0;

uint32_t pwm_duty_ls;
uint32_t pwm_duty_rs;
uint32_t pwm_duty_lb;
uint32_t pwm_duty_rb;

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

float sport_get_speed(void)
{
#define ALPHA (0.97f)
    static float speed_now  = 0;
    static float speed_last = 0;

    speed_now  = ALPHA * (float)encoder_get_count(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
    speed_last = speed_now;
    encoder_clear_count(TIM3_ENCOEDER);

    return speed_now;

#undef ALPHA
}

void sport_motion(void)
{
    float temp;
    float tt;
    if (in_state == 1) {
        temp = 2.5f;//fabs(tanf(myclip_f(in_angle, -45, 45)/ 180 * PI));
        tt   = myclip_f(fabs(in_angle), 0, 50.f);
    } else {
        temp = 1.f;
        tt   = 0;
    }
    imu660ra_get_gyro();
    in_gyro = imu660ra_gyro_z * 0.8f + in_gyro * 0.2f; // 陀螺仪输入

    if (1 == in_stop) {
        bt_fly_flag = bt_run_flag = 0;
    }
    // pid参数切换
    if (last_state == 1 && (in_state == 2 || in_state == 0)) { // 直道
        cnt3_flag = 0;
        cnt3      = 0;
        bt_printf("to 0");
        PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
        PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1);
        PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
        //  PID_SetPoints(&speed_pid, &set_speed1);
    }
    if (last_state != 1 && in_state == 1) { // 弯道
        bt_printf("to 1");
        cnt3_flag = 1;
        PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
        PID_SetTunings(&near_pos_pid, po_Kp0, po_Ki0, po_Kd0);
        PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
        // PID_SetPoints(&speed_pid, &set_speed0);
    }
    last_state = in_state;
    if (cnt3_flag == 1 && in_state == 1) {
        cnt3++;
        if (cnt3 >= 200) // 200ms
        {
            bt_printf("to 2");
            cnt3_flag = 2;
            cnt3      = 0;
        }
    }
    /* 动力风扇设置 */
    if (1 == bt_run_flag) {
        cnt1++;
        cnt2++;

        PID_Compute(&far_gyro_pid);
        PID_Compute(&near_pos_pid);
        if (cnt1 >= 10) {
            in_speed = sport_get_speed();
            PID_Compute(&speed_pid);
            cnt1 = 0;
        }
        if (cnt2 >= 20) {
            cnt2 = 0;
            PID_Compute(&far_angle_pid);
        }

        pwm_duty_ls = (int32_t)myclip_f(-1.5f * out_pos + temp * out_gyro, 0.0f, 6000.f);
        pwm_duty_rs = (int32_t)myclip_f(1.5f * out_pos - temp * out_gyro, 0.0f, 6000.f);
        pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 6000.f);
        pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 6000.f);

        by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
    } else {
        by_pwm_power_duty(0, 0, 0, 0);
    }

    /* 升力风扇设置 */
    if (bt_fly_flag == 0) {
        by_pwm_update_duty(0 + 500, 0 + 500);
    } else {

        if (cnt3_flag == 2) // 超时
        {
            if (in_angle > 0) {
                by_pwm_update_duty(bt_fly + 500 - 1.f * tt, bt_fly + 500 - 0.5f * tt);
            } else {
                by_pwm_update_duty(bt_fly + 500 - 0.5f * tt, bt_fly + 500 - 1.f * tt);
            }
        } else {
            if (in_angle > 0) {
                by_pwm_update_duty(bt_fly + 500 - 3.f * tt, bt_fly + 500 - 1.f * tt);
            } else {
                by_pwm_update_duty(bt_fly + 500 - 1.f * tt, bt_fly + 500 - 3.f * tt);
            }
        }
    }
}

/**
 * @brief 结构体初始化
 *
 */
void sport_pid_init()
{
    /* 角度控制 */
    PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_M, _PID_CD_REVERSE);
    PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&far_angle_pid, 20);
    PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
    // PID_Init(&far_angle_pid);

    /* 角速度控制 */
    PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_M, _PID_CD_REVERSE);
    PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&far_gyro_pid, 1);
    PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f);
    // PID_Init(&far_gyro_pid);

    /* 近点控制 */
    PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_DIRECT);
    PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&near_pos_pid, 1);
    PID_SetOutputLimits(&near_pos_pid, -3000.0f, 3000.0f);
    // PID_Init(&near_pos_pid);

    /* 速度控制 */
    PID(&speed_pid, &in_speed, &out_speed, &set_speed1, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
    PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&speed_pid, 10);
    PID_SetOutputLimits(&speed_pid, -2500.0f, 3000.0f);
    // PID_Init(&speed_pid);
}