#include <rtthread.h>
#include <rtdevice.h>
#include <drv_gpio.h>
#include <board.h>

#define LOG_TAG "app.robot"
#define LOG_LVL LOG_LVL_DBG
// #define LOG_LVL LOG_LVL_INFO
#define USE_LOG1
#define USE_LOG2
#define USE_LOG3
#define USE_LOG4
#define USE_LOG5
#define USE_LOG6
#define USE_LOG7
#define USE_LOG12
#define USE_LOG_D
#include "logn.h"

#define MOTOR_PWM_DEV_NAME "pwm1"
#define MOTOR_PWM_DEV_CHANNEL 1

#define MOTOR2_PWM_DEV_NAME "pwm1"
#define MOTOR2_PWM_DEV_CHANNEL 1

// #define SERVO_PWM_DEV_NAME "pwm12"
// #define SERVO_PWM_DEV_NAME "pwm12"
// #define SERVO_PWM_DEV_CHANNEL 1

extern TIM_HandleTypeDef htim12;

struct rt_device_pwm *motor_dev; // pwm设备句柄
rt_uint32_t period = 100000000;   // 单位us   向左6位，变毫秒      10s
// rt_uint32_t pulse = 1000000;

struct  rt_device_pwm *servo_dev; // pwm设备句柄
rt_uint32_t servo_period = 20000;   // 单位us   向左3位，变毫秒      20ms


#define PIN_MOTOR2 GET_PIN(B, 2) 
#define PIN_MOTOR1 GET_PIN(A, 8) 
int motor1=PIN_HIGH;


/**
 * @brief  电机速度控制(num)%
 *
 * @param  num 百分比数字(0~100).
 *
 */
void motor_speed(int num)
{
    // rt_pwm_set(motor_dev, MOTOR_PWM_DEV_CHANNEL, period, (100-num)/ 100 * period );
    rt_pin_write(PIN_MOTOR2, num>0?PIN_LOW:PIN_HIGH);
    rt_pin_write(PIN_MOTOR1, num>0?PIN_LOW:PIN_HIGH);
}

/**
 * @brief  舵机角度控制
 *
 * @param  num 百分比数字(-90~90).
 *
 */
void servo_angle(int num)
{
    // rt_pwm_set(servo_dev, SERVO_PWM_DEV_CHANNEL, servo_period, 1500+num*500/45 );
    __HAL_TIM_SET_COMPARE(&htim12,TIM_CHANNEL_1,1500+num*500/45);
}

int mot_init(void)
{
    rt_pin_mode(PIN_MOTOR2, PIN_MODE_OUTPUT);
    rt_pin_write(PIN_MOTOR2, PIN_HIGH);
    rt_pin_mode(PIN_MOTOR1, PIN_MODE_OUTPUT);
    rt_pin_write(PIN_MOTOR1, PIN_HIGH);
    // motor_dev = (struct rt_device_pwm *)rt_device_find(MOTOR_PWM_DEV_NAME);
    // if (motor_dev == RT_NULL)
    // {
    //     rt_kprintf("motor run failed! can't find %s device!\n", MOTOR_PWM_DEV_NAME);
    //     return RT_ERROR;
    // }
    /* 设置PWM周期和脉冲宽度默认值 */
    motor_speed(100);
    // rt_pwm_enable(motor_dev, MOTOR_PWM_DEV_CHANNEL);
    LOG1("motor init success!");
}
int ser_init(void)
{
    MX_TIM12_Init();
    HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_1);

    // servo_dev = (struct rt_device_pwm *)rt_device_find(SERVO_PWM_DEV_NAME);
    // if (servo_dev == RT_NULL)
    // {
    //     rt_kprintf("servo_dev run failed! can't find %s device!\n", SERVO_PWM_DEV_NAME);
    //     return RT_ERROR;
    // }
    servo_angle(0);
    // rt_pwm_enable(servo_dev, SERVO_PWM_DEV_CHANNEL);
    LOG1("servo_dev init success!");
}
void motor_set(int argc, char **argv)
{
    if (argc == 2)
    {
        motor_speed(atoi(argv[1]));
    }
    LOG5("motor speed:%d",atoi(argv[1]));
}
MSH_CMD_EXPORT_ALIAS(motor_set,motor, motor_set speed 0~100);
void servo_set(int argc, char **argv)
{
    if (argc == 2)
    {
        servo_angle(atoi(argv[1]));
    }
    LOG5("servo angle:%d",atoi(argv[1]));
}
MSH_CMD_EXPORT_ALIAS(servo_set,servo, servo_set angle -90~90);