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


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;



#define PIN_MOTOR2 GET_PIN(B, 2) 
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);
}



int mot_init(void)
{
    rt_pin_mode(PIN_MOTOR2, PIN_MODE_OUTPUT);
    rt_pin_write(PIN_MOTOR2, 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(0);
    rt_pwm_enable(motor_dev, MOTOR_PWM_DEV_CHANNEL);
    LOG1("motor init success!");
}
void motor_set(int argc, char **argv)
{
    // if(motor1== PIN_HIGH)
    // {
    //     rt_pin_write(PIN_MOTOR1, PIN_LOW);
    //     motor1=PIN_LOW;
    // }
    // else
    // {
    //     rt_pin_write(PIN_MOTOR1, PIN_HIGH);
    //     motor1=PIN_HIGH;
    // }

    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);

// struct rt_device_pwm *motor_dev; // pwm设备句柄
// rt_uint32_t period2 = 10000000;   // 单位us   向左6位，变毫秒      10ms2


// /**
//  * @brief  电机速度控制(num)%
//  *
//  * @param  num 百分比数字(0~100).
//  *
//  */
// void motor2_speed(int num)
// {
//     rt_pwm_set(motor_dev, MOTOR2_PWM_DEV_CHANNEL, period2, num * period2 / 100);
// }
// int mo2_init(void)
// {
//     motor_dev = (struct rt_device_pwm *)rt_device_find(MOTOR2_PWM_DEV_NAME);
//     if (motor_dev == RT_NULL)
//     {
//         rt_kprintf("motor2 run failed! can't find %s device!\n", MOTOR2_PWM_DEV_NAME);
//         return RT_ERROR;
//     }
//     /* 设置PWM周期和脉冲宽度默认值 */
//     motor_speed(0);
// }
// void motor2_set(int argc, char **argv)
// {
//     if (argc == 2)
//     {
//         motor2_speed(atoi(argv[1]));
//     }
//     LOG5("motor2 speed:%d",atoi(argv[1]));
// }
// MSH_CMD_EXPORT_ALIAS(motor2_set,motor2, motor2_set speed 0~100);