/**
 * @file    alternatorController.cpp
 * @brief   alternator controller - turn alternator off if you do not really need it
 *
 * @date Apr 6, 2014
 * @author Dmitry Sidin
 * @author Andrey Belomutskiy, (c) 2012-2015
 */

#include "main.h"
#include "rpm_calculator.h"
#include "pwm_generator.h"
#include "alternatorController.h"
#include "pin_repository.h"
#include "engine.h"
#include "voltage.h"
#include "pid.h"

EXTERN_ENGINE
;

static Logging *logger;

#define ALTERNATOR_VALVE_PWM_FREQUENCY 300

static SimplePwm alternatorControl;
static OutputPin alternatorPin;
static Pid altPid(10, 0, 0, 10, 90);

static THD_WORKING_AREA(alternatorControlThreadStack, UTILITY_THREAD_STACK_SIZE);

static msg_t AltCtrlThread(int param) {
	chRegSetThreadName("AlternatorController");
	while (true) {
		chThdSleepMilliseconds(100);

		float result = altPid.getValue(14, getVBatt(engineConfiguration), 1);
		if (boardConfiguration->isVerboseAlternator) {
			scheduleMsg(logger, "alt duty: %f", result);
		}

		alternatorControl.setSimplePwmDutyCycle(result / 100);
	}
#if defined __GNUC__
	return -1;
#endif
}

static void setAltPid(float p) {
	scheduleMsg(logger, "setAltPid: %f", p);
	altPid.updateFactors(p, 0, 0);
}

void initAlternatorCtrl(Logging *sharedLogger) {
	logger = sharedLogger;
	if (boardConfiguration->alternatorControlPin == GPIO_UNASSIGNED)
		return;

	startSimplePwmExt(&alternatorControl, "Alternator control", boardConfiguration->alternatorControlPin,
			&alternatorPin,
			ALTERNATOR_VALVE_PWM_FREQUENCY, 0.1, applyPinState);
	chThdCreateStatic(alternatorControlThreadStack, sizeof(alternatorControlThreadStack), LOWPRIO,
			(tfunc_t) AltCtrlThread, NULL);

	addConsoleActionF("alt_pid", setAltPid);
}