/**
 * @file dc_motors.cpp
 *
 * @date March 3, 2020
 * @author Matthew Kennedy (c) 2020
 */

#include "pch.h"

#include "dc_motors.h"

	void DcHardware::start(bool useTwoWires,
			brain_pin_e pinEnable,
			brain_pin_e pinDir1,
			brain_pin_e pinDir2,
			const char *disPinMsg,
			brain_pin_e pinDisable,
			bool isInverted,
			Scheduler* executor,
			int frequency) {

		if (isStarted) {
			// actually implement stop()
			return;
		}
		isStarted = true;

		dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);

		// Configure the disable pin first - ensure things are in a safe state
		m_disablePin.initPin(disPinMsg, pinDisable);
		m_disablePin.setValue(0);

		// Clamp to >100hz
		int clampedFrequency = maxI(100, frequency);

		if (clampedFrequency > ETB_HW_MAX_FREQUENCY) {
			criticalError("Electronic throttle frequency too high, maximum %d hz", ETB_HW_MAX_FREQUENCY);
			return;
		}

		if (useTwoWires) {
			m_pinEnable.initPin("ETB Enable", pinEnable);

// no need to complicate event queue with ETB PWM in unit tests
#if ! EFI_UNIT_TEST
			startSimplePwmHard(&m_pwm1, "ETB Dir 1",
				executor,
				pinDir1,
				&m_pinDir1,
				clampedFrequency,
				/*dutyCycle*/0
			);

			startSimplePwmHard(&m_pwm2, "ETB Dir 2",
				executor,
				pinDir2,
				&m_pinDir2,
				clampedFrequency,
				/*dutyCycle*/0
			);
#endif // EFI_UNIT_TEST

			dcMotor.configure(wrappedEnable, m_pwm1, m_pwm2, isInverted);
		} else {
			m_pinDir1.initPin("ETB Dir 1", pinDir1);
			m_pinDir2.initPin("ETB Dir 2", pinDir2);

// no need to complicate event queue with ETB PWM in unit tests
#if ! EFI_UNIT_TEST
			startSimplePwmHard(&m_pwm1, "ETB Enable",
				executor,
				pinEnable,
				&m_pinEnable,
				clampedFrequency,
				/*dutyCycle*/0
			);
#endif // EFI_UNIT_TEST

			dcMotor.configure(m_pwm1, wrappedDir1, wrappedDir2, isInverted);
		}
	}

static DcHardware dcHardware[ETB_COUNT + DC_PER_STEPPER];

DcHardware *getPrimaryDCHardwareForLogging() {
	return &dcHardware[0];
}

DcMotor* initDcMotor(const char *disPinMsg,const dc_io& io, size_t index, bool useTwoWires) {
	auto& hw = dcHardware[index];

	hw.start(
		useTwoWires,
		io.controlPin,
		io.directionPin1,
		io.directionPin2,
		disPinMsg,
		io.disablePin,
		// todo You would not believe how you invert TLE9201 #4579
		engineConfiguration->stepperDcInvertedPins,
		&engine->scheduler,
		engineConfiguration->etbFreq
	);

	return &hw.dcMotor;
}

DcMotor* initDcMotor(brain_pin_e coil_p, brain_pin_e coil_m, size_t index) {
	auto& hw = dcHardware[index];

	hw.start(
		true, /* useTwoWires */
		Gpio::Unassigned, /* pinEnable */
		coil_p,
		coil_m,
		nullptr,
		Gpio::Unassigned, /* pinDisable */
		engineConfiguration->stepperDcInvertedPins,
		&engine->scheduler,
		engineConfiguration->etbFreq /* same in case of stepper? */
	);

	return &hw.dcMotor;
}

void setDcMotorFrequency(size_t index, int hz) {
	dcHardware[index].setFrequency(hz);
}

void setDcMotorDuty(size_t index, float duty) {
	dcHardware[index].dcMotor.set(duty);
}

void showDcMotorInfo(int i) {
	DcHardware *dc = &dcHardware[i];

	efiPrintf(" motor: dir=%d DC=%f", dc->dcMotor.isOpenDirection(), dc->dcMotor.get());
	const char *disableMsg = dc->msg();
	if (disableMsg != nullptr) {
		efiPrintf("disabled [%s]", disableMsg);
	}
}