/*
 * @Date: 2025-07-15 11:12:00
 * @Author: mypx
 * @LastEditors: mypx mypx_coder@163.com
 * @LastEditTime: 2025-09-24 14:24:04
 * @FilePath: data_sampling.c
 * @Description: 
 * Copyright (c) 2025 by mypx, All Rights Reserved.
 */
#include "data_sampling.h"
#include "et_encoder_utils.h"
#include "et_log.h"
#include "pm_common.h"
#include "servo.h"
#include <stdlib.h>
#include <string.h>

uint16_t adc_raw_buffer[DATA_PROCESS_UNIT_COUNT] = {0};

float                  sampling_rate = 0;
static void           *mq_pool[8];
struct rt_messagequeue adc_mq;

/* 半缓冲完成回调 */
// void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef *hadc)
// {
//     if (hadc->Instance == ADC1)
//     {
//         __HAL_DMA_CLEAR_FLAG(hadc->DMA_Handle, __HAL_DMA_GET_HT_FLAG_INDEX(hadc->DMA_Handle));
//         uint16_t *ptr = &adc_raw_buffer[0];
//         pm_system_led_on();
//         rt_mq_send(&adc_mq, &ptr, sizeof(ptr));
//     }
// }

/* 整个缓冲区完成回调 */
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
{
    if (hadc->Instance == ADC1)
    {
        __HAL_DMA_CLEAR_FLAG(hadc->DMA_Handle, __HAL_DMA_GET_TC_FLAG_INDEX(hadc->DMA_Handle));
        uint16_t *ptr = &adc_raw_buffer[0];
        pm_system_led_toggle
        ();
        if (rt_mq_send(&adc_mq, &ptr, sizeof(ptr)) != RT_EOK)
        {
            ET_ERR("ADC MQ full!");
        }
    }
}


void data_sampling_start(void)
{
    pm_sampling_adc_start(adc_raw_buffer, DATA_PROCESS_UNIT_COUNT);
    pm_sampling_tim_start();
    //pm_timestamp_start();
}

void data_sampling_stop(void)
{
    //pm_encoder_stop();
    // pm_sampling_tim_stop();
    // pm_timestamp_stop();
    pm_sampling_adc_stop();
}

int data_sampling_init(void)
{
    pm_adc_init();
    pm_sampling_tim_init();
    pm_encoder_init();
    //pm_timestamp_tim_init();
    pm_encoder_start();
    encoder_cpr = pm_encoder_get_cpr();

    rt_mq_init(&adc_mq, "adc_mq", mq_pool, sizeof(void *), sizeof(mq_pool), RT_IPC_FLAG_FIFO);
    // test-> set state manually
    //pm_set_state(PM_CALIBRATION_STATE);
    sampling_rate = pm_sampling_tim_get_freq();
    ET_WARN("Sampling rate:%.2f", sampling_rate);
    data_sampling_start(); // test->start at init

    return 0;
}


void m_start(int argc, char **argv)
{
    if (argc != 2)
    {
        rt_kprintf("Usage: my_cmd <int_value>\n");
        return;
    }

    int rpm = atof(argv[1]); // 字符串转整型
    //ET_INFO("rpm:%d", rpm);
    sv630p_speed_mode_start(&sv630p_handle, rpm);
}
MSH_CMD_EXPORT_ALIAS(m_start, m_start, test);

void m_stop(void)
{
    sv630p_speed_mode_stop(&sv630p_handle);
}
MSH_CMD_EXPORT(m_stop, motor stop);

void m_back(void)
{
    sv630p_speed_mode_stop(&sv630p_handle);
    sv630p_speed_mode_start(&sv630p_handle, -50);
}
MSH_CMD_EXPORT(m_back, motor backward);

void m_fast(void)
{
    sv630p_speed_mode_start(&sv630p_handle, 400);
}
MSH_CMD_EXPORT(m_fast, motor fast forward);