/*
 * @Date: 2025-06-23 13:04:20
 * @Author: mypx
 * @LastEditors: mypx mypx_coder@163.com
 * @LastEditTime: 2025-10-27 08:42:50
 * @FilePath: tec_control.c
 * @Description: 
 * Copyright (c) 2025 by mypx, All Rights Reserved.
 */
#include "tec_control.h"
#include "ad7793.h"
#include "bsp_misc.h"
#include "bsp_tec.h"
#include "bsp_temper_sampling.h"
#include "et_log.h"
#include "etk_utils.h"
#include "mb_interface.h"
#include "pm_common.h"
#include "pt100x.h"
#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h> /* rand, RAND_MAX */


#if TEC_CONTROL_PERIOD < ADC_SAMPLE_PERIOD
#error "TEC_CONTROL_PERIOD must be greater than ADC_SAMPLE_PERIOD"
#endif

#define TEST_TEMPER_XFER 0

/* Local helpers to avoid implicit prototypes on some embedded libc's */
static inline int _isnan_f(float v)
{
    return v != v;
}
static inline float _fabs_f(float v)
{
    return v < 0.0f ? -v : v;
}

/* Define AD7793 device structure */
ad7793_dev_t ad7793_dev;

#if (USING_SOFT_SPI == 1)
extern soft_spi_t soft_spi;
#endif
tec_control_t *tec_control = NULL;

ad7793_hw_if_t ad7793_hw_if = {
    .spi_transfer = bsp_ad7793_spi_transfer,
    .spi_write    = bsp_ad7793_spi_write,
    .spi_read     = bsp_ad7793_spi_read,
    .gpio_set     = bsp_ad7793_gpio_set,
    .gpio_get     = bsp_ad7793_gpio_get,
    .delay_ms     = bsp_ad7793_delay_ms,
};

/* -------------------------------------------------------------
 * AD7793 应用层配置
 * 依据提供原理图的典型 RTD/PT100 测温拓扑做如下假设：
 * 1. 仅测量正向电压 => 使用单极 (unipolar)
 * 2. 传感器电流源(或恒流驱动)下 PT100 产生的电压几十 mV 级，选择增益 16：
 *    - 内部参考 1.17V / GAIN16 满量程约 73mV，有足够余量覆盖 0~200+℃ (约 21mV~37mV)
 *    - 若后续发现仍远低于满量程，可改为 GAIN32；若出现接近饱和则降为 GAIN8。
 * 3. 启用输入缓冲 (buffered=true) 以减小前端阻抗对 ADC 的影响。
 * 4. 采用内部参考 (1.17V) 简化；若外部精密参考芯片实际接入 REF+ / REF-，
 *    将 use_internal_ref 改为 false 并填写 external_ref (例如 2.500f 或 3.000f)。
 * 5. 选择较低输出数据速率 8.33Hz 获取更好噪声性能（速率越低，数字滤波越强）。
 * 6. 上电后做一次 system zero 校准，提高 offset 精度。
 * ------------------------------------------------------------- */
static const ad7793_config_t g_ad7793_config = {
    .use_internal_ref = false, /* 现在使用板上 2.5V 外部参考 (已实测 REFIN+=2.5V) */
    .external_ref     = 2.500f,
    /* 传感器差分约 0.044V, 需保证 < Vref / Gain
       选择 GAIN=4 -> 满量程 2.5/4=0.625V (安全覆盖 0.44V); 若后续电压更低可再调高增益 */
    .gain             = AD7793_GAIN_4,
    .channel          = AD7793_CHANNEL_1, /* AIN1(+) - AIN1(-) */
    .rate             = AD7793_RATE_8_33HZ,
    .unipolar_mode              = true,             /* 只测正向信号 */
    .buffered              = true,             /* 启用缓冲 */
    .calibrate_system_zero = false             /* 暂停 system zero 校准 (之前 OFFSET/FULLSC 已被污染) */
};

/* Shared data structure for temperature sampling and TEC control */
static struct
{
    float      current_temperature;
    bool       temp_updated;
    rt_mutex_t data_mutex;
} temp_shared_data;

float tec_get_target_voltage(float r)
{
    double numerator   = 135 - 675 * r;
    double denominator = 390 * r + 1343;

    if (denominator == 0)
    {
        ET_ERR("Error: Denominator is zero for r = %.2f", r);
        return 0.0;
    }

    return numerator / denominator;
}

/**
 * @param voltage: Voltage value in volts
 * @return double: Resistance in ohms
 */
static double solve_resistance(double voltage)
{
    double numerator   = 135 - 1343 * voltage;
    double denominator = 390 * voltage + 675;

    if (denominator == 0)
    {
        ET_ERR("Error: Denominator is zero for v = %.2f", voltage);
        return 0.0;
    }

    return numerator * 1000 / denominator;
}

void tec_pid_init(tec_control_t *tec)
{
    float kp        = 15.0f;
    float ki        = 0.2f;
    float kd        = 0.05f;
    float threshold = 0.5f; // 积分分离阈值，可根据实际情况调整
    et_integral_separation_pid_init(&tec->pid, kp, ki, kd, threshold);
}

float tec_pid_update(tec_control_t *tec, float set_point, float current_temp, float dt)
{
    tec->pid.set_point = set_point;
    return et_integral_separation_pid_update(&tec->pid, current_temp, dt);
}

void tec_control_reset(void)
{
    if (tec_control != NULL)
    {
        tec_control->target_temper = 0.0f;
    }
}

int tec_control_resume(void)
{
    if (tec_control == NULL)
    {
        ET_ERR("TEC control not initialized");
        return -1;
    }
    if (tec_control->cur_temper > tec_control->exception_temper)
    {
        ET_WARN("current temperature is too high, cannot start TEC");
        return -2;
    }
    tec_control->is_control = true;

    return 0;
}

int tec_control_pause(void)
{
    if (tec_control == RT_NULL)
    {
        ET_ERR("TEC control not initialized");
        return -1;
    }
    tec_control->is_control = false;

    return 0;
}

void tec_calculate_temperature(uint32_t adc_value)
{
    float  mv = 0;
    double resistance;
    mv = ad7793_convert_to_voltage(&ad7793_dev, adc_value) * 1000;
    //ET_DBG("voltage:%.2f", mv);
    resistance = solve_resistance(mv / 1000);
    //ET_DBG("resistance:%.2f", resistance);

    //ET_PRINTF_FLOAT("resistance:", resistance);
    tec_control->cur_temper = pt_precise_temperature(resistance, PT100);
    tec_control->cur_temper = et_ema_filter_process(&tec_control->ema_filter, tec_control->cur_temper);
    if (_isnan_f(tec_control->cur_temper))
    {
        ET_DBG("Invalid resistance value, cannot calculate temperature.\n");
    }
    else
    {
        //ET_DBG("temperature:%.4f", tec_control->cur_temper);
        /* Update shared data */
        rt_mutex_take(temp_shared_data.data_mutex, RT_WAITING_FOREVER);
        temp_shared_data.current_temperature = tec_control->cur_temper;
        temp_shared_data.temp_updated        = true;
        rt_mutex_release(temp_shared_data.data_mutex);
    }
}

#if TEST_TEMPER_XFER
float generate_random_temperature(void)
{
    static uint32_t lfsr  = 0xACE1u; /* simple LFSR to avoid rand() dependency */
    lfsr                 ^= lfsr << 7;
    lfsr                 ^= lfsr >> 9;
    lfsr                 ^= lfsr << 8;
    return (lfsr & 0xFFFF) * (55.0f / 65535.0f);
}
#endif


/* Temperature sampling thread entry function */
static void temper_sampling_thread_entry(void *parameter)
{
    ETK_UNUSED(parameter);
    uint32_t       adc_value          = 0;
    const uint32_t LOW_CODE_THRESHOLD = 0x200; /* 约 0.125% 满量程，可调 */
    uint32_t       consecutive_err    = 0;

    ET_INFO("Temperature sampling thread started");

    while (1)
    {
#if !TEST_TEMPER_XFER
        /* Wait for ADC ready and read data */
        if (ad7793_wait_ready(&ad7793_dev, 1000) == true)
        {
            if (ad7793_read_data(&ad7793_dev, &adc_value))
            {
                /* 低码过滤：避免极低噪声或参考丢失导致的虚假高温 */
                if (adc_value < LOW_CODE_THRESHOLD)
                {
                    ad7793_dev.low_code_drops++;
                    ET_DBG("drop low code: 0x%06X (drops=%lu)", (unsigned)adc_value,
                           (unsigned long)ad7793_dev.low_code_drops);
                }
                else
                {
                    //ET_DBG("raw code: 0x%06X", (unsigned)adc_value);
                    tec_calculate_temperature(adc_value);
                }
            }
            else
            {
                ET_ERR("Failed to read ADC data.\n");
            }
        }
        mb_write_current_temp(tec_control->cur_temper);
#else
        mb_write_current_temp(generate_random_temperature());     // test only
        mb_write_current_rotation(generate_random_temperature()); // test only
#endif
        /* Delay for next sampling period */
        rt_thread_mdelay(ADC_SAMPLE_PERIOD);
    }
}

// pwm: 0.0 ~ 1.0
void tec_adjust_pwm(float pwm, float cur_temper, float target_temper)
{
    if (_fabs_f(cur_temper - target_temper) < TEC_TEMPER_PRECISE)
    {
        // within precise range, stop adjustment
        bsp_tec_close();
        bsp_fan_stop();
        return;
    }
    //bsp_fan_start();
    if (cur_temper > target_temper)
    {
        // cooling
        bsp_tec_cooling_adjust(pwm);
    }
    else
    {
        // heating
        bsp_tec_heating_adjust(pwm);
    }
}

void tec_control_temperature(tec_control_t *tec)
{
    float pid_out = 0;
    float current_temp;

    if (tec == NULL)
    {
        ET_ERR("tec is NULL");
        return;
    }
    if (tec->is_control == false)
        return;

    /* Get current temperature from shared data */
    rt_mutex_take(temp_shared_data.data_mutex, RT_WAITING_FOREVER);
    current_temp                  = temp_shared_data.current_temperature;
    temp_shared_data.temp_updated = false;
    rt_mutex_release(temp_shared_data.data_mutex);

    /* Update tec control current temperature */
    tec->cur_temper = current_temp;

    // dt convert to seconds
    pid_out = tec_pid_update(tec, tec->target_temper, current_temp, TEC_CONTROL_PERIOD / 1000.0f);
    ET_INFO("pid_out:%.2f", pid_out);
    tec_adjust_pwm(pid_out, current_temp, tec->target_temper);
}

static void tec_control_thread_entry(void *parameter)
{
    ETK_UNUSED(parameter);
    rt_tick_t   last_ms = rt_tick_get_millisecond();
    rt_uint32_t received;

    tec_pid_init(tec_control);
    tec_control->is_control = false; // control disabled by default

    //bsp_fan_start();
    tec_control->target_temper = 25.0f;

    ET_INFO("TEC control thread started");

    while (1)
    {
        // wait for control events with timeout
        rt_event_recv(tec_control->control_event,
                      TEC_CONTROL_START_EVENT | TEC_CONTROL_STOP_EVENT | TEC_TEMP_UPDATE_EVENT,
                      RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, TEC_CONTROL_PERIOD / 2, &received);

        // handle received events
        if (received & TEC_CONTROL_START_EVENT)
        {
            tec_control_resume();
            ET_INFO("TEC control started by event");
        }

        if (received & TEC_CONTROL_STOP_EVENT)
        {
            tec_control_pause();
            ET_INFO("TEC control stopped by event");
        }

        if (received & TEC_TEMP_UPDATE_EVENT)
        {
            ET_INFO("Target temperature updated to: %.2f°C", tec_control->target_temper);
        }

        // perform temperature control at specified period
        if (rt_tick_get_millisecond() - last_ms > TEC_CONTROL_PERIOD)
        {
            last_ms = rt_tick_get_millisecond();
            tec_control_temperature(tec_control);
        }
    }
}

int tec_control_sercie_start(tec_control_t *tec)
{
    (void)tec; /* unused parameter for now */
    rt_thread_t temp_tid;
    rt_thread_t ctrl_tid;
    (void)ctrl_tid;
    // create temperature sampling thread
    temp_tid = rt_thread_create("temp-sample", temper_sampling_thread_entry, RT_NULL, TEMP_SAMPLE_THREAD_STACK_SIZE,
                                TEMP_SAMPLE_THREAD_PRIORITY, TEMP_SAMPLE_THREAD_TIMESLICE);
    if (temp_tid == RT_NULL)
    {
        ET_ERR("Failed to create temperature sampling thread");
        return -6;
    }
    rt_thread_startup(temp_tid);
    /* create TEC control thread */
    ctrl_tid = rt_thread_create("tec-control", tec_control_thread_entry, RT_NULL, TEC_CONTROL_THREAD_STACK_SIZE,
                                TEC_CONTROL_THREAD_PRIORITY, TEC_CONTROL_THREAD_TIMESLICE);
    if (ctrl_tid == RT_NULL)
    {
        ET_ERR("Failed to create tec-control thread");
        return -7;
    }
    rt_thread_startup(ctrl_tid);
    return 0;
}


int tec_control_init(tec_control_t *tec)
{
    if (tec == NULL)
    {
        ET_ERR("tec is NULL");
        return -1;
    }

    tec_control = tec;

    et_ema_filter_init(&tec_control->ema_filter, EMA_FILTER_ALPHA);

    // create event object for temperature control
    tec_control->control_event = rt_event_create("tec_event", RT_IPC_FLAG_FIFO);
    if (tec_control->control_event == RT_NULL)
    {
        ET_ERR("Failed to create TEC control event");
        return -3;
    }

    // create mutex for shared data protection
    temp_shared_data.data_mutex = rt_mutex_create("temp_mutex", RT_IPC_FLAG_FIFO);
    if (temp_shared_data.data_mutex == RT_NULL)
    {
        ET_ERR("Failed to create temperature data mutex");
        return -5;
    }

    // initialize shared data
    temp_shared_data.current_temperature = 25.0f;
    temp_shared_data.temp_updated        = false;

#if (USING_SOFT_SPI == 1)
    if (ad7793_init(&ad7793_dev, &ad7793_hw_if, soft_spi.cs_pin, &g_ad7793_config))
#else
    if (ad7793_init(&ad7793_dev, &ad7793_hw_if, SPI3_AD7793_CS_Pin, &g_ad7793_config))
#endif
    {
        rt_kprintf("AD7793 device initialized successfully.\n");
    }
    else
    {
        rt_kprintf("Failed to initialize AD7793 device.\n");
        return -2;
    }

    return 0;
}