/*
 * ElektronischeLast.cpp
 *
 *  Created on: Jun 23, 2023
 *      Author: Carst
 */

#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cinttypes>
#include <stm32g0xx.h>
#include "STM32G071KBT6.hpp"
#include "LED.hpp"
#include "DAC.hpp"
#include "ADC.hpp"
#include "serial.hpp"
#include "PID.h"
#include "FanControl.hpp"
#include "CLI.h"

using namespace ElektronischeLast;

uint16_t set_solltrom (CLI_OutFunction pfvOutFunction, char *acCommands[], uint16_t u16ArgCount);
uint16_t ist_werte(CLI_OutFunction pfvOutFunction, char *acCommands[], uint16_t u16ArgCount);

static CLI_Command_t commands[] =
{
  { "isoll", "Zielstrom für Last", set_solltrom },
  { "ist",   "Zeige Istwerte an [-r für wiederholende Anzeige]", ist_werte }
};

static std::uint32_t i_soll = 0U;
static PIDController pid =
{
  .Kp = 0.75f,
  .Ki = 10.0f,
  .Kd = 0.0f,
  .limMin = 0.0f,
  .limMax = 4095.0f,
  .limMinInt = 0.0f,
  .limMaxInt = 2048.0f,
  .T = 0.001f,
};
static uint32_t dac_value;
static uint32_t strom;
static uint32_t spannung;
static uint32_t temperatur;

int main (void)
{
  __enable_irq();
  serial_init();
  CLI_Init(commands, sizeof(commands)/sizeof(commands[0]));
  LED led = LED(500U);
  iDAC dac = iDAC();
  iADC adc = iADC();
  FanControl fan = FanControl();
  std::uint32_t last_tick = systick;

  printf("\r\nElektronische Last\r\n");
  printf("- Initialisierung erfolgreich\r\n");

  PIDController_Init(&pid);

  while(1)
  {
    led.blink();

    if(last_tick != systick)
    {
      last_tick = systick;
      dac_value = (uint32_t)PIDController_Update(&pid, i_soll, adc.get_current());
      dac.write(iDAC::CHANNEL_1, dac_value);

      fan.run(adc.get_temperature());

      strom = adc.get_current();
      spannung = adc.get_voltage();
      temperatur = adc.get_temperature();

      serial_cyclic();
    }
  }
}

/**
 * @brief  Callback Function for Command Line
 * @param  [in] pfvOutFunction Function to Print Data to Output
 * @param  [in] acCommands array with char pointers to the different arguments
 * @param  [in] u16ArgCount number of Arguments
 * @return 0 = don't recall, 1 = call again
 */
uint16_t set_solltrom(CLI_OutFunction pfvOutFunction, char *acCommands[], uint16_t u16ArgCount)
{
  char buf[40];
  uint32_t cur = i_soll;
  int32_t pos = snprintf(buf, sizeof(buf), "\r\nAktueller Soll-Strom: %" PRIu32, cur);
  if(u16ArgCount == 1U)
  {
    uint32_t in = strtoul(acCommands[0], NULL, 10);
    snprintf(&buf[pos], sizeof(buf) - pos, " Neu: %" PRIu32, in);
    i_soll = in;
  }
  pfvOutFunction(buf);
  return 0;
}

uint16_t ist_werte(CLI_OutFunction pfvOutFunction, char *acCommands[], uint16_t u16ArgCount)
{
  static uint32_t last_call = 0U;
  uint16_t recall = 0U;
  if(u16ArgCount == 1U)
  {
    recall = (acCommands[0][0] == '-' && acCommands[0][1] == 'r' && acCommands[0][2] == '\0');
  }

  if(((recall == 1U) && ((int32_t)(systick - last_call) > 999)) || recall == 0U)
  {
    char buffer[64];
    snprintf(buffer, sizeof(buffer), "\rI: %5" PRIu32 " U: %5" PRIu32 " T: %5" PRIu32, strom, spannung, temperatur);
    pfvOutFunction(buffer);
    last_call = systick;
  }

  return recall;
}