/*
 * splitflap.h
 *
 *  Created on: 29.09.2022
 *      Author: jonas
 */

#ifndef SPLITFLAP_H_
#define SPLITFLAP_H_

#include <stdbool.h>
#include "McuULN2003.h"
#include "McuGPIO.h"
#include "lib/dict.h"
#include <string.h>


/****** SETTINGS ******/
#define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 	0
#define SPLITFLAP_STEPS_ONE_ROUND 			512
#define SPLITFLAP_AMOUNT_OF_SEGMENTS		(sizeof(SF_Letters)/sizeof(SF_Letters[0]))
#define SPLITFLAP_STEPS_PER_SEGMENT			((float)SPLITFLAP_STEPS_ONE_ROUND/(float)SPLITFLAP_AMOUNT_OF_SEGMENTS)


/****** TYPES ******/
/* define splitflap handle type. SF_Handle_t points to SF_t */
typedef void* SF_Handle_t;

typedef struct {
  McuULN2003_Handle_t motor;
  McuGPIO_Handle_t magSensor;
  int id;
} SF_t;

typedef struct {
  McuULN2003_Config_t motorConfig;
  McuGPIO_Config_t magSensorConfig;
} SF_Config_t;

/****** FUNCTIONS ******/
/* initializes dictonary with splitflap flaps position */
void SF_InitConfig(void);

/* free splitflap flaps dictionary */
void SF_DeInitConfig(void);

/* split flap initialization
 * only pass configured types, they do not need to be initialized.
 * Initialization will be made inside the SF_Init method */
SF_Handle_t SF_Init(SF_Config_t* instance, int id);

/* Moves split flap slowly to zero position.
 * returns true if the move was successful, false if not
 * (depending on if the sensor was hit before one round)
 * offsetSteps: amount of steps to offset from magnet sensor positive flank position
 * After moving to zero position, the current position of the motor is set to 0 */
bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps);

/* split flap moves number of steps (uint, since only forward moves are allowed) */
void SF_MoveSteps(SF_Handle_t instance, uint32_t steps);

/* get mag sensor state. returns true if sensor is at zero position, otherwise false */
bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance);

/* move to specific flap */
void SF_MoveToFlap(SF_Handle_t instance, char* flap);

/* get current position of motor */
int32_t SF_GetMotorPosition(SF_Handle_t instance);

/* split flap deinitialization */
void SF_Deinit(SF_Handle_t instance);

#endif /* SPLITFLAP_H_ */