/*
 * application.c
 *
 *  Created on: 22.09.2022
 *      Author: jonas
 */

#include "fsl_debug_console.h"
#include "application.h"
#include "McuWait.h"
#include "McuLED.h"
#include "McuGPIO.h"
#include "McuULN2003.h"
#include "splitflap_pins.h"
#include "splitflap.h"
#include "multi-splitflap.h"

/* blue led pins */
#define LED_BLUE_GPIO GPIOC
#define LED_BLUE_PORT PORTC
#define LED_BLUE_PIN 2U

/* vars */
static McuLED_Handle_t LED_blue;
static SF_Handle_t splitflap0, splitflap1;

/* function declaration */
void configureSplitflaps(void);

/* Application initialization */
void App_Init(void){
	/* configure blue LED */
	McuLED_Config_t config;
	McuLED_GetDefaultConfig(&config);
	config.isLowActive = true;
	config.isOnInit = false;
	config.hw.gpio = LED_BLUE_GPIO;
	config.hw.port = LED_BLUE_PORT;
	config.hw.pin = LED_BLUE_PIN;
	LED_blue = McuLED_InitLed(&config);

	configureSplitflaps();
	MultiSplitFlap_Init();
	MultiSplitFlap_AddFlap(splitflap0);
	MultiSplitFlap_AddFlap(splitflap1);
}

/* Application run */
void App_Run(void){

	char* sentence[] = {"JONAS!"};
	MultiSplitFlap_Display(sentence);

	PRINTF("Initializing split flap motors.\n");
	bool successfulInit0 = SF_MoveMotorToZeroPosition(splitflap0, 12);
	PRINTF("Init of motor 0 done. Success = %s\n\n", successfulInit0 ? "true" : "false");

	// if init failed => stop
	if(successfulInit0 == false){
		return;
	}
	bool successfulInit1 = SF_MoveMotorToZeroPosition(splitflap1, 12);
	PRINTF("Init of motor 1 done. Success = %s\n\n", successfulInit1 ? "true" : "false");

	// if init failed => stop
	if(successfulInit1 == false){
		return;
	}

	// go through the following letters
	char* letters[] = {"J", "O", "N", "A", "S", "!"};
	//char* letters[] = {	" ", "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K",
	//		"L", "M", "N", "O", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z",
	//		"0", "1", "2", "3", "4", "5", "6", "7", "8", "9",
	//		"!", "?", ":"};
	PRINTF("Amount of letters %i\n", sizeof(letters)/sizeof(letters[0]));

	while(1){
		for(int i = 0; i < sizeof(letters)/sizeof(letters[0]); i++){
			McuWait_Waitms(1000);
			PRINTF("Moving to letter '%s', position is %i\n", letters[i], (int)SF_GetMotorPosition(splitflap0));
			SF_MoveToFlap(splitflap0, letters[i]);
			PRINTF("Position after move is is %i\n", (int)SF_GetMotorPosition(splitflap0));
		}
	}
}


/* Application de-initialization */
void App_Deinit(void){

}


void configureSplitflaps(void){
	/* SPLITFLAP 0 */
	/* configure the motor */
	McuULN2003_Config_t motor0Config;
	McuULN2003_GetDefaultConfig(&motor0Config);
	motor0Config.hw[0].gpio = STEPPER_MOTOR0_IN1_GPIO;
	motor0Config.hw[0].port = STEPPER_MOTOR0_IN1_PORT;
	motor0Config.hw[0].pin 	= STEPPER_MOTOR0_IN1_PIN;
	motor0Config.hw[1].gpio = STEPPER_MOTOR0_IN2_GPIO;
	motor0Config.hw[1].port = STEPPER_MOTOR0_IN2_PORT;
	motor0Config.hw[1].pin 	= STEPPER_MOTOR0_IN2_PIN;
	motor0Config.hw[2].gpio = STEPPER_MOTOR0_IN3_GPIO;
	motor0Config.hw[2].port = STEPPER_MOTOR0_IN3_PORT;
	motor0Config.hw[2].pin	= STEPPER_MOTOR0_IN3_PIN;
	motor0Config.hw[3].gpio = STEPPER_MOTOR0_IN4_GPIO;
	motor0Config.hw[3].port = STEPPER_MOTOR0_IN4_PORT;
	motor0Config.hw[3].pin 	= STEPPER_MOTOR0_IN4_PIN;
	motor0Config.inverted 	= true;

	/* configure magnetic sensor for motor 0 */
	McuGPIO_Config_t magSensor0Config;
	McuGPIO_GetDefaultConfig(&magSensor0Config);
	magSensor0Config.hw.gpio 	= MAG_MOTOR0_GPIO;
	magSensor0Config.hw.port 	= MAG_MOTOR0_PORT;
	magSensor0Config.hw.pin 	= MAG_MOTOR0_PIN;
	magSensor0Config.isInput = true;
	magSensor0Config.hw.pull = McuGPIO_PULL_UP;

	/* create config instance for splitflap 0 */
	SF_Config_t sf0Config;
	sf0Config.magSensorConfig = magSensor0Config;
	sf0Config.motorConfig = motor0Config;

	/* initialize splitflap 0 */
	splitflap0 = SF_Init(&sf0Config, 0);

	/* SPLITFLAP 1 */
	/* configure the motor */
	McuULN2003_Config_t motor1Config;
	McuULN2003_GetDefaultConfig(&motor1Config);
	motor1Config.hw[0].gpio = STEPPER_MOTOR1_IN1_GPIO;
	motor1Config.hw[0].port = STEPPER_MOTOR1_IN1_PORT;
	motor1Config.hw[0].pin 	= STEPPER_MOTOR1_IN1_PIN;
	motor1Config.hw[1].gpio = STEPPER_MOTOR1_IN2_GPIO;
	motor1Config.hw[1].port = STEPPER_MOTOR1_IN2_PORT;
	motor1Config.hw[1].pin 	= STEPPER_MOTOR1_IN2_PIN;
	motor1Config.hw[2].gpio = STEPPER_MOTOR1_IN3_GPIO;
	motor1Config.hw[2].port = STEPPER_MOTOR1_IN3_PORT;
	motor1Config.hw[2].pin	= STEPPER_MOTOR1_IN3_PIN;
	motor1Config.hw[3].gpio = STEPPER_MOTOR1_IN4_GPIO;
	motor1Config.hw[3].port = STEPPER_MOTOR1_IN4_PORT;
	motor1Config.hw[3].pin 	= STEPPER_MOTOR1_IN4_PIN;
	motor1Config.inverted 	= true;

	/* configure magnetic sensor for motor 0 */
	McuGPIO_Config_t magSensor1Config;
	McuGPIO_GetDefaultConfig(&magSensor1Config);
	magSensor1Config.hw.gpio 	= MAG_MOTOR1_GPIO;
	magSensor1Config.hw.port 	= MAG_MOTOR1_PORT;
	magSensor1Config.hw.pin 	= MAG_MOTOR1_PIN;
	magSensor1Config.isInput = true;
	magSensor1Config.hw.pull = McuGPIO_PULL_UP;

	/* create config instance for splitflap 0 */
	SF_Config_t sf1Config;
	sf1Config.magSensorConfig = magSensor1Config;
	sf1Config.motorConfig = motor1Config;

	/* initialize splitflap 1 */
	splitflap1 = SF_Init(&sf1Config, 1);
}