/* Robot Controls
    Generate PWM signals to control motors.

    By: Alexander Bobkov
    Date: Dec 21, 2024

    built-in LED GPIO: 10
    build-in push button GPIO: 3
*/
#include <stdio.h>
#include <stdlib.h>
#include <inttypes.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "driver/gpio.h"
#include "driver/ledc.h"
#include "driver/mcpwm.h"
#include "esp_log.h"
#include "led_strip.h"
#include "sdkconfig.h"

static const char *TAG = "ESP IDF Robot";

// LED
#define LEDC_TIMER              LEDC_TIMER_0
#define LEDC_MODE               LEDC_LOW_SPEED_MODE // LEDC_LOW_SPEED_MODE
#define LEDC_OUTPUT_IO          (5) // Define the output GPIO
#define LEDC_CHANNEL            LEDC_CHANNEL_0
#define LEDC_DUTY_RES           LEDC_TIMER_10_BIT // Set duty resolution to 13 bits
#define LEDC_DUTY               (4096) // Set duty to 50%. (2 ** 13) * 50% = 4096 1024
#define LEDC_FREQUENCY          (5000) // For LED the freuqncy of 500Hz seemed to be sufficient. // Frequency in Hertz. For DC motor, set frequency at 5 kHz

/* Use project configuration menu (idf.py menuconfig) to choose the GPIO to blink,
   or you can edit the following line and set a number here.
*/

// Retrieve values from configuration menu
#define BLINK_GPIO      CONFIG_BLINK_GPIO       // 10 GPIO of on-board LED
#define PUSH_BTN_GPIO   CONFIG_BUTTON_GPIO      // 3 GPIO of on-board push-button
#define MTR_FL_GPIO     CONFIG_MOTOR_FRONT_LEFT_GPIO

#define ESP_INTR_FLAG_DEFAULT 0

#define GPIO_INPUT_PIN_SEL ((1ULL<<PUSH_BTN_GPIO))
#define GPIO_OUTPUT_PIN_SEL ((1ULL<<BLINK_GPIO))

static QueueHandle_t gpio_evt_queue = NULL;

static uint8_t s_led_state = 0;

#ifdef CONFIG_BLINK_LED_STRIP

static led_strip_handle_t led_strip;

static void blink_led(void)
{
    /* If the addressable LED is enabled */
    if (s_led_state) {
        /* Set the LED pixel using RGB from 0 (0%) to 255 (100%) for each color */
        led_strip_set_pixel(led_strip, 0, 16, 16, 16);
        /* Refresh the strip to send data */
        led_strip_refresh(led_strip);
    } else {
        /* Set all LED off to clear all pixels */
        led_strip_clear(led_strip);
    }
}

static void configure_led(void)
{
    ESP_LOGI(TAG, "Example configured to blink addressable LED!");
    /* LED strip initialization with the GPIO and pixels number*/
    led_strip_config_t strip_config = {
        .strip_gpio_num = BLINK_GPIO,
        .max_leds = 1, // at least one LED on board
    };
#if CONFIG_BLINK_LED_STRIP_BACKEND_RMT
    led_strip_rmt_config_t rmt_config = {
        .resolution_hz = 10 * 1000 * 1000, // 10MHz
        .flags.with_dma = false,
    };
    ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
#elif CONFIG_BLINK_LED_STRIP_BACKEND_SPI
    led_strip_spi_config_t spi_config = {
        .spi_bus = SPI2_HOST,
        .flags.with_dma = true,
    };
    ESP_ERROR_CHECK(led_strip_new_spi_device(&strip_config, &spi_config, &led_strip));
#else
#error "unsupported LED strip backend"
#endif
    /* Set all LED off to clear all pixels */
    led_strip_clear(led_strip);
}

#elif CONFIG_BLINK_LED_GPIO

static void blink_led(void)
{
    /* Set the GPIO level according to the state (LOW or HIGH)*/
    gpio_set_level(BLINK_GPIO, s_led_state);
}

static void IRAM_ATTR gpio_isr_handler (void* arg) {
    uint32_t gpio_num = (uint32_t) arg;
    xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
}

static void gpio_task (void* arg) {
    uint32_t io_num;
    for (;;) {
        if (xQueueReceive(gpio_evt_queue, &io_num, portMAX_DELAY)) {
            printf("GPIO[%"PRIu32"] intr, val: %d\n", io_num, gpio_get_level(io_num));
        }
    }
}
static void configure_led(void)
{
    ESP_LOGI(TAG, "Configured to blink GPIO LED!");
    gpio_reset_pin(BLINK_GPIO);
    /* Set the GPIO as a push/pull output */
    gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
}

static void configure_button (void) {
    ESP_LOGI(TAG, "Configured on-board push button");
    //gpio_reset_pin(PUSH_BTN_GPIO);
    //gpio_set_direction(PUSH_BTN_GPIO, GPIO_MODE_INPUT);
}

static void configure_dc_mc (void) {

    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, MTR_FL_GPIO);

    mcpwm_config_t mcpwm_config;

    mcpwm_config.frequency = 4000;
    mcpwm_config.cmpr_a = 50;     
    mcpwm_config.counter_mode = MCPWM_UP_COUNTER;
    mcpwm_config.duty_mode = MCPWM_DUTY_MODE_0;
    mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &mcpwm_config);

    mcpwm_set_duty_type(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, MCPWM_DUTY_MODE_0);
    mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A,50);
}

#else
#error "unsupported LED type"
#endif

static void ledc_init (void) {
    ledc_timer_config_t ledc_timer = {
        .speed_mode =       LEDC_MODE,//MODE,
        .duty_resolution =  LEDC_DUTY_RES,
        .timer_num =        LEDC_TIMER,
        .freq_hz =          LEDC_FREQUENCY,
        .clk_cfg =          LEDC_AUTO_CLK
    };
    ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));

    ledc_channel_config_t ledc_channel = {
        .speed_mode =       LEDC_MODE,
        .channel =          LEDC_CHANNEL,
        .timer_sel =        LEDC_TIMER,
        .intr_type =        LEDC_INTR_DISABLE,
        .gpio_num =         LEDC_OUTPUT_IO,
        .duty =             LEDC_DUTY,//0,
        .hpoint =           1,
    };
    ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
}

void app_main(void)
{
    // Initialize LED
    ledc_init();
    ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY));
    ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
    // Initialize the config structure.
    gpio_config_t io_conf = {};

    /* Configure the peripheral according to the LED type */
    //configure_led();

    // Configure on-board LED
    io_conf.intr_type = GPIO_INTR_DISABLE;
    io_conf.mode = GPIO_MODE_OUTPUT;
    io_conf.pin_bit_mask = GPIO_OUTPUT_PIN_SEL;
    io_conf.pull_down_en = 0;
    io_conf.pull_up_en = 0;
    gpio_config(&io_conf);

    // Configure on-board push button
    io_conf.intr_type = GPIO_INTR_POSEDGE;
    io_conf.pin_bit_mask = GPIO_INPUT_PIN_SEL;
    io_conf.mode = GPIO_MODE_INPUT;
    io_conf.pull_up_en = 1;
    gpio_config(&io_conf);

    // Set push button interrupt
    gpio_set_intr_type(PUSH_BTN_GPIO, GPIO_INTR_NEGEDGE);//ANYEDGE);
    gpio_evt_queue = xQueueCreate(10, sizeof(uint32_t));
    xTaskCreate(gpio_task, "GPIO task", 2048, NULL, 10, NULL);
    gpio_install_isr_service(ESP_INTR_FLAG_DEFAULT);
    gpio_isr_handler_add(PUSH_BTN_GPIO, gpio_isr_handler, (void*) PUSH_BTN_GPIO);

    configure_button();
    configure_dc_mc();

    printf("Added button interrupt");

    while (1) {
        ESP_LOGI(TAG, "Turning the LED %s!", s_led_state == true ? "ON" : "OFF");
        //blink_led();
        /* Toggle the LED state */
        gpio_set_level(BLINK_GPIO, s_led_state);
        s_led_state = !s_led_state;
        vTaskDelay(CONFIG_BLINK_PERIOD / portTICK_PERIOD_MS);
    }
}