/**
**************************************************************************
* @file app_init.h
* @brief Файл с функциями записи входов/выходов программы МК @ref app_init.
**************************************************************************/
#include "mcu_wrapper_conf.h"
#include "app_wrapper.h"

float dbg_err_limit = 0;
float dbg[16];
#define PIN_READ(_verbname_) (_verbname_##_GPIO_Port->ODR & (_verbname_##_Pin)) ? 1 : 0

void pwm_wtf(PWM_State_t state1, PWM_State_t state2, int* pwm_pin)
{
	if ((*pwm_pin == 0) && (state1 == PWM_THYR_TIM_ACTIVE))
	{
		*pwm_pin = 1;
	}
	else if ((*pwm_pin == 1) && (state2 == PWM_THYR_TIM_ACTIVE))
	{
		*pwm_pin = 0;
	}
}

int pwm1_pin = 0;
int pwm2_pin = 0;
int pwm3_pin = 0;
int pwm4_pin = 0;
int pwm5_pin = 0;
int pwm6_pin = 0;
void Write_UPP_Outputs(real_T* Buffer, int ind_port)
{
	//int pwm1_pin = PIN_READ(PWM1);
	//int pwm2_pin = PIN_READ(PWM2);
	//int pwm3_pin = PIN_READ(PWM3);
	//int pwm4_pin = PIN_READ(PWM4);
	//int pwm5_pin = PIN_READ(PWM5);
	//int pwm6_pin = PIN_READ(PWM6);	
	int pwm1_pin = (upp.hpwm.AllPhases[PHASE_A_POS].State == PWM_THYR_TIM_ACTIVE);
	int pwm2_pin = (upp.hpwm.AllPhases[PHASE_A_NEG].State == PWM_THYR_TIM_ACTIVE);
	int pwm3_pin = (upp.hpwm.AllPhases[PHASE_B_POS].State == PWM_THYR_TIM_ACTIVE);
	int pwm4_pin = (upp.hpwm.AllPhases[PHASE_B_NEG].State == PWM_THYR_TIM_ACTIVE);
	int pwm5_pin = (upp.hpwm.AllPhases[PHASE_C_POS].State == PWM_THYR_TIM_ACTIVE);
	int pwm6_pin = (upp.hpwm.AllPhases[PHASE_C_NEG].State == PWM_THYR_TIM_ACTIVE);

	//pwm_wtf(upp.hpwm.AllPhases[PHASE_A_POS].State, upp.hpwm.AllPhases[PHASE_A_NEG].State, &pwm1_pin);
	//pwm_wtf(upp.hpwm.AllPhases[PHASE_A_NEG].State, upp.hpwm.AllPhases[PHASE_A_POS].State, &pwm2_pin);
	//pwm_wtf(upp.hpwm.AllPhases[PHASE_B_POS].State, upp.hpwm.AllPhases[PHASE_B_NEG].State, &pwm3_pin);
	//pwm_wtf(upp.hpwm.AllPhases[PHASE_B_NEG].State, upp.hpwm.AllPhases[PHASE_B_POS].State, &pwm4_pin);
	//pwm_wtf(upp.hpwm.AllPhases[PHASE_C_POS].State, upp.hpwm.AllPhases[PHASE_C_NEG].State, &pwm5_pin);
	//pwm_wtf(upp.hpwm.AllPhases[PHASE_C_NEG].State, upp.hpwm.AllPhases[PHASE_C_POS].State, &pwm6_pin);
	int err = PIN_READ(RDO1);
	int work = PIN_READ(RDO2);
	int ready = upp.errors->common;

	if (CEN_GPIO_Port->ODR & CEN_Pin)
	{
		WriteOutputArray(0, ind_port, 0);
		WriteOutputArray(0, ind_port, 1);
		WriteOutputArray(0, ind_port, 2);
		WriteOutputArray(0, ind_port, 3);
		WriteOutputArray(0, ind_port, 4);
		WriteOutputArray(0, ind_port, 5);

		
		WriteOutputArray(0, ind_port+1, 0);
		WriteOutputArray(0, ind_port+1, 1);
		WriteOutputArray(0, ind_port+1, 2);
	}
	else
	{
		WriteOutputArray(pwm1_pin, ind_port, 0);
		WriteOutputArray(pwm2_pin, ind_port, 1);
		WriteOutputArray(pwm3_pin, ind_port, 2);
		WriteOutputArray(pwm4_pin, ind_port, 3);
		WriteOutputArray(pwm5_pin, ind_port, 4);
		WriteOutputArray(pwm6_pin, ind_port, 5);
		
		WriteOutputArray(ready, ind_port+1, 0);
		WriteOutputArray(work, ind_port+1, 1);
		WriteOutputArray(err, ind_port+1, 2);
	}


}

void Write_PowerMonitor(real_T* Buffer, int ind_port)
{
	int nn = 0;
	for (int i = 0; i < 3; i++)
	{ //0-2
		WriteOutputArray(upp.pm.measured.fast.U[i], ind_port, nn++);
	}
	for (int i = 0; i < 3; i++)
	{ //3-5
		WriteOutputArray(upp.pm.zc.Channel[i].HalfWave, ind_port, nn++);
	}
	for (int i = 0; i < 3; i++)
	{ //6-8
		WriteOutputArray(upp.pm.measured.final.F[i], ind_port, nn++);
	}
	for (int i = 0; i < 3; i++)
	{ //9-11
		WriteOutputArray(upp.pm.measured.fast.I[i], ind_port, nn++);
	}
	for (int i = 0; i < 2; i++)
	{ //12-13
		WriteOutputArray(upp.pm.measured.final.T[i], ind_port, nn++);
	}
	{ //14-19
		WriteOutputArray(upp.pm.measured.final.Uamp, ind_port, nn++);
		WriteOutputArray(upp.pm.measured.final.Iamp, ind_port, nn++);
		WriteOutputArray(upp.pm.measured.final.I[0], ind_port, nn++);
		WriteOutputArray(upp.pm.measured.final.I[1], ind_port, nn++);
		WriteOutputArray(upp.pm.measured.final.I[2], ind_port, nn++);
		WriteOutputArray(upp.pm.measured.final.Fmean, ind_port, nn++);
	}

	{ //20-21
		WriteOutputArray(upp.pm.isr_cnt, ind_port, nn++);
		WriteOutputArray(upp.pm.slow_cnt%PM_SLOW_PERIOD_CNT, ind_port, nn++);
	}

}


void Write_AngleControl(real_T* Buffer, int ind_port)
{
	int nn = 0;

	WriteOutputArray(upp.hangle.Iref, ind_port, nn++);
	WriteOutputArray(upp.hangle.Imeas, ind_port, nn++);
	WriteOutputArray(upp.hangle.alpha, ind_port, nn++);


	WriteOutputArray((long long)(upp.hangle.htim->Instance->CCR1) - upp.hangle.htim->Instance->CNT, ind_port, nn++);
	WriteOutputArray((long long)(upp.hangle.htim->Instance->CCR2) - upp.hangle.htim->Instance->CNT, ind_port, nn++);
	WriteOutputArray((long long)(upp.hangle.htim->Instance->CCR3) - upp.hangle.htim->Instance->CNT, ind_port, nn++);

}

/**
  * @brief Функция для записи входов в приложение МК
  * @param u - массив входных значений
  */
void app_readInputs(const real_T* Buffer) {
// USER APP INPUT START
	ADC_Set_Channel_Value(ADC3, 4,	ReadInputArray(0,0));
	ADC_Set_Channel_Value(ADC3, 5,	ReadInputArray(0,1));
	ADC_Set_Channel_Value(ADC3, 6,	ReadInputArray(0,2));
	ADC_Set_Channel_Value(ADC3, 7,	ReadInputArray(0,3));
	ADC_Set_Channel_Value(ADC3, 8,	ReadInputArray(0,4));
	ADC_Set_Channel_Value(ADC3, 10, ReadInputArray(0,5));

	upp.call->go = ReadInputArray(1, 0);

	if (upp.workmode != UPP_Work)
	{
		MB_DATA.HoldRegs.pui_params.Iref = ReadInputArray(1, 1);
		MB_DATA.HoldRegs.pui_params.Tnt = ReadInputArray(1, 2);
		MB_DATA.HoldRegs.pui_params.Umin = ReadInputArray(1, 3);
		MB_DATA.HoldRegs.pui_params.Umax = ReadInputArray(1, 4);
		MB_DATA.HoldRegs.pui_params.Imax = ReadInputArray(1, 5);
		MB_DATA.HoldRegs.pui_params.Imin = ReadInputArray(1, 6);
		MB_DATA.HoldRegs.pui_params.TiMax = ReadInputArray(1, 7);
		MB_DATA.HoldRegs.pui_params.Tdelay = ReadInputArray(1, 8);
		MB_DATA.HoldRegs.pui_params.Interlace = ReadInputArray(1, 9);


		MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_UAC] = ReadInputArray(2, 0) * 10;
		MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_UBA] = ReadInputArray(2, 0) * 10;
		MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_IA] = ReadInputArray(2, 1) * 10;
		MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_IC] = ReadInputArray(2, 1) * 10;

		MB_INTERNAL.param.nominal.U = ReadInputArray(2, 2) * 10;
		MB_INTERNAL.param.nominal.I = ReadInputArray(2, 3) * 10;

		MB_INTERNAL.param.angle.PID_Kp = ReadInputArray(2, 4) * 65535;
		MB_INTERNAL.param.angle.PID_Ki = ReadInputArray(2, 5) * 65535;
		/*MB_INTERNAL.param.angle.PID_Kd*/dbg_err_limit = ReadInputArray(2, 6);

		MB_INTERNAL.param.angle.Angle_Max = ReadInputArray(2, 7)/180 * 65535;
		MB_INTERNAL.param.angle.Angle_Min = ReadInputArray(2, 8)/180 * 65535;
		MB_INTERNAL.param.pwm.PulseLength = ReadInputArray(2, 9)/180 * 65535;

	}
// USER APP INPUT END
}

/**
  * @brief Функция для записи выходов приложения МК
  * @param xD - массив буффера выходов(дискретных выходов)
  * @details Используте WriteOutputArray(val, arr_ind, val_ind) для записи
  */
void app_writeOutputBuffer(real_T* Buffer) {
// USER APP OUTPUT START
	Write_UPP_Outputs(Buffer, 0);

	Write_PowerMonitor(Buffer, 2);

	Write_AngleControl(Buffer, 3);

	int nn = 0;
	//WriteOutputArray(upp.hangle.htim->Instance->CNT, 2, nn++);
	 
	//WriteOutputArray(dbg[0], 2, nn++);
	//WriteOutputArray(dbg[1], 2, nn++);
	//WriteOutputArray(dbg[2], 2, nn++);

	//WriteOutputArray(upp.hpwm.AllPhases[PHASE_A_POS].State, 2, nn++);
	//WriteOutputArray(upp.hpwm.AllPhases[PHASE_A_NEG].State, 2, nn++);
	//WriteOutputArray(upp.hpwm.AllPhases[PHASE_B_POS].State, 2, nn++);
	//WriteOutputArray(upp.hpwm.AllPhases[PHASE_B_NEG].State, 2, nn++);
	//WriteOutputArray(upp.hpwm.AllPhases[PHASE_C_POS].State, 2, nn++);
	//WriteOutputArray(upp.hpwm.AllPhases[PHASE_C_NEG].State, 2, nn++);
// USER APP OUTPUT END
}