/**
 *
 * Position/angle motion control example
 * Steps:
 * 1) Configure the motor and magnetic sensor
 * 2) Run the code
 * 3) Set the target angle (in radians) from serial terminal
 *
 */
#include <SimpleFOC.h>

// magnetic sensor instance - SPI
// MagneticSensorSPI sensor = MagneticSensorSPI(AS5048_SPI, 7);
// MagneticSensorSPI(int cs, float _cpr, int _angle_register)
//  cs              - SPI chip select pin 
//  bit_resolution - magnetic sensor resolution

//  angle_register  - (optional) angle read register - default 0x3FFF
MagneticSensorSPI sensor = MagneticSensorSPI(1, 14); // Chip select pin is 1 for Xiao RP2040 and 7 for Xiao SAMD21
// try:
// MagneticSensorSPI sensor = MagneticSensorSPI(7, 14);

// magnetic sensor instance - MagneticSensorI2C
// MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
// magnetic sensor instance - analog output
// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);

// BLDC motor & driver instance
//  BLDCMotor(int pp, (optional R, KV))
//  - pp  - pole pair number
//  - R   - phase resistance value - optional
//  - KV  - motor KV rating [rpm/V] - optional
//BLDCMotor motor = BLDCMotor(11, 10.5, 120);
BLDCMotor motor = BLDCMotor(7); // Number of pole pairs
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
BLDCDriver3PWM driver = BLDCDriver3PWM(29, 6, 0, 7); // The pins are 29, 6, 0, 7 for Xiao RP2040 and 3, 4, 6, 5 for Xiao SAMD21 (Modular Thing) and 0, 7, 6, 29 for SimpleFOC Mini with Xiao RP2040

// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);

// angle set point variable
float target_angle = 0;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }

// Define the DAC pin
// #define DAC_PIN A0


void setup() {
  // Set up the DAC resolution (the DAC is on pin 1):
  // analogWriteResolution(10); // Set analog out resolution to max, 10-bits
  // analogReadResolution(12); // Set analog input resolution to max, 12-bits
  // Set the COMPN pin on the MS8313 motor driver as an output, get the other settings in the DAC test
  // pinMode(1, OUTPUT); // I didn't include pinMode in the DAC test and it worked fine
  // The measured USB supply voltage is 5.188 V and the IC operating voltage is 3.310 V.
  // 0.2V/3.31V * 1024 (or maybe 1023) = 61.8
  // OK, so to get the right reference voltage out of the DAC, measure the 3.3V voltage and put into the formula above
  // analogWrite(DAC_PIN, 62);
  
  // Set the SLEEP pin on the MS8313 motor driver HIGH
  // pinMode(1, OUTPUT);
  // digitalWrite(1, HIGH);
  
  // initialise magnetic sensor hardware
  sensor.init();
  // link the motor to the sensor
  motor.linkSensor(&sensor);

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 10;
  driver.init();
  // link the motor and the driver
  motor.linkDriver(&driver);

  // choose FOC modulation (optional)
  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

  // set motion control loop to be used
  motor.controller = MotionControlType::angle;

  // contoller configuration
  // default parameters in defaults.h

  // velocity PI controller parameters
  motor.PID_velocity.P = 0.2f;  //ORIGINALLY 0.2f -Svavar
  motor.PID_velocity.I = 5;  //ORIGINALLY 20 -Svavar
  motor.PID_velocity.D = 0;  //ORIGINALLY 0 -Svavar
  // maximal voltage to be set to the motor
  motor.voltage_limit = 8;

  // velocity low pass filtering time constant
  // the lower the less filtered
  motor.LPF_velocity.Tf = 0.01f;  //ORIGINALLY 0.01f -Svavar

  // angle P controller
  motor.P_angle.P = 5;  // this was originally 20 -Svavar
  // maximal velocity of the position control
  motor.velocity_limit = 10;   // this was originally 20 -Svavar

  // use monitoring with serial
  Serial.begin(115200);
  // comment out if not needed
  motor.useMonitoring(Serial);
  // VERBOSE MONITORING OUTPUT
  command.verbose = VerboseMode::machine_readable; // can be set using the webcontroller - optional
  

  // initialize motor
  motor.init();
  // align sensor and start FOC
  motor.initFOC();

  // add target command T
  command.add('T', doTarget, "target angle");

  Serial.println(F("Motor ready."));
  Serial.println(F("Set the target angle using serial terminal:"));
  _delay(1000);
}


void loop() {
  // OUTPUT MONITORING DATA TO SIMPLEFOC STUDIO
  motor.monitor();

  // main FOC algorithm function
  // the faster you run this function the better
  // Arduino UNO loop  ~1kHz
  // Bluepill loop ~10kHz
  motor.loopFOC();

  // Motion control function
  // velocity, position or voltage (defined in motor.controller)
  // this function can be run at much lower frequency than loopFOC() function
  // You can also use motor.move() and set the motor.target in the code
  motor.move(target_angle);


  // function intended to be used with serial plotter to monitor motor variables
  // significantly slowing the execution down!!!!
  // motor.monitor();

  // user communication
  command.run();
}