/******************************************************************************
 * @file    bsp_hw.c
 * @brief   CBC4 板级 GPIO / ADC：上下双电机 H 桥、震动、LED、按键、充电检测
 * @author  cyWu <1917507415@qq.com>
 * @date    2026.08.24
 * @version V1.5.0
 * @history
 * - V1.0.0, 2026.08.21, cyWu, 首次发布
 * - V1.1.0, 2026.08.24, cyWu, 停转反转刹车；去掉限位脚
 * - V1.3.0, 2026.08.24, cyWu, 电机改 MCPWM 占空比降速
 * - V1.4.0, 2026.08.24, cyWu, 增加按占空比驱动，供玩法变速
 * - V1.5.0, 2026.08.25, cyWu, 空闲关闭 MCPWM 时钟
 * - V1.6.0, 2026.08.25, cyWu, 去掉停转反接刹车，改自由滑行停止，避免刹车
 *                             电流冲击拉垮供电轨触发 LVD 复位
 ******************************************************************************/

#include "system/includes.h"
#include "asm/gpio.h"
#include "asm/adc_api.h"
#include "asm/charge.h"
#include "asm/mcpwm.h"
#include "bsp_hw.h"

#define LOG_TAG_CONST APP
#define LOG_TAG       "[BSP_HW]"
#define LOG_ERROR_ENABLE
#define LOG_INFO_ENABLE
#include "debug.h"

static uint8_t s_initialized;
static uint8_t s_motor_active;
static uint8_t s_pwm_clk_on;
static uint8_t s_motor_switch_pending;
static BspMotorDir_t s_left_direction;
static BspMotorDir_t s_right_direction;
static BspMotorDir_t s_pending_left_direction;
static BspMotorDir_t s_pending_right_direction;
static uint16_t s_pending_left_duty;
static uint16_t s_pending_right_duty;
static uint32_t s_motor_switch_started_ms;

#if (BOARD_LED_ENABLE || BOARD_MOTOR_ENABLE)
/**
 * @brief  配置 GPIO 为推挽输出
 * @param  pin   GPIO 编号
 * @param  value 输出初值
 * @return 无
 */
static void bsp_pin_output(u32 pin, int value)
{
    gpio_set_pull_up(pin, 0);
    gpio_set_pull_down(pin, 0);
    gpio_set_die(pin, 1);
    gpio_direction_output(pin, value);
}
#endif

#if (BOARD_KEY_ENABLE || BOARD_CHG_ENABLE || BOARD_SHAKE_ENABLE)
/**
 * @brief  配置 GPIO 为数字输入（可内部上拉）
 * @param  pin     GPIO 编号
 * @param  pull_up 1=内部上拉，0=不上拉
 * @return 无
 */
static void bsp_pin_input(u32 pin, int pull_up)
{
    gpio_direction_output(pin, 1);
    gpio_set_direction(pin, 1);
    gpio_set_pull_down(pin, 0);
    gpio_set_pull_up(pin, pull_up ? 1 : 0);
    gpio_set_die(pin, 1);
}
#endif

#if BOARD_MOTOR_ENABLE
static void bsp_motor_pwm_channel_init(pwm_ch_num_type channel, u8 pin)
{
    struct pwm_platform_data pwm;

    memset(&pwm, 0, sizeof(pwm));
    pwm.pwm_aligned_mode = pwm_edge_aligned;
    pwm.pwm_ch_num = channel;
    pwm.frequency = BOARD_MOTOR_PWM_HZ;
    pwm.duty = 0;
    pwm.h_pin = pin;
    pwm.l_pin = (u8) - 1;
    pwm.complementary_en = 0;
    mcpwm_init(&pwm);
}

/**
 * @brief  初始化 INA/INB 两路 MCPWM，初始占空比 0（停转）
 * @return 无
 */
static void bsp_motor_pwm_init(void)
{
    const u32 pins[] = {
        BOARD_LEFT_FORWARD_PIN, BOARD_LEFT_BACKWARD_PIN,
        BOARD_RIGHT_BACKWARD_PIN, BOARD_RIGHT_FORWARD_PIN
    };
    uint8_t i;

    for (i = 0; i < ARRAY_SIZE(pins); i++) {
        gpio_set_pull_up(pins[i], 0);
        gpio_set_pull_down(pins[i], 0);
        gpio_set_die(pins[i], 1);
    }

    bsp_motor_pwm_channel_init(pwm_ch0, BOARD_LEFT_FORWARD_PIN);
    bsp_motor_pwm_channel_init(pwm_ch1, BOARD_LEFT_BACKWARD_PIN);
    bsp_motor_pwm_channel_init(pwm_ch2, BOARD_RIGHT_BACKWARD_PIN);
    bsp_motor_pwm_channel_init(pwm_ch3, BOARD_RIGHT_FORWARD_PIN);

    mcpwm_set_duty(pwm_ch0, 0);
    mcpwm_set_duty(pwm_ch1, 0);
    mcpwm_set_duty(pwm_ch2, 0);
    mcpwm_set_duty(pwm_ch3, 0);
    s_pwm_clk_on = 1;
    log_info("dual motor pwm %uHz\n", (unsigned)BOARD_MOTOR_PWM_HZ);
}

/**
 * @brief  打开 MCPWM 并绑回 INA/INB
 * @return 无
 */
static void bsp_motor_pwm_clock_on(void)
{
    if (s_pwm_clk_on) {
        return;
    }
    mcpwm_open(pwm_ch0);
    mcpwm_open(pwm_ch1);
    mcpwm_open(pwm_ch2);
    mcpwm_open(pwm_ch3);
    gpio_och_sel_output_signal(BOARD_LEFT_FORWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM0_H);
    gpio_och_sel_output_signal(BOARD_LEFT_BACKWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM1_H);
    gpio_och_sel_output_signal(BOARD_RIGHT_BACKWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM2_H);
    gpio_och_sel_output_signal(BOARD_RIGHT_FORWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM3_H);
    gpio_set_direction(BOARD_LEFT_FORWARD_PIN, 0);
    gpio_set_direction(BOARD_LEFT_BACKWARD_PIN, 0);
    gpio_set_direction(BOARD_RIGHT_BACKWARD_PIN, 0);
    gpio_set_direction(BOARD_RIGHT_FORWARD_PIN, 0);
    s_pwm_clk_on = 1;
}

/**
 * @brief  关闭 MCPWM 时钟，INA/INB 拉低（待机必关）
 * @return 无
 */
static void bsp_motor_pwm_clock_off(void)
{
    mcpwm_set_duty(pwm_ch0, 0);
    mcpwm_set_duty(pwm_ch1, 0);
    mcpwm_set_duty(pwm_ch2, 0);
    mcpwm_set_duty(pwm_ch3, 0);
    if (s_pwm_clk_on) {
        mcpwm_close(pwm_ch0);
        mcpwm_close(pwm_ch1);
        mcpwm_close(pwm_ch2);
        mcpwm_close(pwm_ch3);
        gpio_och_disable_output_signal(BOARD_LEFT_FORWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM0_H);
        gpio_och_disable_output_signal(BOARD_LEFT_BACKWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM1_H);
        gpio_och_disable_output_signal(BOARD_RIGHT_BACKWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM2_H);
        gpio_och_disable_output_signal(BOARD_RIGHT_FORWARD_PIN, OUTPUT_CH_SIGNAL_MC_PWM3_H);
        JL_MCPWM->MCPWM_CON0 = 0;
        s_pwm_clk_on = 0;
    }
    gpio_direction_output(BOARD_LEFT_FORWARD_PIN, 0);
    gpio_direction_output(BOARD_LEFT_BACKWARD_PIN, 0);
    gpio_direction_output(BOARD_RIGHT_BACKWARD_PIN, 0);
    gpio_direction_output(BOARD_RIGHT_FORWARD_PIN, 0);
}

static void bsp_drive_gpio(BspMotorDir_t left_dir, uint16_t left_duty,
                           BspMotorDir_t right_dir, uint16_t right_duty)
{
    if (left_duty > 10000) {
        left_duty = 10000;
    }
    if (right_duty > 10000) {
        right_duty = 10000;
    }
    if (left_dir == BSP_MOTOR_STOP) {
        left_duty = 0;
    }
    if (right_dir == BSP_MOTOR_STOP) {
        right_duty = 0;
    }

    /* Crazy Car's proven driver clears all four channels at every action
     * boundary, then applies the two wheel outputs as one atomic command. */
    mcpwm_set_duty(pwm_ch0, 0);
    mcpwm_set_duty(pwm_ch1, 0);
    mcpwm_set_duty(pwm_ch2, 0);
    mcpwm_set_duty(pwm_ch3, 0);

    s_motor_active = (uint8_t)(left_duty || right_duty);
    if (s_motor_active) {
        bsp_motor_pwm_clock_on();
    }
    if (left_dir == BSP_MOTOR_FORWARD) {
        mcpwm_set_duty(pwm_ch0, left_duty);
    } else if (left_dir == BSP_MOTOR_BACKWARD) {
        mcpwm_set_duty(pwm_ch1, left_duty);
    }
    if (right_dir == BSP_MOTOR_FORWARD) {
        mcpwm_set_duty(pwm_ch3, right_duty);
    } else if (right_dir == BSP_MOTOR_BACKWARD) {
        mcpwm_set_duty(pwm_ch2, right_duty);
    }
}
#endif

/**
 * @brief  初始化 GPIO / 充电 ADC
 * @return BSP_HW_OK=成功
 */
BspHw_Ret_t bsp_hw_init(void)
{
    if (s_initialized) {
        return BSP_HW_OK;
    }

#if BOARD_LED_ENABLE
    bsp_pin_output(BOARD_LED_RED_PIN, !BOARD_LED_ON_LEVEL);
    bsp_pin_output(BOARD_LED_GREEN_PIN, !BOARD_LED_ON_LEVEL);
#endif

#if BOARD_KEY_ENABLE
    bsp_pin_input(BOARD_KEY_PIN, 1);
#endif

#if BOARD_CHG_ENABLE
    /* PORTG 作数字输入必须开 dieh，否则读不到 ME4054 CHG */
    gpio_disable_fun_output_port(BOARD_CHG_PIN);
    /* ME4054 CHRG is open-drain/high-Z when not charging.  Keep PG8 pulled
     * high so the digital input has a deterministic level in that state. */
    gpio_set_pull_up(BOARD_CHG_PIN, 1);
    gpio_set_pull_down(BOARD_CHG_PIN, 0);
    gpio_set_die(BOARD_CHG_PIN, 1);
    gpio_set_dieh(BOARD_CHG_PIN, 1);
    gpio_direction_input(BOARD_CHG_PIN);

    gpio_disable_fun_output_port(BOARD_STDBY_PIN);
    gpio_set_pull_up(BOARD_STDBY_PIN, 1);
    gpio_set_pull_down(BOARD_STDBY_PIN, 0);
    gpio_set_die(BOARD_STDBY_PIN, 1);
    gpio_set_dieh(BOARD_STDBY_PIN, 1);
    gpio_direction_input(BOARD_STDBY_PIN);
#endif

#if BOARD_MOTOR_ENABLE
    bsp_motor_pwm_init();
    s_motor_active = 0;
    s_motor_switch_pending = 0;
    s_left_direction = BSP_MOTOR_STOP;
    s_right_direction = BSP_MOTOR_STOP;
#if BOARD_MOTOR_PWM_IDLE_CLOSE
    bsp_motor_pwm_clock_off();
#endif
#endif

    s_initialized = 1;
    log_info("hw init led=%d key=%d chg=%d motor=%d shake=%d\n",
             BOARD_LED_ENABLE, BOARD_KEY_ENABLE, BOARD_CHG_ENABLE,
             BOARD_MOTOR_ENABLE, BOARD_SHAKE_ENABLE);
    return BSP_HW_OK;
}

/**
 * @brief  查询板级硬件是否已初始化
 * @return BSP_HW_OK=已初始化，BSP_HW_ERR_NOT_INIT=未初始化
 */
BspHw_Ret_t bsp_hw_get_status(void)
{
    return s_initialized ? BSP_HW_OK : BSP_HW_ERR_NOT_INIT;
}

/**
 * @brief  红灯开关
 * @param  on 1=亮，0=灭
 * @return 无
 */
void bsp_led_red_set(uint8_t on)
{
#if BOARD_LED_ENABLE
    gpio_direction_output(BOARD_LED_RED_PIN, on ? BOARD_LED_ON_LEVEL : !BOARD_LED_ON_LEVEL);
#else
    (void)on;
#endif
}

/**
 * @brief  绿灯开关
 * @param  on 1=亮，0=灭
 * @return 无
 */
void bsp_led_green_set(uint8_t on)
{
#if BOARD_LED_ENABLE
    gpio_direction_output(BOARD_LED_GREEN_PIN, on ? BOARD_LED_ON_LEVEL : !BOARD_LED_ON_LEVEL);
#else
    (void)on;
#endif
}

/**
 * @brief  红绿灯全灭
 * @return 无
 */
void bsp_led_all_off(void)
{
    bsp_led_red_set(0);
    bsp_led_green_set(0);
}

void bsp_drive_set(BspMotorDir_t left_dir, uint16_t left_duty,
                   BspMotorDir_t right_dir, uint16_t right_duty)
{
#if !BOARD_MOTOR_ENABLE
    (void)left_dir;
    (void)left_duty;
    (void)right_dir;
    (void)right_duty;
#else
    uint8_t left_reversing;
    uint8_t right_reversing;

    if (left_dir < BSP_MOTOR_BACKWARD || left_dir > BSP_MOTOR_FORWARD ||
        right_dir < BSP_MOTOR_BACKWARD || right_dir > BSP_MOTOR_FORWARD) {
        return;
    }
    if (left_dir == BSP_MOTOR_STOP) {
        left_duty = 0;
    }
    if (right_dir == BSP_MOTOR_STOP) {
        right_duty = 0;
    }

    if (left_duty == 0 && right_duty == 0) {
        s_motor_switch_pending = 0;
        /* Keep the last energized directions so an immediate opposite command
         * still observes the H-bridge dead time. */
        bsp_drive_gpio(BSP_MOTOR_STOP, 0, BSP_MOTOR_STOP, 0);
        return;
    }

    if (s_motor_switch_pending) {
        s_pending_left_direction = left_dir;
        s_pending_left_duty = left_duty;
        s_pending_right_direction = right_dir;
        s_pending_right_duty = right_duty;
        return;
    }

    left_reversing = (uint8_t)(s_left_direction != BSP_MOTOR_STOP &&
                               left_dir != BSP_MOTOR_STOP &&
                               left_dir != s_left_direction);
    right_reversing = (uint8_t)(s_right_direction != BSP_MOTOR_STOP &&
                                right_dir != BSP_MOTOR_STOP &&
                                right_dir != s_right_direction);
    if (left_reversing || right_reversing) {
        bsp_drive_gpio(BSP_MOTOR_STOP, 0, BSP_MOTOR_STOP, 0);
        s_pending_left_direction = left_dir;
        s_pending_left_duty = left_duty;
        s_pending_right_direction = right_dir;
        s_pending_right_duty = right_duty;
        s_motor_switch_started_ms = timer_get_ms();
        s_motor_switch_pending = 1;
        return;
    }

    bsp_drive_gpio(left_dir, left_duty, right_dir, right_duty);
    s_left_direction = left_duty ? left_dir : BSP_MOTOR_STOP;
    s_right_direction = right_duty ? right_dir : BSP_MOTOR_STOP;
#endif
}

void bsp_drive_stop(void)
{
    bsp_drive_set(BSP_MOTOR_STOP, 0, BSP_MOTOR_STOP, 0);
}

/**
 * @brief  推进换向死区计时，按真实毫秒计时；死区结束后切到目标方向/占空比
 * @return 无
 */
void bsp_motor_switch_tick(void)
{
#if BOARD_MOTOR_ENABLE
    if (!s_motor_switch_pending ||
        (uint32_t)(timer_get_ms() - s_motor_switch_started_ms) <
        BOARD_MOTOR_REVERSE_MS) {
        return;
    }

    s_motor_switch_pending = 0;
    bsp_drive_gpio(s_pending_left_direction, s_pending_left_duty,
                   s_pending_right_direction, s_pending_right_duty);
    s_left_direction = s_pending_left_duty ?
                       s_pending_left_direction : BSP_MOTOR_STOP;
    s_right_direction = s_pending_right_duty ?
                        s_pending_right_direction : BSP_MOTOR_STOP;
#endif
}

/**
 * @brief  读取按键电平
 * @return 1=按下，0=未按下
 */
uint8_t bsp_key_is_pressed(void)
{
#if BOARD_KEY_ENABLE
    return (uint8_t)(gpio_read(BOARD_KEY_PIN) == BOARD_KEY_ACTIVE_LEVEL);
#else
    return 0;
#endif
}

/**
 * @brief  读取 ME4054 CHG 脚：充电中为低
 * @return 1=充电中，0=未充电
 */
uint8_t bsp_chg_is_low(void)
{
#if BOARD_CHG_ENABLE
    return (uint8_t)(gpio_read(BOARD_CHG_PIN) == BOARD_CHG_CHARGING_LEVEL);
#else
    return 0;
#endif
}

/** @return 1 when TP4056 STDBY is low; otherwise 0. */
uint8_t bsp_stby_is_low(void)
{
#if BOARD_CHG_ENABLE
    return (uint8_t)(gpio_read(BOARD_STDBY_PIN) == BOARD_STDBY_FULL_LEVEL);
#else
    return 0;
#endif
}

/**
 * @brief  读取电池电压
 * @return 电池电压，单位 mV
 */
uint16_t bsp_vbat_mv(void)
{
    return (uint16_t)(adc_get_voltage(AD_CH_VBAT) * 4);
}

/**
 * @brief  读取 5V 口电压，用于判断 USB
 * @return VPWR 电压，单位 mV
 */
uint16_t bsp_vpwr_mv(void)
{
    return (uint16_t)(adc_get_voltage(AD_CH_LDO5V) * 4);
}

/**
 * @brief  USB 是否在位（以 ADC 为主，比较器为辅）
 * @return 1=插入，0=未插入
 */
uint8_t bsp_vpwr_is_online(void)
{
#if BOARD_CHG_ENABLE
    uint16_t mv = bsp_vpwr_mv();

    /* 以 ADC 为准：拔电后比较器可能仍为 1，但电压已经掉到几百 mV */
    if (mv >= BOARD_VPWR_ONLINE_MV) {
        return 1;
    }
    /* LDO5V_DET is valid immediately after a charge wake, before the ADC has
     * produced a stable sample.  Unlike LVCMP it also drops promptly on pull. */
    if (get_ldo5v_online_hw()) {
        return 1;
    }
    if (mv <= BOARD_VPWR_OFF_MV) {
        return 0;
    }
    if (get_lvcmp_det()) {
        return 1;
    }
    return 0;
#else
    return 0;
#endif
}

/**
 * @brief  轻睡前关掉空闲电机 PWM（电机忙碌时不关，避免玩法被掐断）
 * @return 无
 */
void bsp_hw_sleep_pwm_off(void)
{
#if BOARD_MOTOR_ENABLE && BOARD_MOTOR_PWM_IDLE_CLOSE
    if (!s_initialized) {
        return;
    }
    if (bsp_motor_is_busy()) {
        return;
    }
    bsp_motor_pwm_clock_off();
#endif
}

/**
 * @brief  电机是否还在转或处于换向死区
 * @return 1=忙碌，0=已停且 PWM 已关
 */
uint8_t bsp_motor_is_busy(void)
{
#if !BOARD_MOTOR_ENABLE
    return 0;
#else
    return (uint8_t)(s_motor_active || s_motor_switch_pending);
#endif
}

/**
 * @brief  进深睡前把电机 PWM 关掉并拉低，灯全灭
 * @return 无
 */
void bsp_hw_enter_sleep_io(void)
{
    bsp_drive_stop();
#if BOARD_MOTOR_ENABLE
    s_motor_active = 0;
    bsp_motor_pwm_clock_off();
#endif
    bsp_led_all_off();

}