/*
 * pse_stepper_planer.c
 *
 *  Created on: Aug 14, 2023
 *      Author: leo
 */

#include <stdint.h>

#include "PSE_unit.h"

#include "pse_stepper_planer.h"

static int units_running = 0; // counter of currently running units, to disable interrupts when unnecessary
static TIM_HandleTypeDef* htim; // main interrupt timer handle

void pse_stepper_planer_tick(pse_unit* units, uint8_t units_num){
	for(int i = 0; i < units_num; i++){
		pse_stepper_conf* c = units[i].stepper_conf;

		int state;
		if(c->step_max){
			c->tick_counter %= 2;
			state = c->tick_counter;
		}
		else{
			c->tick_counter %= c->step_itvl;
			state = c->tick_counter == 0;
		}
		c->tick_counter++;
		HAL_GPIO_WritePin(c->STEP_GPIO_Port, c->STEP_GPIO_Pin, state);
		c->steps_counter += (pse_sp_get_dir(c)?1:-1) * (state?1:0);
		if(c->stopAtHome && c->steps_counter == 0){
			pse_sp_stop_axis(c);
		}
	}
}

void pse_sp_start_axis(pse_stepper_conf* conf){
	if(HAL_GPIO_ReadPin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin) == GPIO_PIN_SET){
		if(units_running == 0)
			HAL_TIM_Base_Start_IT(htim);
		units_running++;
	}

	HAL_GPIO_WritePin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin, GPIO_PIN_RESET);
}
void pse_sp_stop_axis(pse_stepper_conf* conf){
	if(HAL_GPIO_ReadPin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin) == GPIO_PIN_RESET){
		units_running--;
		if(units_running == 0)
			HAL_TIM_Base_Stop_IT(htim);
	}
	HAL_GPIO_WritePin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin, GPIO_PIN_SET);
}

void pse_sp_set_dir(pse_stepper_conf* conf, int dir){
	HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, dir);
}

int pse_sp_get_dir(pse_stepper_conf* conf){
	return HAL_GPIO_ReadPin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin);
}

void pse_stepper_planer_compute_sps(pse_unit* unit){
	pse_stepper_conf* c = unit->stepper_conf;
	// magic constants are used to approximate pi and other multiplicatives constant as a rationnal
	uint64_t numerator = (uint64_t)1 * unit->syringe->diameter * unit->syringe->diameter * PSE_STEPPER_INTERRUPT_RATE * PSE_STEPPER_SCREW_PITCH;
	uint64_t denominator = (uint64_t)21220209 * unit->flow * PSE_STEPPER_STEPS_PER_ROTATION;
	c->step_itvl = numerator / denominator;
}

void pse_sp_set_dir_all(pse_unit* units, int units_num, int dir){
	for(int i = 0; i < units_num; i++){
		pse_sp_set_dir(units[i].stepper_conf, dir);
	}
}

void pse_sp_start_all(pse_unit* units, int units_num){
	HAL_TIM_Base_Start_IT(htim);

	for(int i = 0; i < units_num; i++){
		if(units[i].enabled){
			pse_sp_start_axis(units[i].stepper_conf);
			units_running++;
		}
	}
}
void pse_sp_stop_all(pse_unit* units, int units_num){
	for(int i = 0; i < units_num; i++){
		if(units[i].enabled)
			pse_sp_stop_axis(units[i].stepper_conf);
	}

	HAL_TIM_Base_Stop_IT(htim);
	units_running = 0;
}

void pse_sp_set_timer(TIM_HandleTypeDef* tim){
	htim = tim;
}