#include "ultrasonic_analog.h"
#include "gd32e23x_usart.h"
#include "gd32e23x_rcu.h"
#include "gd32e23x_gpio.h"
#include "board_config.h"
#include "systick.h"

volatile bool g_ultrasonic_measure_done = false;

void ultrasonic_tx_init(void) {

    rcu_periph_clock_enable(US_TX_GPIO_RCU);

    gpio_mode_set(US_TX_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TX_GPIO_PIN);
    gpio_output_options_set(US_TX_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TX_GPIO_PIN);
    gpio_af_set(US_TX_GPIO_PORT, US_TX_GPIO_AF, US_TX_GPIO_PIN);

    timer_oc_parameter_struct timer_ocinitpara;
    timer_parameter_struct timer_initpara;

    rcu_periph_clock_enable(US_TX_TIMER_RCU);

    timer_deinit(US_TX_TIMER);

    timer_struct_para_init(&timer_initpara);
    /* 配置为300kHz PWM输出 (72MHz/240) */
    timer_initpara.prescaler = 0;  // 不分频
    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
    timer_initpara.counterdirection = TIMER_COUNTER_UP;
    timer_initpara.period = 239;   // 72MHz/300kHz - 1
    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
    timer_init(US_TX_TIMER, &timer_initpara);

    timer_channel_output_struct_para_init(&timer_ocinitpara);
    timer_ocinitpara.outputstate = TIMER_CCX_DISABLE;
    timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
    timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
    timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
    timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
    timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
    timer_channel_output_config(US_TX_TIMER, US_TX_TIMER_CH, &timer_ocinitpara);

    /* config timer channel output mode */
    timer_channel_output_mode_config(US_TX_TIMER, US_TX_TIMER_CH, TIMER_OC_MODE_PWM0);

    /* config channel output pluse value (50% duty) */
    timer_channel_output_pulse_value_config(US_TX_TIMER, US_TX_TIMER_CH, 120);
    
    /* auto-reload preload enable */
    timer_auto_reload_shadow_enable(US_TX_TIMER);

    timer_counter_value_config(US_TX_TIMER, 0);

    timer_interrupt_enable(US_TX_TIMER, TIMER_INT_UP);
    nvic_irq_enable(TIMER13_IRQn, 2U);

}

void ultrasonic_pwm_out_cycles(void) {
    g_ultrasonic_measure_done = false;

    // 停止发射定时器
    timer_disable(TIMER13);
    timer_channel_output_state_config(TIMER13, TIMER_CH_0, TIMER_CCX_ENABLE);

    // 重置并启动回波计时器
    timer_disable(US_ECHO_TIMER);
    
    // 重要：清除所有中断标志
    // timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_CH0);
    // timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_UP);
    
    // 重置计数器
    timer_counter_value_config(US_ECHO_TIMER, 0);

    // 启动发射PWM
    timer_enable(US_TX_TIMER);

    // 启动回波计时器
    timer_enable(US_ECHO_TIMER);
}

void ultrasonic_receive_exti_config(void) {
    rcu_periph_clock_enable(US_RX_GPIO_RCU);
    rcu_periph_clock_enable(US_RX_EXTI_RCU);

    gpio_mode_set(US_RX_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_RX_GPIO_PIN);
    nvic_irq_enable(US_RX_EXTI_IRQ, 0U);
    syscfg_exti_line_config(EXTI_SOURCE_GPIOA, US_RX_EXTI_LINE);

    exti_init(US_RX_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
    exti_flag_clear(US_RX_GPIO_EXTI);
}

void ultrasonic_echo_timer_config(void) {
    rcu_periph_clock_enable(US_ECHO_RCU);
    timer_deinit(US_ECHO_TIMER);

    timer_parameter_struct timer_initpara;
    timer_struct_para_init(&timer_initpara);
    timer_initpara.prescaler = 71;                  // 72MHz/72 = 1MHz (1us per count)
    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
    timer_initpara.counterdirection = TIMER_COUNTER_UP;
    timer_initpara.period = (ULTRASONIC_MAX_TOF_RELOAD - 1);
    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
    timer_init(US_ECHO_TIMER, &timer_initpara);

    timer_auto_reload_shadow_disable(US_ECHO_TIMER);

    // 配置输出比较通道0
    timer_oc_parameter_struct timer_oc_initpara;
    timer_channel_output_struct_para_init(&timer_oc_initpara);
    timer_oc_initpara.outputstate = TIMER_CCX_ENABLE;
    timer_oc_initpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
    timer_channel_output_config(US_ECHO_TIMER, TIMER_CH_0, &timer_oc_initpara);

    // 配置输出比较模式
    timer_channel_output_mode_config(US_ECHO_TIMER, TIMER_CH_0, TIMER_OC_MODE_TIMING);
    
    // 设置比较值
    timer_channel_output_pulse_value_config(US_ECHO_TIMER, TIMER_CH_0, (ULTRASONIC_TX_RINGDOWN_RELOAD - 1));

    // 清除中断标志
    timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_CH0);
    timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_UP);

    // 使能中断
    timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP);      // UP中断
    timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0);     // CH0中断
    
    nvic_irq_enable(US_ECHO_TIMER_IRQ, 1U);

    // timer_single_pulse_mode_config(US_ECHO_TIMER, TIMER_SP_MODE_SINGLE);
}

void ultrasonic_config(void) {
    ultrasonic_tx_init();
    ultrasonic_receive_exti_config();
    ultrasonic_echo_timer_config();
}