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/**
 ******************************************************************************
 * @file    main.cpp
 * @author  Davide Aliprandi, STMicroelectronics
 * @version V1.0.0
 * @date    November 4th, 2015
 * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
 *          Motor Control Expansion Board: control of 2 motors.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


/* Includes ------------------------------------------------------------------*/

/* mbed specific header files. */
#include "mbed.h"

/* Helper header files. */
#include "DevSPI.h"

/* Expansion Board specific header files. */
#include "x_nucleo_ihm02a1_class.h"

/* String libraries for splitting commands*/
#include <string.h>

/* Definitions ---------------------------------------------------------------*/

/* Number of movements per revolution. */
#define MPR_1 4

/* Number of steps. */
#define STEPS_1 (200 * 128)   /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
#define STEPS_2 (STEPS_1 * 2)

/* Delay in milliseconds. */
#define DELAY_1 1000
#define DELAY_2 2000
#define DELAY_3 5000


/* Variables -----------------------------------------------------------------*/

/* Serial port to USB*/
Serial pc(USBTX,USBRX);//tx, rx

/* Motor Control Expansion Board. */
X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;

/* Initialization parameters of the motors connected to the expansion board. */
L6470_Init_t init[L6470DAISYCHAINSIZE] =
{
    /* First Motor. */
    {
        12.0,                           /* Motor supply voltage in V. */
        200,                           /* Min number of steps per revolution for the motor. */
        0.5,                           /* Max motor phase voltage in A. */
        5.06,                          /* Max motor phase voltage in V. */
        200.0,                         /* Motor initial speed [step/s]. */
        300.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
        300.0,                         /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
        400.0,                         /* Motor maximum speed [step/s]. */
        0.0,                           /* Motor minimum speed [step/s]. */
        800,                         /* Motor full-step speed threshold [step/s]. */
        3.06,                          /* Holding kval [V]. */
        3.06,                          /* Constant speed kval [V]. */
        3.06,                          /* Acceleration starting kval [V]. */
        3.06,                          /* Deceleration starting kval [V]. */
        61.52,                         /* Intersect speed for bemf compensation curve slope changing [step/s]. */
        392.1569e-6,                   /* Start slope [s/step]. */
        643.1372e-6,                   /* Acceleration final slope [s/step]. */
        643.1372e-6,                   /* Deceleration final slope [s/step]. */
        0,                             /* Thermal compensation factor (range [0, 15]). */
        3.06 * 1000 * 1.10,            /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
        3.06 * 1000 * 1.00,            /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
        StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
        0xFF,                          /* Alarm conditions enable. */
        0x2E88                         /* Ic configuration. */
    },

    /* Second Motor. */
    {
        12.0,                           /* Motor supply voltage in V. */
        200,                           /* Min number of steps per revolution for the motor. */
        0.5,                           /* Max motor phase voltage in A. */
        5.06,                          /* Max motor phase voltage in V. */
        200.0,                         /* Motor initial speed [step/s]. */
        300.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
        300.0,                         /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
        400.0,                         /* Motor maximum speed [step/s]. */
        0.0,                           /* Motor minimum speed [step/s]. */
        800,                         /* Motor full-step speed threshold [step/s]. */
        3.06,                          /* Holding kval [V]. */
        3.06,                          /* Constant speed kval [V]. */
        3.06,                          /* Acceleration starting kval [V]. */
        3.06,                          /* Deceleration starting kval [V]. */
        61.52,                         /* Intersect speed for bemf compensation curve slope changing [step/s]. */
        392.1569e-6,                   /* Start slope [s/step]. */
        643.1372e-6,                   /* Acceleration final slope [s/step]. */
        643.1372e-6,                   /* Deceleration final slope [s/step]. */
        0,                             /* Thermal compensation factor (range [0, 15]). */
        3.06 * 1000 * 1.10,            /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
        3.06 * 1000 * 1.00,            /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
        StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
        0xFF,                          /* Alarm conditions enable. */
        0x2E88                         /* Ic configuration. */
    }
};
    
DigitalIn  enable(PA_8);
/* Building a list of motor control components. */
//L6470 **motors = x_nucleo_ihm02a1->GetComponents();
L6470 **motors;

void highZ(){
        /* Preparing each motor to set High Impedance State. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
        motors[m]->PrepareHardHiZ();

    /* Performing the action on each motor at the same time. */
    x_nucleo_ihm02a1->PerformPreparedActions();
}

void hardStop(int motor){
    //    /*----- Hard Stop. -----*/
//
    /* Printing to the console. */
//    pc.printf("--> Hard Stop.\r\n");

    /* Preparing each motor to perform a hard stop. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
    motors[motor]->PrepareHardStop();

    /* Performing the action on each motor at the same time. */
    x_nucleo_ihm02a1->PerformPreparedActions();

    highZ();
    /* Waiting. */
//    wait_ms(DELAY_2);
}

void stopAllMotors(){
        /* Preparing each motor to perform a hard stop. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
        motors[m]->PrepareHardStop();

    /* Performing the action on each motor at the same time. */
    x_nucleo_ihm02a1->PerformPreparedActions();
    
    highZ();
}

void setHome(int motor){
    motors[motor]->SetHome();
}

int getPosition(int motor){
    int position = motors[motor]->GetPosition();
    return position;
}

void moveSteps(int motor, int steps){
    
    if(steps < 0)
        motors[motor]->Move(StepperMotor::BWD, steps*-1);
    else
        motors[motor]->Move(StepperMotor::FWD, steps);
    motors[motor]->WaitWhileActive();            
    hardStop(motor);
}

void runAtSpeed(int motor, int speed){
    if(speed < 0)
        motors[motor]->PrepareRun(StepperMotor::BWD, speed*-1);
    else if(speed > 0)
        motors[motor]->PrepareRun(StepperMotor::FWD, speed);
    else{
        hardStop(motor);
        return;
    }
    /* Performing the action on each motor at the same time. */
    x_nucleo_ihm02a1->PerformPreparedActions();
}

void moveInSync(int steps){
    if(steps < 0){
        motors[0]->PrepareMove(StepperMotor::BWD, steps*-1);
        motors[1]->PrepareMove(StepperMotor::BWD, steps*-1);
    }
    else if(steps > 0){
        motors[0]->PrepareMove(StepperMotor::FWD, steps);
        motors[1]->PrepareMove(StepperMotor::FWD, steps);
    }
    x_nucleo_ihm02a1->PerformPreparedActions();
    motors[0]->WaitWhileActive();
    motors[1]->WaitWhileActive();
}

void goXRHome(int speed){
    //while not pushing button move motor to the left?
    motors[0]->PrepareRun(StepperMotor::BWD, speed);
    motors[1]->PrepareRun(StepperMotor::BWD, speed);
    
    x_nucleo_ihm02a1->PerformPreparedActions();
    
//    while(
    wait_ms(5000);
    
    stopAllMotors();
}

void goHome(int motor, int speed){
    //while not pushing button move motor to the left?
    motors[motor]->PrepareRun(StepperMotor::BWD, speed);
    
    x_nucleo_ihm02a1->PerformPreparedActions();
    
//    while(
    wait_ms(5000);
    
    stopAllMotors();
}

void readSerial(){
        char rx_line[10];    
//    while(pc.readable()){
        pc.scanf("%s", rx_line);
        //pc.printf("Spoken %s \r\n", rx_line);
        
        char cmd[10], cmdv[10], cmdv2[10];
        int values = sscanf(rx_line, "%[^','],%[^','],%s",cmd, cmdv, cmdv2);
        //pc.printf("%d\r\n",values);
        int cmd_value = atoi(cmdv);
        int cmd_value2 = atoi(cmdv2);
        //pc.printf("%s\r\n%d\r\n%d\r\n", cmd, cmd_value, cmd_value2);

        char c = cmd[0];
        //pc.printf("%c", c);
        int pos;
        int pos2;
        switch(c){
            case 'a':
                
                return;
            case 'b':
                //set home
                setHome(cmd_value);
                pos = getPosition(cmd_value);
                pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
                return;
            case 'c':
                //get position
                pos = getPosition(cmd_value);
                pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
                return;
            case 'd':
                
                break;
            case 'e':
                //move steps
                moveSteps(cmd_value, cmd_value2);
                pos = getPosition(cmd_value);
                pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
                return;
            case 'f':
                //run at a given speed or change to run until hit bump
                runAtSpeed(cmd_value, cmd_value2);
                break;
            case 'g':
                //Halt
                stopAllMotors();
                break;
            case 'h':
                //move X to home (and R cause connected)
                goXRHome(cmd_value2);
                pos = getPosition(0);
                pos2 = getPosition(1);
                pc.printf("%c,%d,%d\r\n",c,pos,pos2);
                return;
            case 'i':
                //move X numebr of steps and R cause connected
                moveInSync(cmd_value);
                pos = getPosition(0);
                pos2 = getPosition(1);
                pc.printf("%c,%d,%d\r\n",c,pos,pos2);
                return;
            case 'j':
                //go home
                goHome(cmd_value, cmd_value2);
                pos = getPosition(cmd_value);
                pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
                return;
            default:
                //N/A command
                pc.printf("Do not understand commands: %s with value %d\r\n", cmd, cmd_value);
                return;
        }
        pc.printf("complete\r\n");
}

/* Main ----------------------------------------------------------------------*/

int main()
{
    /* Initializing SPI bus. */
    DevSPI dev_spi(D11, D12, D13);
    
    /* Initializing Motor Control Expansion Board. */
    x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
    
    motors = x_nucleo_ihm02a1->GetComponents();

    pc.attach(readSerial);
    pc.printf("ready\r\n");
    
    while(1){
    }
    
    ///*----- Initialization. -----*/
//
//    /* Initializing SPI bus. */
//    DevSPI dev_spi(D11, D12, D13);
//
//    /* Initializing Motor Control Expansion Board. */
//    x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
//
//    /* Building a list of motor control components. */
//    L6470 **motors = x_nucleo_ihm02a1->GetComponents();
//
//    /* Printing to the console. */
//    pc.printf("Motor Control Application Example for 2 Motors\r\n\n");
//
//
//    /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
//
//    /* Printing to the console. */
//    pc.printf("--> Setting home position.\r\n");
//
//    /* Setting the home position. */
//    motors[0]->SetHome();
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Getting the current position. */
//    int position = motors[0]->GetPosition();
//
//    /* Printing to the console. */
//    pc.printf("--> Getting the current position: %d\r\n", position);
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Printing to the console. */
//    pc.printf("--> Moving forward %d steps.\r\n", STEPS_1);
//
//    /* Moving. */
//    motors[0]->Move(StepperMotor::FWD, STEPS_1);
//
//    /* Waiting while active. */
//    motors[0]->WaitWhileActive();
//
//    /* Getting the current position. */
//    position = motors[0]->GetPosition();
//    
//    /* Printing to the console. */
//    pc.printf("--> Getting the current position: %d\r\n", position);
//
//    /* Printing to the console. */
//    pc.printf("--> Marking the current position.\r\n");
//
//    /* Marking the current position. */
//    motors[0]->SetMark();
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Printing to the console. */
//    pc.printf("--> Moving backward %d steps.\r\n", STEPS_2);
//
//    /* Moving. */
    //motors[0]->Move(StepperMotor::BWD, STEPS_2);
//
//    /* Waiting while active. */
//    motors[0]->WaitWhileActive();
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Getting the current position. */
//    position = motors[0]->GetPosition();
//    
//    /* Printing to the console. */
//    pc.printf("--> Getting the current position: %d\r\n", position);
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Printing to the console. */
//    pc.printf("--> Going to marked position.\r\n");
//
//    /* Going to marked position. */
//    motors[0]->GoMark();
//    
//    /* Waiting while active. */
//    motors[0]->WaitWhileActive();
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Getting the current position. */
//    position = motors[0]->GetPosition();
//    
//    /* Printing to the console. */
//    pc.printf("--> Getting the current position: %d\r\n", position);
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Printing to the console. */
//    pc.printf("--> Going to home position.\r\n");
//
//    /* Going to home position. */
//    motors[0]->GoHome();
//    
//    /* Waiting while active. */
//    motors[0]->WaitWhileActive();
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Getting the current position. */
//    position = motors[0]->GetPosition();
//    
//    /* Printing to the console. */
//    pc.printf("--> Getting the current position: %d\r\n", position);
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Printing to the console. */
//    pc.printf("--> Halving the microsteps.\r\n");
//
//    /* Halving the microsteps. */
//    init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel -  1 : init[0].step_sel);
//    if (!motors[0]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel))
//        pc.printf("    Step Mode not allowed.\r\n");
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Printing to the console. */
//    pc.printf("--> Setting home position.\r\n");
//
//    /* Setting the home position. */
//    motors[0]->SetHome();
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Getting the current position. */
//    position = motors[0]->GetPosition();
//    
//    /* Printing to the console. */
//    pc.printf("--> Getting the current position: %d\r\n", position);
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//    /* Printing to the console. */
//    pc.printf("--> Moving forward %d steps.\r\n", STEPS_1);
//
//    /* Moving. */
//    motors[0]->Move(StepperMotor::FWD, STEPS_1);
//
//    /* Waiting while active. */
//    motors[0]->WaitWhileActive();
//
//    /* Getting the current position. */
//    position = motors[0]->GetPosition();
//    
//    /* Printing to the console. */
//    pc.printf("--> Getting the current position: %d\r\n", position);
//
//    /* Printing to the console. */
//    pc.printf("--> Marking the current position.\r\n");
//
//    /* Marking the current position. */
//    motors[0]->SetMark();
//
//    /* Waiting. */
//    wait_ms(DELAY_2);
//
//
//    /*----- Running together for a certain amount of time. -----*/
//
//    /* Printing to the console. */
//    pc.printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
//
//    /* Preparing each motor to perform a run at a specified speed. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
//        motors[m]->PrepareRun(StepperMotor::BWD, 400);
//
//    /* Performing the action on each motor at the same time. */
//    x_nucleo_ihm02a1->PerformPreparedActions();
//
//    /* Waiting. */
//    wait_ms(DELAY_3);
//
//
//    /*----- Increasing the speed while running. -----*/
//
//    /* Preparing each motor to perform a run at a specified speed. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
//        motors[m]->PrepareGetSpeed();
//
//    /* Performing the action on each motor at the same time. */
//    uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
//
//    /* Printing to the console. */
//    pc.printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
//
//    /* Printing to the console. */
//    pc.printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
//
//    /* Preparing each motor to perform a run at a specified speed. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
//        motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
//
//    /* Performing the action on each motor at the same time. */
//    results = x_nucleo_ihm02a1->PerformPreparedActions();
//
//    /* Waiting. */
//    wait_ms(DELAY_3);
//
//    /* Preparing each motor to perform a run at a specified speed. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
//        motors[m]->PrepareGetSpeed();
//
//    /* Performing the action on each motor at the same time. */
//    results = x_nucleo_ihm02a1->PerformPreparedActions();
//
//    /* Printing to the console. */
//    pc.printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
//
//    /* Waiting. */
//    wait_ms(DELAY_1);
//
//
//    /*----- Hard Stop. -----*/
//
//    /* Printing to the console. */
//    pc.printf("--> Hard Stop.\r\n");
//
//    /* Preparing each motor to perform a hard stop. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
//        motors[m]->PrepareHardStop();
//
//    /* Performing the action on each motor at the same time. */
//    x_nucleo_ihm02a1->PerformPreparedActions();
//
//    /* Waiting. */
//    wait_ms(DELAY_2);
//
//
//    /*----- Doing a full revolution on each motor, one after the other. -----*/
//
//    /* Printing to the console. */
//    pc.printf("--> Doing a full revolution on each motor, one after the other.\r\n");
//
//    /* Doing a full revolution on each motor, one after the other. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
//        for (int i = 0; i < MPR_1; i++)
//        {
//            /* Computing the number of steps. */
//            int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
//
//            /* Moving. */
//            motors[m]->Move(StepperMotor::FWD, steps);
//            
//            /* Waiting while active. */
//            motors[m]->WaitWhileActive();
//
//            /* Waiting. */
//            wait_ms(DELAY_1);
//        }
//
//    /* Waiting. */
//    wait_ms(DELAY_2);
//
//
//    /*----- High Impedance State. -----*/
//
//    /* Printing to the console. */
//    pc.printf("--> High Impedance State.\r\n");
//
//    /* Preparing each motor to set High Impedance State. */
//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
//        motors[m]->PrepareHardHiZ();
//
//    /* Performing the action on each motor at the same time. */
//    x_nucleo_ihm02a1->PerformPreparedActions();
//
//    /* Waiting. */
//    wait_ms(DELAY_2);
}