#include <stdio.h>
#include <math.h>
#include "main.h"
#include "lcd_i2c.h"
#include "icm20948.h"
#include "FusionAhrs.h"
#include "moto_config.h"

I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart2;

FusionAhrs ahrs;
MotoData_t moto_data;
MotoStats_t moto_stats = {0};

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART2_UART_Init(void);

int __io_putchar(int ch) {
    HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
    return ch;
}

// Variables pour le filtrage du magnétomètre
float mx_filtered = 0.0f, my_filtered = 0.0f, mz_filtered = 0.0f;

int main(void) {
    HAL_Init();
    SystemClock_Config();
    MX_GPIO_Init();
    MX_I2C1_Init();
    MX_USART2_UART_Init();

    // Initialisation de l'écran
    lcd_init();
    lcd_clear();
    lcd_set_cursor(0, 0);
    lcd_print("MOTO IMU SYSTEM");
    HAL_Delay(1000);

    // Initialisation de l'IMU
	icm20948_init();

    // Initialisation de la fusion AHRS
    FusionAhrsInitialise(&ahrs);

    FusionAhrsSettings settings = {
        .convention = FusionConventionNed, // North-East-Down pour véhicule
        .gain = 0.75f, // Gain plus élevé pour réactivité sur moto
        .gyroscopeRange = 2000.0f, // Range du gyroscope en dps
        .accelerationRejection = 15.0f, // Rejet modéré (vibrations moto)
        .magneticRejection = 30.0f, // Rejet élevé (interférences métalliques)
        .recoveryTriggerPeriod = (int)(2.0f / MOTO_SAMPLE_PERIOD) // 2 secondes
    };
    FusionAhrsSetSettings(&ahrs, &settings);

    // Initialisation des données moto
    Moto_InitData(&moto_data);



    uint32_t last_time = HAL_GetTick();
    uint32_t init_start_time = last_time;
    uint32_t display_update_counter = 0;

    while (1) {
        uint32_t current_time = HAL_GetTick();
        float dt = (current_time - last_time) / 1000.0f;

        if (dt >= MOTO_SAMPLE_PERIOD) {
            float ax, ay, az;    // Accéléromètre
            float gx, gy, gz;    // Gyroscope
            float mx, my, mz;    // Magnétomètre

            // Lecture des capteurs
            icm20948_read_accel(&ax, &ay, &az);
            icm20948_read_gyro(&gx, &gy, &gz);
            icm20948_read_mag(&mx, &my, &mz);

            // Calibration et filtrage du magnétomètre
            Moto_CalibrateMagnetometer(&mx, &my, &mz);
            mx_filtered = MOTO_MAG_FILTER_ALPHA * mx + (1.0f - MOTO_MAG_FILTER_ALPHA) * mx_filtered;
            my_filtered = MOTO_MAG_FILTER_ALPHA * my + (1.0f - MOTO_MAG_FILTER_ALPHA) * my_filtered;
            mz_filtered = MOTO_MAG_FILTER_ALPHA * mz + (1.0f - MOTO_MAG_FILTER_ALPHA) * mz_filtered;

            // Préparation des données pour Fusion
            FusionVector gyroscope = {gx, gy, gz};
            FusionVector accelerometer = {ax, ay, az};
            FusionVector magnetometer = {mx_filtered, my_filtered, mz_filtered};

            // Mise à jour AHRS
            FusionAhrsUpdate(&ahrs, gyroscope, accelerometer, magnetometer, dt);

            // Récupération des angles d'Euler
            FusionEuler euler = FusionQuaternionToEuler(FusionAhrsGetQuaternion(&ahrs));
            float roll = euler.angle.roll;
            float pitch = euler.angle.pitch;
            float yaw = euler.angle.yaw;

            // Vérification de la phase d'initialisation
            FusionAhrsFlags flags = FusionAhrsGetFlags(&ahrs);
            moto_data.is_initializing = flags.initialising;

            // Mise à jour de l'état de la moto
            Moto_UpdateState(&moto_data, roll, pitch, yaw, gx, gy, gz);
            Moto_FilterAngles(&moto_data);
            Moto_UpdateStats(&moto_stats, &moto_data, gx, gy, gz);

            // Mise à jour de l'affichage (toutes les 5 itérations = ~50ms)
            display_update_counter++;
            if (display_update_counter >= 5) {
                char buffer[21];

                for (int line = 0; line < 4; line++) {
                    Moto_FormatDisplay(&moto_data, line, buffer);
                    lcd_set_cursor(line, 0);
                    lcd_print(buffer);
                }

                display_update_counter = 0;
            }

            // LED d'état
            switch (moto_data.state) {
                case MOTO_STATE_NORMAL:
                    HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
                    break;
                case MOTO_STATE_WARNING:
                case MOTO_STATE_RAPID_TURN:
                    // Clignotement lent
                    if ((current_time / 500) % 2) {
                        HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
                    } else {
                        HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
                    }
                    break;
                case MOTO_STATE_DANGER:
                case MOTO_STATE_POSSIBLE_CRASH:
                    // Clignotement rapide
                    if ((current_time / 100) % 2) {
                        HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
                    } else {
                        HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
                    }
                    break;
                default:
                    HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
                    break;
            }

            // Debug UART (toutes les 50 itérations = ~500ms)
            static uint32_t uart_counter = 0;
            uart_counter++;
            if (uart_counter >= 50) {
                FusionAhrsInternalStates states = FusionAhrsGetInternalStates(&ahrs);

                printf("R:%.1f P:%.1f Y:%.1f | St:%s | AE:%.1f ME:%.1f | AI:%d MI:%d | Smp:%lu\r\n",
                       roll, pitch, yaw,
                       Moto_GetStateString(moto_data.state),
                       states.accelerationError, states.magneticError,
                       states.accelerometerIgnored, states.magnetometerIgnored,
                       moto_stats.total_samples);

                uart_counter = 0;
            }

            // Mise à jour du timestamp
            moto_data.last_update_time = current_time;
            last_time = current_time;
        }

        // Petite pause pour éviter la surcharge du processeur
        HAL_Delay(20);
    }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 64;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 10;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_I2C1_Init(void)
{
  hi2c1.Instance = I2C1;
  hi2c1.Init.Timing = 0x10D19CE4;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_USART2_UART_Init(void)
{
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : SMPS_EN_Pin SMPS_V1_Pin SMPS_SW_Pin */
  GPIO_InitStruct.Pin = SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : SMPS_PG_Pin */
  GPIO_InitStruct.Pin = SMPS_PG_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(SMPS_PG_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : LD4_Pin */
  GPIO_InitStruct.Pin = LD4_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD4_GPIO_Port, &GPIO_InitStruct);
}

void Error_Handler(void)
{
  __disable_irq();
  while (1)
  {
  }
}

#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */