/*------------------------------------------------------------------
Based on:
Author: qianrushizaixian
refer to:  blog.csdn.net/qianrushizaixian/article/details/46536005
------------------------------------------------------------------*/

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <math.h> //-- -lm
#include <stdbool.h> //bool

#include "/home/midas/ctest/kmods/soopwm/sooall_pwm.h"

#define PWM_DEV "/dev/sooall_pwm"

int main(int argc, char *argv[])
{
	int ret = -1;
	int pwm_fd;
	int pwmno=0;
	//-------cfg for pwm0(motor); cfg1 for pwm1(light); cfg2 for pwm2(actuator)
	struct pwm_cfg  cfg,cfg1,cfg2;
	int tmp;

	//---- select pwm port 0-3, default use pwm0 port ---
/*
	if(argc>1)
		pwmno = atoi(argv[1]);
*/
	pwm_fd = open(PWM_DEV, O_RDWR);
	if (pwm_fd < 0) {
		printf("open pwm fd failed\n");
		return -1;
	}

//========-----------   pwm0-1 configuration  ----------==========
	cfg.no        =   pwmno;
	cfg.clksrc    =   PWM_CLK_40MHZ; //40MHZ or 100KHZ; 20-30KHZ for NIDEC24H PWM control
	cfg.clkdiv    =   PWM_CLK_DIV4; //DIV4 for 25KHz,40us  //DIV2 40/2=20MHZ
	cfg.old_pwm_mode =true;    /* true=old mode --- false=new mode */
	//---- NEW MODE conf.-----
/*
	cfg.lduration =   2-1; //(duration 2)for NEW MODE !!!!!! set N as N-1
	cfg.hduration =   2-1; //(duration 2)for NEW MODE  !!!!!! set N as N-1
	cfg.senddata0 =   0xf000f000;//1101110111011101;//0xAAAA; for NEW MODE
	cfg.senddata1 =	  0xf0f0f0f0;//1101110111011101;//0xAAAA; FOR NEW MODE
	cfg.stop_bitpos = 63; // stop position of send data 0-63
*/
 	//----- end NEW MODE conf.
	cfg.idelval   =   0;
	cfg.guardval  =   0; //
	cfg.guarddur  =   0; //
	cfg.wavenum   =   0;  /* forever loop */
	cfg.datawidth =   400;//period relevant,for 25KHZ,40us;  //--limit 2^13-1=8191 
	cfg.threshold =   200; //duty relevant, (0-400)for PWM adjust
	//---period=1000/100(KHZ)*(DIV(1-128))*datawidth   (us)
	//---period=1000/40(MHz)*(DIV)*datawidth       (ns)
	//MOTOR PWM 25KHz:  40,000ns = 1000/40*DIV4*datawidth400 (ns), so threshole adjustable: 0-400


//========-----------   pwm2 configuration : actuator  ----------==========
	cfg1.no        =   1;
	cfg1.clksrc    =   PWM_CLK_100KHZ; //40MHZ or 100KHZ; 
	cfg1.clkdiv    =   PWM_CLK_DIV0; //  //DIV2 40/2=20MHZ
	cfg1.old_pwm_mode =true;    /* true=old mode --- false=new mode */
	//---- NEW MODE conf.-----
/*
	cfg1.lduration =   2-1; //(duration 2)for NEW MODE !!!!!! set N as N-1
	cfg1.hduration =   2-1; //(duration 2)for NEW MODE  !!!!!! set N as N-1
	cfg1.senddata0 =   0xf000f000;//1101110111011101;//0xAAAA; for NEW MODE
	cfg1.senddata1 =	  0xf0f0f0f0;//1101110111011101;//0xAAAA; FOR NEW MODE
*/
	//---end of NEW MODE
	cfg1.stop_bitpos = 63; // stop position of send data 0-63
	cfg1.idelval   =   0;
	cfg1.guardval  =   0; //
	cfg1.guarddur  =   0; //
	cfg1.wavenum   =   0;  /* forever loop */
	cfg1.datawidth =   2000;//period relevant,for20ms;  //--limit 2^13-1=8191 
	cfg1.threshold =   150; //duty relevant, (0-10000) actuator 0 position threshold: 1.5/20*2000=150
	//-90Deg -- 0.5ms -- threshold 25  ;;;;  90Deg - 2.5ms -- threshold 125
	//---period=1000/100(KHZ)*(DIV(1-128))*datawidth   (us)
	//---period=1000/40(MHz)*(DIV)*datawidth       (ns)
	//actuator PWM:  20,000us = 1000/100*DIV0(1)*datawidth2000 (us), so threshole adjustable: 0-2000


	//-----print corresponding period---
	if(cfg.old_pwm_mode == true)
	{
           if(cfg.clksrc == PWM_CLK_100KHZ)
		{
			tmp=pow(2.0,(float)(cfg.clkdiv));
			printf("tmp=%d,set Motor PWM  period=%d us\n",tmp,(int)(1000.0/100.0*tmp*(int)(cfg.datawidth))); // div by integer is dangerous!!!
		}
           else if(cfg.clksrc == PWM_CLK_40MHZ)
		{
			tmp=pow(2.0,(float)(cfg.clkdiv));
			printf("tmp=%d,set Motor PWM period=%d ns\n",tmp,(int)(1000.0/40.0*tmp*(int)(cfg.datawidth))); // div by integer is dangerous!!!
		}
         }

	else if(cfg.old_pwm_mode == false)
	{
		printf("senddata0= %#08x  senddata1= %#08x \n",cfg.senddata0,cfg.senddata1); 
	}


	//------  first set configure, then enable pwm: for motor control  -----
	ioctl(pwm_fd, PWM_CONFIGURE, &cfg);
	ioctl(pwm_fd, PWM_ENABLE, &cfg);

	//------  set pwm1-cfg1 same as pwm0-cfg: for breathing light  -----
//	cfg1=cfg;
//	cfg1.no=1; //set pwm1 port
//	ioctl(pwm_fd, PWM_CONFIGURE, &cfg1);
//	ioctl(pwm_fd, PWM_ENABLE, &cfg1);

	//------ set pwm2-cfg2 for actuator -----
	ioctl(pwm_fd,PWM_CONFIGURE, &cfg1);
	ioctl(pwm_fd,PWM_ENABLE,&cfg1);

/*------------  test PWM for MOTOR -----------------*/
        while(1){
		for(tmp=0;tmp<400;tmp++){
			//-- cfg motor
			cfg.threshold=tmp;
			//-- cfg1 LED indicating light
//			cfg1.threshold=400-tmp;//complement to tmp
			// -- cfg1 actuator threshold 50-250  -> 100-200
			cfg1.threshold = 100+(tmp>>2); //(50+(tmp>>1));

			usleep(5000);
			ioctl(pwm_fd,PWM_CONFIGURE,&cfg);
			ioctl(pwm_fd,PWM_CONFIGURE,&cfg1);
			//ioctl(pwm_fd,PWM_CONFIGURE,&cfg2);
		}
		//------ reverse now -----
		for(tmp=400;tmp>0;tmp--){
			//-- cfg motor
			cfg.threshold=tmp;
			//-- cfg1 LED indicating light
//			cfg1.threshold=400-tmp;//complement to tmp
			// -- cfg1 actuator threshold 50-250 --> 100-200
			cfg1.threshold = 100+(tmp>>2);// (50+(tmp>>1));

			usleep(5000);
			ioctl(pwm_fd,PWM_CONFIGURE,&cfg);
			ioctl(pwm_fd,PWM_CONFIGURE,&cfg1);
			//ioctl(pwm_fd,PWM_CONFIGURE,&cfg2);
		}
//		usleep(900000);//hold for a while

	}

/*
	while (1) {
		static int cnt = 0;
		sleep(5);
		ioctl(pwm_fd, PWM_GETSNDNUM, &cfg);
		printf("send wave num = %d\n", cfg.wavenum);
		cnt++;
		if (cnt == 10) {
			ioctl(pwm_fd, PWM_DISABLE, &cfg);
			break;
		}
	}
*/
	return 0;
}