#include <stdlib.h>
#include <stdio.h>
#include <string.h>

#include "./H3_ircut.h"
#include "BaseConfig.h"

//如果wiringPi库安装了，则使用wiringPi库，否则使用sysfs
#ifdef WIRINGPI_STATUS_ON
    #include <wiringPi.h>
#endif

#define AMPLIFIER_IRCUT_PIN_1 7
#define AMPLIFIER_IRCUT_PIN_2 19
#define MOTOR_IRCUT_PIN 18

//sys方案输入，未进行测试
int gpio_test_in(unsigned int gpio_chip_num, unsigned int gpio_offset_num)
{
	FILE *fp;
	char file_name[50];
	unsigned char buf[10];
	unsigned int gpio_num;
	gpio_num = gpio_chip_num * 8 + gpio_offset_num;
	sprintf(file_name, "/sys/class/gpio/export");//��Ҫ������ GPIO ��� export
	fp = fopen(file_name, "w");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}
	fprintf(fp, "%d", gpio_num);
	fclose(fp);
	
	sprintf(file_name, "/sys/class/gpio/gpio%d/direction", gpio_num);//���� GPIO ����
	fp = fopen(file_name, "rb+");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}
	fprintf(fp, "in");//��������
	fclose(fp);
	
	sprintf(file_name, "/sys/class/gpio/gpio%d/value", gpio_num);//�鿴 GPIO ����ֵ��
	fp = fopen(file_name, "rb+");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}
	memset(buf, 0, 10);
	fread(buf, sizeof(char), sizeof(buf) - 1, fp);
	printf("%s: gpio%d_%d = %d\n", __func__,gpio_chip_num, gpio_offset_num, buf[0]-48);
	fclose(fp);
	
	sprintf(file_name, "/sys/class/gpio/unexport");
	fp = fopen(file_name, "w");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}
	fprintf(fp, "%d", gpio_num);
	fclose(fp);
	return (int)(buf[0]-48);
}

//sys方案输入，未进行测试
int gpio_test_out(unsigned int gpio_chip_num, unsigned int gpio_offset_num,unsigned int gpio_out_val)
{
	FILE *fp;
	char file_name[50];
	unsigned char buf[10];
	unsigned int gpio_num;
	gpio_num = gpio_chip_num * 8 + gpio_offset_num;
	sprintf(file_name, "/sys/class/gpio/export");
	fp = fopen(file_name, "w");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}
	fprintf(fp, "%d", gpio_num);
	fclose(fp);
	
	sprintf(file_name, "/sys/class/gpio/gpio%d/direction", gpio_num);
	fp = fopen(file_name, "rb+");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}
	fprintf(fp, "out");
	fclose(fp);
	
	sprintf(file_name, "/sys/class/gpio/gpio%d/value", gpio_num);
	fp = fopen(file_name, "rb+");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}
	if (gpio_out_val)
	strcpy(buf,"1");
	else
	strcpy(buf,"0");
	fwrite(buf, sizeof(char), sizeof(buf) - 1, fp);
	printf("%s: gpio%d_%d = %s\n", __func__,gpio_chip_num, gpio_offset_num, buf);
	fclose(fp);
	sprintf(file_name, "/sys/class/gpio/unexport");
	fp = fopen(file_name, "w");
	if (fp == NULL) 
		{
			printf("Cannot open %s.\n", file_name);
			return -1;
		}	
	fprintf(fp, "%d", gpio_num);
	fclose(fp);
	return 0;
}


/********************
 * 
 * 
 *  H3引脚初始化
 * 
 * 
 * ****************/
T_JZsdkReturnCode H3_ircut_init()
{
#ifdef WIRINGPI_STATUS_ON

    //wiringPi库的初始化
    wiringPiSetup() ;

    //静音引脚初始化
    pinMode (AMPLIFIER_IRCUT_PIN_1, OUTPUT) ;
	digitalWrite(AMPLIFIER_IRCUT_PIN_1,LOW);
	pinMode (AMPLIFIER_IRCUT_PIN_2, OUTPUT) ;
	digitalWrite(AMPLIFIER_IRCUT_PIN_2,LOW);

    //H10要初始化电机引脚
    if (DEVICE_VERSION == JZ_H10)
    {
        pinMode(MOTOR_IRCUT_PIN,PWM_OUTPUT);//设置输出模式
		JZSDK_LOG_INFO("H3 gimbal Init Complete");
    }

	JZSDK_LOG_INFO("H3 Init Complete");

#endif   

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

/***********************
 * 
 * 
 *  H3 pwm控制
 * 
 * ***************************/
T_JZsdkReturnCode H3_ircut_pwm(int pwm_duty)
{
#ifdef WIRINGPI_STATUS_ON
    pwmWrite(MOTOR_IRCUT_PIN,pwm_duty);

	//printf("pwm控制:%d\n",pwm_duty);
#endif
}

/***********************
 * 
 *  H3引脚控制
 *  静音角控制
 * 
 * *******************/
T_JZsdkReturnCode H3_ircut_set_amplifier(int ircut_mode)
{
#ifdef WIRINGPI_STATUS_ON
    if (ircut_mode == JZ_FLAGCODE_ON)
    {
        digitalWrite(AMPLIFIER_IRCUT_PIN_1,HIGH);
        digitalWrite(AMPLIFIER_IRCUT_PIN_2,HIGH);
    }
    else if (ircut_mode == JZ_FLAGCODE_OFF)
    {
        digitalWrite(AMPLIFIER_IRCUT_PIN_1,LOW);
        digitalWrite(AMPLIFIER_IRCUT_PIN_2,LOW);
    }
    else
    {
        JZSDK_LOG_ERROR("H3引脚控制错误");
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }
#endif
    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}