/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <stdint.h>

#include "ChipObject.h"
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
#include "HAL/Ports.h"
#include "PortsInternal.h"
#include "handles/DigitalHandleResource.h"
#include "handles/HandlesInternal.h"

namespace hal {
constexpr uint32_t kMXPDigitalPWMOffset = 6;  // MXP pins when used as digital
                                              // output pwm are offset by 6 from
                                              // actual value
constexpr uint32_t kExpectedLoopTiming = 40;

/**
 * kDefaultPwmPeriod is in ms
 *
 * - 20ms periods (50 Hz) are the "safest" setting in that this works for all
 *   devices
 * - 20ms periods seem to be desirable for Vex Motors
 * - 20ms periods are the specified period for HS-322HD servos, but work
 *   reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums
 *   and get hot; by 5.0ms the hum is nearly continuous
 * - 10ms periods work well for Victor 884
 * - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
 *   controllers. Due to the shipping firmware on the Jaguar, we can't run the
 *   update period less than 5.05 ms.
 *
 * kDefaultPwmPeriod is the 1x period (5.05 ms).  In hardware, the period
 * scaling is implemented as an output squelch to get longer periods for old
 * devices.
 */
constexpr float kDefaultPwmPeriod = 5.05;
/**
 * kDefaultPwmCenter is the PWM range center in ms
 */
constexpr float kDefaultPwmCenter = 1.5;
/**
 * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
 */
constexpr int32_t kDefaultPwmStepsDown = 1000;
constexpr int32_t kPwmDisabled = 0;

// Create a mutex to protect changes to the DO PWM config
extern priority_recursive_mutex digitalPwmMutex;

extern tDIO* digitalSystem;
extern tRelay* relaySystem;
extern tPWM* pwmSystem;

extern bool digitalSystemsInitialized;

struct DigitalPort {
  uint8_t pin;
  bool configSet = false;
  bool eliminateDeadband = false;
  int32_t maxPwm = 0;
  int32_t deadbandMaxPwm = 0;
  int32_t centerPwm = 0;
  int32_t deadbandMinPwm = 0;
  int32_t minPwm = 0;
};

extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
                             kNumDigitalPins + kNumPWMHeaders>
    digitalPinHandles;

void initializeDigital(int32_t* status);
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
                        HAL_AnalogTriggerType analogTriggerType, uint32_t& pin,
                        uint8_t& module, bool& analogTrigger);
uint32_t remapMXPPWMChannel(uint32_t pin);
uint32_t remapMXPChannel(uint32_t pin);
}