/**************************************************************************
* NAME:  Johan Gärtner                                                  								 *
* PURPOSE:   Driver for the motor signal to certain outputs      		 								 *
* INFORMATION:                                                           								 *
* GLOBAL VARIABLES:                                                      								 *
* Variable       				Type          Description                								 *
* MOTOR_PWM_INIT_PERIODE        define        The initializing periode of the pwm signal to each motor   *
* MOTOR_PWM_INIT_PULSE        	define        The initializing pulse of the pwm signal to each motor
* **************************************************************************/

#include "stm32f4xx.h"
#include "stm32f4xx_revo.h"
#include "drivers/pwm.h"
#include "drivers/motors.h"

#define MOTOR_PWM_INIT_PERIODE		2000
#define MOTOR_PWM_INIT_PULSE		100

/* A struct of a pwm motor profile */
typedef struct
{
	GPIO_TypeDef * port; 	//GPIOA/B/C
	uint16_t pin;			//GPIO_PIN_0/1/2/3/..
	TIM_TypeDef * tim;		//TIM1/2/3/..
	uint32_t channel;		//TIM_CHANNEL_1/TIM_CHANNEL_1/..
}motorProfile;

/**************************************************************************
* BRIEF: Returns a profile of a certain motor
* INFORMATION: Each Motor has a certain profile which includes a pin, port, timer and a timer channel
* Each motor configuration is changed in the "stm32f4xx_revo.h" file
* Example - getMotorProfile(MOTOR_1)
**************************************************************************/
motorProfile getMotorProfile(uint8_t motor)
{
	motorProfile profile;

	switch(motor)
	{
	case MOTOR_1:
		profile.port = MOTOR_1_PORT;
		profile.pin = MOTOR_1_PIN;
		profile.tim = MOTOR_1_TIM;
		profile.channel = MOTOR_1_CHANNEL;
		break;
	case MOTOR_2:
		profile.port = MOTOR_2_PORT;
		profile.pin = MOTOR_2_PIN;
		profile.tim = MOTOR_2_TIM;
		profile.channel = MOTOR_2_CHANNEL;
		break;
	case MOTOR_3:
		profile.port = MOTOR_3_PORT;
		profile.pin = MOTOR_3_PIN;
		profile.tim = MOTOR_3_TIM;
		profile.channel = MOTOR_3_CHANNEL;
		break;
	case MOTOR_4:
		profile.port = MOTOR_4_PORT;
		profile.pin = MOTOR_4_PIN;
		profile.tim = MOTOR_4_TIM;
		profile.channel = MOTOR_4_CHANNEL;
		break;
	case MOTOR_5:
		profile.port = MOTOR_5_PORT;
		profile.pin = MOTOR_5_PIN;
		profile.tim = MOTOR_5_TIM;
		profile.channel = MOTOR_5_CHANNEL;
		break;
	case MOTOR_6:
		profile.port = MOTOR_6_PORT;
		profile.pin = MOTOR_6_PIN;
		profile.tim = MOTOR_6_TIM;
		profile.channel = MOTOR_6_CHANNEL;
		break;
	case MOTOR_7:
		profile.port = MOTOR_7_PORT;
		profile.pin = MOTOR_7_PIN;
		profile.tim = MOTOR_7_TIM;
		profile.channel = MOTOR_7_CHANNEL;
		break;
	case MOTOR_8:
		profile.port = MOTOR_8_PORT;
		profile.pin = MOTOR_8_PIN;
		profile.tim = MOTOR_8_TIM;
		profile.channel = MOTOR_8_CHANNEL;
		break;
	case MOTOR_9:
		profile.port = MOTOR_9_PORT;
		profile.pin = MOTOR_9_PIN;
		profile.tim = MOTOR_9_TIM;
		profile.channel = MOTOR_9_CHANNEL;
		break;
	case MOTOR_10:
		profile.port = MOTOR_10_PORT;
		profile.pin = MOTOR_10_PIN;
		profile.tim = MOTOR_10_TIM;
		profile.channel = MOTOR_10_CHANNEL;;
		break;
	default:
		break;
	}

	return profile;
}

/**************************************************************************
* BRIEF: Initializing a motor (maps a pwm signal to a certain pin)        										*
* INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file     *
* Example - pwmEnableMotor(MOTOR_1)                                                         					*
**************************************************************************/
void pwmEnableMotor(uint8_t motor)
{
	motorProfile profile = getMotorProfile(motor);

	pwmInit(profile.port, profile.pin, profile.tim, profile.channel, MOTOR_PWM_INIT_PERIODE, MOTOR_PWM_INIT_PULSE);
}

/**************************************************************************
* BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor)                                                                 *
* INFORMATION: All motors become active
**************************************************************************/
void pwmEnableAllMotors(void)
{
	 for (uint8_t i = 1; i < 11; i++ ) pwmEnableMotor(i);
}

/**************************************************************************
* BRIEF: If a motor is Deactivated (no pwm signal), this function will activate the motor to it's last state (the pwm signal will go back to is's last state)  *
* INFORMATION:
* Example - pwmActivateMotor(MOTOR_1)
**************************************************************************/
void pwmActivateMotor(uint8_t motor)
{
	motorProfile profile = getMotorProfile(motor);

	startPwm(profile.channel, profile.tim);
}

/**************************************************************************
* BRIEF: Deactivates a motor (Disables the pwm signal for the motor pin )
* INFORMATION:
* Example - pwmDeactivateMotor(MOTOR_1)
**************************************************************************/
void pwmDeactivateMotor(uint8_t motor)
{
	motorProfile profile = getMotorProfile(motor);

	stopPwm(profile.channel, profile.tim);
}

/**************************************************************************
* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state) *                                                             *
* INFORMATION:																			   *
* Example - pwmActivateAllMotors()                                                         *
**************************************************************************/
void pwmActivateAllMotors(void)
{
	for (uint8_t i = 1; i < 11; i++ ) pwmDeactivateMotor(i);
}

/**************************************************************************
* BRIEF: Deactivates all motors (Deactivate a pwm signal to all motor pins)                  *
* INFORMATION:																				 *
* Example - pwmDeactivateAllMotors()                                                         *
**************************************************************************/
void pwmDeactivateAllMotors(void)
{
	for (uint8_t i = 1; i < 11; i++ ) pwmActivateMotor(i);
}

/**************************************************************************
* BRIEF: Change the speed of a certain motor if it's active                                             *
* INFORMATION: The speed is changes by switching the the pulse of a pwm signal							*
* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 200)                                                         *
**************************************************************************/
void pwmAdjustSpeedOfMotor(uint8_t motor, uint16_t pulse)
{
	motorProfile profile = getMotorProfile(motor);

	setPwmPulse(profile.channel, profile.tim, pulse);
}

/**************************************************************************
* BRIEF: Change the speed of a certain motor if it's active                                             									 *
* INFORMATION: The speed is change by switching the the Duty Cycle of a pwm signal (The Duty Cycle may only take values between 0 - 100 %)   *
* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 50);                                                        										 *
**************************************************************************/
void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle)
{
	uint16_t pulse = (DutyCycle*MOTOR_PWM_INIT_PERIODE)/100; /* Converts the DutyCycle to a pulse */
	motorProfile profile = getMotorProfile(motor);

	setPwmPulse(profile.channel, profile.tim, pulse);
}