// 引入的头文件

#include "driver/mcpwm.h"
#include "soc/mcpwm_periph.h"
#include "esp_attr.h"

// 舵机参数的宏定义
#define SERVO_MIN_PULSEWIDTH 500 // 最小脉冲时间ms
#define SERVO_MAX_PULSEWIDTH 2500 // 最大脉冲时间ms
#define SERVO_MAX_DEGREE 180 // 舵机最大可旋转角度

// 初始化2号端口为PWM
static void mcpwm_example_gpio_initialize(void)
{
    printf("initializing mcpwm servo control gpio......\n");
    mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, 18);    //Set GPIO 2 as PWM0A, to which servo is connected
}

// 该方法输入目标角度，输出对应高电平脉冲宽度单位us
static uint32_t servo_per_degree_init(uint32_t degree_of_rotation)
{
    uint32_t cal_pulsewidth = 0;
    cal_pulsewidth = (SERVO_MIN_PULSEWIDTH + (((SERVO_MAX_PULSEWIDTH - SERVO_MIN_PULSEWIDTH) * (degree_of_rotation)) / (SERVO_MAX_DEGREE)));
    return cal_pulsewidth;
}

// 开灯函数
void turn_on(void *arg)
{
    uint32_t angle;
    //1. mcpwm gpio 初始化
    mcpwm_example_gpio_initialize();
    //2. 初始化 mcpwm 配置
    printf("Configuring Initial Parameters of mcpwm......\n");
    mcpwm_config_t pwm_config;
    pwm_config.frequency = 50; // 舵机信号频率为50Hz,每个周期时长20ms
    pwm_config.cmpr_a = 0;     //duty cycle of PWMxA = 0
    pwm_config.cmpr_b = 0;     //duty cycle of PWMxb = 0
    pwm_config.counter_mode = MCPWM_UP_COUNTER;
    pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
    mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //应用上面配置到 PWM0A & PWM0B
    // 旋转角度
    printf("Angle of rotation: %d\n", 0);
    // 计算60度对应的脉冲宽度
    angle = servo_per_degree_init(60);
    printf("pulse width: %dus\n", angle);
    mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, angle);
    vTaskDelay(10); //Add delay, since it takes time for servo to rotate, generally 100ms/60degree rotation at 5V
    vTaskDelete(NULL);
}

// 关灯函数
void turn_off(void *arg)
{
    uint32_t angle;
    //1. mcpwm gpio 初始化
    mcpwm_example_gpio_initialize();
    //2. 初始化 mcpwm 配置
    printf("Configuring Initial Parameters of mcpwm......\n");
    mcpwm_config_t pwm_config;
    pwm_config.frequency = 50; //frequency = 50Hz, i.e. for every servo motor time period should be 20ms
    pwm_config.cmpr_a = 0;     //duty cycle of PWMxA = 0
    pwm_config.cmpr_b = 0;     //duty cycle of PWMxb = 0
    pwm_config.counter_mode = MCPWM_UP_COUNTER;
    pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
    mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //ConfigurePWM0A & PWM0B with above settings
    printf("Angle of rotation: %d\n", 0);
    // 计算120度对应的脉冲宽度
    angle = servo_per_degree_init(120);
    printf("pulse width: %dus\n", angle);
    mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, angle);
    vTaskDelay(10); //Add delay, since it takes time for servo to rotate,generally 100ms/60degree rotation at 5V
    vTaskDelete(NULL);
}

// 最后修改led_write函数为
void led_write(bool on)
{
    if (on)
    {
        // 接收到开灯命令，执行开灯任务
         xTaskCreate(turn_on, "turn_on", 4096, NULL, 5, NULL);
    }
    else
    { 
        // 接收到关灯命令，执行关灯任务
        xTaskCreate(turn_off, "turn_off", 4096, NULL, 5, NULL);
    }
}