#pragma once
#include "stm32f1xx_hal.h"

// ############################### DO-NOT-TOUCH SETTINGS ###############################

#define PWM_FREQ         16000      // PWM frequency in Hz
#define DEAD_TIME        32         // PWM deadtime

#define DELAY_IN_MAIN_LOOP 2        // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.

#define TIMEOUT          5          // number of wrong / missing input commands before emergency off

// ############################### GENERAL ###############################

// How to calibrate: connect GND and RX of a 3.3v uart-usb adapter to the right sensor board cable

/* (be careful not to use the red wire of the cable. 15v will destroye verything.).
 * if you are using nunchuck, disable it temporarily.
 * enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII use asearial terminal.
*/

// Battery voltage calibration:
/* connect power source. see <How to calibrate>.
 *
 * write value nr 5 to BAT_CALIB_ADC. make and flash firmware.
 * then you can verify voltage on value 6 (devide it by 100.0 to get calibrated voltage).
 */

#define BAT_CALIB_REAL_VOLTAGE        43.0       // input voltage measured by multimeter
#define BAT_CALIB_ADC                 1704       // adc-value measured by mainboard (value nr 5 on UART debug output)

#define BAT_NUMBER_OF_CELLS     10        // normal Hoverboard battery: 10s
#define BAT_LOW_LVL1_ENABLE     0         // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL1            3.5       // gently beeps at this voltage level. [V/cell]
#define BAT_LOW_LVL2_ENABLE     1         // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL2            3.3       // your battery is almost empty. Charge now! [V/cell]
#define BAT_LOW_DEAD            3.2      // undervoltage poweroff. (while not driving) [V/cell]

#define DC_CUR_LIMIT     15         // DC current limit in amps per motor. so 15 means it will draw 30A out of your battery. it does not disable motors, it is a soft current limit.

// Board overheat detection: the sensor is inside the STM/GD chip. it is very inaccurate without calibration (up to 45°C). so only enable this funcion after calibration! let your board cool down. see <How to calibrate>. get the real temp of the chip by thermo cam or another temp-sensor taped on top of the chip and write it to TEMP_CAL_LOW_DEG_C. write debug value 8 to TEMP_CAL_LOW_ADC. drive around to warm up the board. it should be at least 20°C warmer. repeat it for the HIGH-values. enable warning and/or poweroff and make and flash firmware.
#define TEMP_CAL_LOW_ADC        1655      // temperature 1: ADC value
#define TEMP_CAL_LOW_DEG_C      35.8      // temperature 1: measured temperature [°C]
#define TEMP_CAL_HIGH_ADC       1588      // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C     48.9      // temperature 2: measured temperature [°C]
#define TEMP_WARNING_ENABLE     0         // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
#define TEMP_WARNING            60        // annoying fast beeps [°C]
#define TEMP_POWEROFF_ENABLE    0         // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
#define TEMP_POWEROFF           65        // overheat poweroff. (while not driving) [°C]

#define INACTIVITY_TIMEOUT 5        // minutes of not driving until poweroff. it is not very precise.

// ############################### SERIAL DEBUG ###############################

#define DEBUG_SERIAL_USART3         // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
#define DEBUG_BAUD       115200     // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII          // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"

// ###### TRANSPOTTER FIRMWARE #######
// #define CONTROL_GAMETRAK
// #define SUPPORT_LCD
// #define SUPPORT_NUNCHUCK
// #define SUPPORT_REMOTE

#define GAMETRAK_CONNECTION_NORMAL    // for normal wireing accoring to the wiki Instructions
//#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wirering (steering is speed, and length of teh wire is steering)

#define ROT_P         -1.2  // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
#define FILTER         0.1  // lower value == softer filter. do not use values <0.01, you will get float precision issues.

#define INVERT_R_DIRECTION  // Invert right motor
#define INVERT_L_DIRECTION  // Invert left motor

// during nunchuck control (only relevant when activated)
#define SPEED_COEFFICIENT   0.9  // higher value == stronger. 0.0 to ~2.0?
#define STEER_COEFFICIENT   0.5  // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0

#define BEEPS_BACKWARD 1    // 0 or 1


// ############################### VALIDATE SETTINGS ###############################

#if defined CONTROL_SERIAL_USART2 && defined CONTROL_ADC
  #error CONTROL_ADC and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
#endif

#if defined CONTROL_SERIAL_USART2 && defined CONTROL_PPM
  #error CONTROL_PPM and CONTROL_SERIAL_USART2 not allowed. it is on the same cable.
#endif

#if defined DEBUG_SERIAL_USART3 && defined CONTROL_NUNCHUCK
  #error CONTROL_NUNCHUCK and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
#endif

#if defined DEBUG_SERIAL_USART3 && defined DEBUG_I2C_LCD
  #error DEBUG_I2C_LCD and DEBUG_SERIAL_USART3 not allowed. it is on the same cable.
#endif

#if defined CONTROL_PPM && defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_ADC || defined CONTROL_ADC && defined CONTROL_NUNCHUCK || defined CONTROL_PPM && defined CONTROL_NUNCHUCK
  #error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUCK.
#endif