#ifndef MOTOR_CONFIG_H
#define MOTOR_CONFIG_H

// ENA and ENB on the L298N
#define PWM_PIN_RIGHT               1U // chanel B
#define PWM_PIN_LEFT                0U // chanel A

// IN1, IN2, IN3, IN4 on the L298N
#define DIRECTION_PIN_RIGHT_IN1     11U
#define DIRECTION_PIN_RIGHT_IN2     12U

#define DIRECTION_PIN_LEFT_IN3      19U
#define DIRECTION_PIN_LEFT_IN4      20U

#define DIRECTION_RIGHT_FORWARD     (1U << DIRECTION_PIN_RIGHT_IN2)
#define DIRECTION_RIGHT_BACKWARD    (1U << DIRECTION_PIN_RIGHT_IN1)
#define DIRECTION_LEFT_FORWARD      (1U << DIRECTION_PIN_LEFT_IN4)
#define DIRECTION_LEFT_BACKWARD     (1U << DIRECTION_PIN_LEFT_IN3)

#define DIRECTION_FORWARD           (DIRECTION_RIGHT_FORWARD | DIRECTION_LEFT_FORWARD)
#define DIRECTION_BACKWARD          (DIRECTION_RIGHT_BACKWARD | DIRECTION_LEFT_BACKWARD)
#define DIRECTION_LEFT              (DIRECTION_RIGHT_FORWARD | DIRECTION_LEFT_BACKWARD)
#define DIRECTION_RIGHT             (DIRECTION_RIGHT_BACKWARD | DIRECTION_LEFT_FORWARD)

#define SPEED_PIN_RIGHT             15U
#define SPEED_PIN_LEFT              16U

#define PWM_CLK_DIV                 250.f
#define PWM_WRAP                    5000U

#define MAX_SPEED                   4900U
#define MIN_SPEED                   0U    // To be changed

/*!
 * @brief Structure for the motor speed parameters
 * @param target_speed_cms Target speed in cm/s
 * @param current_speed_cms Current speed in cm/s
 * @param distance_cm Distance travelled in cm
 */
typedef struct {
    float    current_cms;
    float    distance_cm;
} motor_speed_t;

/*!
 * @brief Structure for the motor PWM parameters
 * @param slice_num PWM slice number
 * @param pwm_channel PWM channel, either A or B
 * @param pwm_level PWM level, from 0 to 5000
 */
typedef struct {
    uint     slice_num;
    uint     channel;
    uint16_t level;
} motor_pwm_t;

/*!
 * @brief Structure for the motor PID parameters
 * @param pid_kp Proportional gain
 * @param pid_ki Integral gain
 * @param pid_kd Derivative gain
 */
typedef struct {
    float kp_value;
    float ki_value;
    float kd_value;
} motor_pid_t;

/*!
 * @brief Structure for the motor parameters
 * @param speed Motor speed parameters
 * @param sem Semaphore for the motor speed
 * @param pwm Motor PWM parameters
 * @param pid Motor PID parameters
 */
typedef struct {
    motor_speed_t     speed;
    SemaphoreHandle_t sem;
    motor_pwm_t       pwm;
    motor_pid_t       pid;
} motor_t;

#endif /* MOTOR_CONFIG_H */