#include <stdio.h>

#include "driver/gpio.h"
#include "driver/i2c.h"
#include "esp_err.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

#include "motors.h"
#include "bmi160.h"

#define BBOT_INPUT_PIN GPIO_NUM_1
#define BBOT_BLINK_PIN GPIO_NUM_8
#define BBOT_BLINK_DELAY_MS 500

#define BBOT_I2C_PORT I2C_NUM_0
#define BBOT_I2C_SCL_IO GPIO_NUM_3
#define BBOT_I2C_SDA_IO GPIO_NUM_2
#define BBOT_I2C_FREQ_HZ 100000

static bmi160_t imu;

static void init_blink_gpio(){
    const gpio_config_t io_conf = {
        .pin_bit_mask = (1ULL << BBOT_BLINK_PIN),
        .mode = GPIO_MODE_OUTPUT,
        .pull_up_en = GPIO_PULLUP_DISABLE,
        .pull_down_en = GPIO_PULLDOWN_DISABLE,
        .intr_type = GPIO_INTR_DISABLE,
    };

    gpio_config(&io_conf);
    gpio_set_level(BBOT_BLINK_PIN, 0);
}

static void init_input_gpio(){
    const gpio_config_t io_conf = {
        .pin_bit_mask = (1ULL << BBOT_INPUT_PIN),
        .mode = GPIO_MODE_INPUT,
        .pull_up_en = GPIO_PULLUP_DISABLE,
        .pull_down_en = GPIO_PULLDOWN_DISABLE,
        .intr_type = GPIO_INTR_DISABLE,
    };

    gpio_config(&io_conf);
}

static void init_i2c(){
    const i2c_config_t i2c_conf = {
        .mode = I2C_MODE_MASTER,
        .sda_io_num = BBOT_I2C_SDA_IO,
        .scl_io_num = BBOT_I2C_SCL_IO,
        .sda_pullup_en = GPIO_PULLUP_ENABLE,
        .scl_pullup_en = GPIO_PULLUP_ENABLE,
        .master.clk_speed = BBOT_I2C_FREQ_HZ,
    };

    ESP_ERROR_CHECK(i2c_param_config(BBOT_I2C_PORT, &i2c_conf));
    ESP_ERROR_CHECK(i2c_driver_install(BBOT_I2C_PORT, i2c_conf.mode, 0, 0, 0));
}

void app_main(void){

    init_input_gpio();
    init_blink_gpio();
    
    init_motors();

    init_i2c();
    imu_init(&imu, BBOT_I2C_PORT);

    while (1) {
        vTaskDelay(pdMS_TO_TICKS(10));
        bmi160_value_t v;
        imu_read(&imu, &v);
        ESP_LOGI("[<IMU>]", "%d %d %d %d %d %d", v.acc.x, v.acc.y, v.acc.z, v.gyr.x, v.gyr.y, v.gyr.z);
    }
}