/******************************************************************************
 * The MIT License
 *
 * Copyright (c) 2010, LeafLabs, LLC.
 *
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use, copy,
 * modify, merge, publish, distribute, sublicense, and/or sell copies
 * of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
 * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
 * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *****************************************************************************/

 /*
 * Arduino srl - www.arduino.org
 * Base on lib for stm32f4 (d2a4a47): https://github.com/arduino-libraries/Servo/blob/master/src/stm32f4/ServoTimers.h
 * 2017 Jul 5: Edited by Jaroslav Páral (jarekparal) - paral@robotikabrno.cz
 */

#include "RapbitPro_Servo.h"

int Servo::channel_next_free = 0;

Servo::Servo() {
    _resetFields();
};

Servo::~Servo() {
    detach();
}

bool Servo::attach(int pin, int channel, 
                   int minAngle, int maxAngle, 
                   int minPulseWidth, int maxPulseWidth) 
{
    if(channel == CHANNEL_NOT_ATTACHED) {
        if(channel_next_free == CHANNEL_MAX_NUM) {
            return false;
        }
        _channel = channel_next_free;
        channel_next_free++;
    } else {
        _channel = channel;
    }

    _pin = pin;
    _minAngle = minAngle;
    _maxAngle = maxAngle;
    _minPulseWidth = minPulseWidth;
    _maxPulseWidth = maxPulseWidth;

    ledcSetup(_channel, 50, 16); // channel X, 50 Hz, 16-bit depth
    ledcAttachPin(_pin, _channel);
    return true;
}


bool Servo::detach() {
    if (!this->attached()) {
        return false;
    }

    if(_channel == (channel_next_free - 1))
        channel_next_free--;

    ledcDetachPin(_pin);
    return true;
}

void Servo::write(int degrees) {
    degrees = constrain(degrees, _minAngle, _maxAngle);
    writeMicroseconds(_angleToUs(degrees));
}

void Servo::writeMicroseconds(int pulseUs) {
    if (!attached()) {
        return;
    }
    pulseUs = constrain(pulseUs, _minPulseWidth, _maxPulseWidth);
    _pulseWidthDuty = _usToDuty(pulseUs);
    ledcWrite(_channel, _pulseWidthDuty);
}

int Servo::read() {
    return _usToAngle(readMicroseconds());
}

int Servo::readMicroseconds() {
    if (!this->attached()) {
        return 0;
    }
    int duty = ledcRead(_channel);
    return _dutyToUs(duty);
}

bool Servo::attached() const { return _pin != PIN_NOT_ATTACHED; }

int Servo::attachedPin() const { return _pin; }

void Servo::_resetFields(void) {
    _pin = PIN_NOT_ATTACHED;
    _pulseWidthDuty = 0;
    _channel = CHANNEL_NOT_ATTACHED;
    _minAngle = MIN_ANGLE;
    _maxAngle = MAX_ANGLE;
    _minPulseWidth = MIN_PULSE_WIDTH;
    _maxPulseWidth = MAX_PULSE_WIDTH;
}
