/**********************************************************************
	Copyright (C) 2018  MisfitTech LLC,  All rights reserved.

 	MisfitTech uses a dual license model that allows the software to be used under
	a standard GPL open source license, or a commercial license.  The standard GPL
	license  requires that all software statically linked with MisfitTec Code is
	also distributed under the same GPL V2 license terms.  Details of both license
	options follow:

	- Open source licensing -
	MisfitTech is a free download and may be used, modified, evaluated and
	distributed without charge provided the user adheres to version two of the GNU
	General Public License (GPL) and does not remove the copyright notice or this
	text.  The GPL V2 text is available on the gnu.org web site

	- Commercial licensing -
	Businesses and individuals that for commercial or other reasons cannot comply
	with the terms of the GPL V2 license must obtain a low cost commercial license
	before incorporating MisfitTech code into proprietary software for distribution in
	any form.  Commercial licenses can be purchased from www.misfittech.net
	and do not require any source files to be changed.


	This code is distributed in the hope that it will be useful.  You cannot
	use MisfitTech's code unless you agree that you use the software 'as is'.
	MisfitTech's code is provided WITHOUT ANY WARRANTY; without even the implied
	warranties of NON-INFRINGEMENT, MERCHANTABILITY or FITNESS FOR A PARTICULAR
	PURPOSE. MisfitTech LLC disclaims all conditions and terms, be they
	implied, expressed, or statutory.


    Written by Trampas Stern for MisfitTech.

    Misfit Tech invests time and resources providing this open source code,
    please support MisfitTech and open-source hardware by purchasing
	products from MisfitTech, www.misifittech.net!
 *********************************************************************/
#ifndef __CALIBRAITON_H__
#define __CALIBRAITON_H__

#include <Arduino.h>
#include "syslog.h"
#include "angle.h"


//this file implements a table that is linearly interpolated circular calibration table
// it is assumed the data wraps around, ie you interpolated 65536==0
//we want this to be "whole" steps, for 1.8 degree motors this should be 200.
// 200 will work for 0.9 degree too, but could be 400. However 400 is not good for 1.8 degree motors
#define CALIBRATION_TABLE_SIZE (200)  

#define CALIBRATION_STEPS ((uint32_t)ANGLE_STEPS) // this is one rotation ie 0-65535 aka 65536 steps is 0-360 degrees

#define CALIBRATION_ERROR_NOT_SET (-1) //indicated that the calibration value is not set. 

#define CALIBRATION_UPDATE_RATE (32) //number of samples to keep 1 pole running average
#define CALIBRATION_MIN_ERROR (4)  //the minimal expected error on our calibration 4 ~=+/0.2 degrees 


typedef struct {
	uint16_t table[CALIBRATION_TABLE_SIZE];
	bool status;
} FlashCalData_t;





typedef struct {
  Angle value;  //cal value 
  int16_t error; //error assuming it is constantly updated
} CalData_t;

class CalibrationTable
{
  private:
    CalData_t table[CALIBRATION_TABLE_SIZE];

    bool fastCalVaild=false;
    void loadFromFlash(void);
    bool flashGood(void); //returns true if the flash copy of calibration is valid

    void updateFastCal(void);
    void createFastCal(void);

  public:
    void init(void);
    void saveToFlash(void); //saves the calibration to flash
    bool updateTableValue(int32_t index, int32_t value);
    void updateTable(Angle actualAngle, Angle encoderValue);
    int getValue(Angle actualAngle, CalData_t *ptrData); 
    Angle getCal(Angle actualAngle);
    bool calValid(void);
    Angle reverseLookup(Angle encoderAngle); //this turns encoder angle into real angle
    void printCalTable(void);
     void smoothTable(void);

    Angle fastReverseLookup(Angle encoderAngle);
};




#endif //__CALIBRAITON_H__