#include "FastAccelStepper.h"
#include "PinHeader.h"
#define FLOAT_CONSTATNT  5.625
#define PVOL_FMIN 0.00
#define PVOL_FMAX 10.00
#define ADCVOL_FMIN 0.00
#define ADCVOL_FMAX 3.30


#define ADCRAW_MIN 0
#define ADCRAW_MAX 4095

//#define LED1_PIN  15
#define LED1_PIN  2

FastAccelStepperEngine engine = FastAccelStepperEngine();
FastAccelStepper *stepmotor=NULL;
float float_variable1, float_variable2, float_variable3, float_variable4, float_variable5;
uint32_t uint32_value1;


union
{
  float fv; // float value
  uint16_t wv[2]; // word value (16-bit)
  uint32_t uiv; // unsigned int (32-bit)
}
float_unit;



void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");
  pinMode(LED1_PIN, OUTPUT);
  //pinMode(LED_BUILTIN, OUTPUT);
 
 /* for(uint8_t i=0; i<MAX_STEPMOTOR; i++)
  {
      stepmotor[i]=NULL;
      Serial.println(i);
  }
*/
  
  engine.init();
  stepmotor = engine.stepperConnectToPin(STEPMOT1_STEP_PIN);
  if (stepmotor) 
   {
      stepmotor->setDirectionPin(STEPMOT1_DIR_PIN);
      stepmotor->setEnablePin(STEPMOT1_EN_PIN);
      stepmotor->setAutoEnable(true);   // The stepper driver will be enabled before stepping and will be disabled afterwards.
  
      //stepmotor[0]->setSpeedInHz(RPS_TO_SPS(1));   // set current speed unit defined in steps per seconds.
      stepmotor->setSpeedInHz(RPM_TO_SPS(60));   // set current speed unit defined in steps per seconds.
      stepmotor->setAcceleration(1000);    // 1000 steps/s²
      //stepmotor[0]->disableOutputs();    // Disable stepper driver.
      stepmotor->applySpeedAcceleration(); 
      Serial.println("ok");
   }

  stepmotor->runForward();
  Serial.println("SPS is: ");   Serial.println(RPM_TO_SPS(60));

  testing_floatValue_mapping();

  testing_floatValue_transmission();
  
}

uint8_t dummy_count=0;

void loop() {
  // put your main code here, to run repeatedly:
  //delay(10); // this speeds up the simulation
  
  Serial.println(++dummy_count); 

  digitalWrite(LED1_PIN, HIGH);   // turn the LED on (HIGH is the voltage level)
 // digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(500);                       // wait for a second
  digitalWrite(LED1_PIN, LOW);    // turn the LED off by making the voltage LOW
 // digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
  delay(500);                       // wait for a second

}

float map_fvalue(float x, float in_min, float in_max, float out_min, float out_max)
{
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}


void testing_floatValue_mapping(void)
{
 float_variable1 = FLOAT_CONSTATNT;
  Serial.println(float_variable1, 4);

  Serial.println("min value :::");
  float_variable1 = 900.9;
  float_variable2 = map(float_variable1, ADCRAW_MIN, ADCRAW_MAX, ADCVOL_FMIN, ADCVOL_FMAX);
  Serial.println(float_variable2, 4);

  float_variable2 = map_fvalue(float_variable1, ADCRAW_MIN, ADCRAW_MAX, ADCVOL_FMIN, ADCVOL_FMAX);
  Serial.println(float_variable2, 4);

  float_variable3 = map_fvalue(float_variable2, ADCVOL_FMIN, ADCVOL_FMAX, PVOL_FMIN, PVOL_FMAX);
  Serial.println(float_variable3, 4);

  float_variable4 = pow(float_variable3, 2.2);    // Testing if "pow" function works with float values.
  Serial.println(float_variable4, 4);

  float_variable5=pow(10, (float_variable3-FLOAT_CONSTATNT));
  Serial.println(float_variable5, 4);

  Serial.println("max value :::");
  float_variable1 = 3480.75;

  float_variable2 = map_fvalue(float_variable1, ADCRAW_MIN, ADCRAW_MAX, PVOL_FMIN, PVOL_FMAX);
  Serial.println(float_variable2, 4);

  float_variable5 = pow(10, (float_variable2-FLOAT_CONSTATNT));
  Serial.println(float_variable5, 4);

}


void testing_floatValue_transmission(void)
{

  float fvalue1=3.5;
  Serial.println(fvalue1, HEX);   // its not working. it does NOT populate HEX of float fvlaue1.

  uint32_t uivalue1=208;
   Serial.println(uivalue1, HEX);   // it pouplates HEX of integer uivalue1.


// OPTION-1 : to transmit float values as interger.
   // sending integer value as a representative of float values :
  uint32_value1 = float_variable5*10000;
  Serial.println(uint32_value1);

  // OPTION-2 : to transmit float values using union.
  // testing of Union based float and word conversion :
  float_unit.fv = 12.15;      // equivalent hex of float 12.15 is : 0x41426666 (single precision)
  Serial.print("float: ");        Serial.println(float_unit.fv);
  Serial.print("uint32: ");       Serial.println(float_unit.uiv);
  Serial.print("uint32 hex: ");   Serial.println(float_unit.uiv, HEX); // it stores hex value : 0x41426666
  Serial.print("word0: ");        Serial.println(float_unit.wv[0]);   // displaying integer value of LSW ; 26214 = 0x6666
  Serial.print("word0 hex: ");    Serial.println(float_unit.wv[0], HEX);  // it stores LSW (LOWER word) of float value float_unit.fv which is : 0x6666
  Serial.print("word1: ");        Serial.println(float_unit.wv[1]);   // displaying integer value of MSW ;  16706 = 0x4142
  Serial.print("word1 hex: ");    Serial.println(float_unit.wv[1], HEX);   // it stores MSW (HIGHER word) of float value float_unit.fv which is : 0x4142

}