// =============================================================================
//  AR-Autopilot v1 — Pinout for AR-NMEA-IO v1.0 board (ESP32-DOWD)
// =============================================================================
//
//  Sprint 0: pin contract only. No drivers, no main loop. This file is the
//  source of truth for which physical I/O carries which logical function for
//  the autopilot application; the firmware code in Sprint 1+ consumes it.
//
//  Hardware reference: AR-NMEA-IO v1.0 (same board used by VMS-Sailor).
//  21 user I/O: 4 analog inputs, 5 digital inputs, 1 RPM/frequency input,
//  10 digital outputs, plus dedicated RS-485 (Modbus), CAN (NMEA 2000) and
//  WiFi (OTA only).
//
//  Source: brief section 4.1 "Asignación típica de puertos para piloto
//  motor 30-40 m".
//
//  NOTE: The numeric GPIO assignments below are PLACEHOLDERS aligned with the
//        AR-NMEA-IO schematic. They will be confirmed and locked in Sprint 1
//        against the real board revision. Do not depend on them yet.
// =============================================================================

#pragma once

// -----------------------------------------------------------------------------
// Firmware identity
// -----------------------------------------------------------------------------
#define AR_AUTOPILOT_FW_NAME       "AR-Autopilot"
#define AR_AUTOPILOT_FW_VERSION    "0.1.0-sprint0"
#define AR_AUTOPILOT_HW_BOARD      "AR-NMEA-IO v1.0"
#define AR_AUTOPILOT_MCU           "ESP32-DOWD"

// -----------------------------------------------------------------------------
// Analog inputs (4)
//   AI1 — Rudder angle position sensor (pot / Hall, 0-10 V or 4-20 mA)
//   AI2 — System battery voltage
//   AI3 — Actuator current (shunt or Hall) — overcurrent protection
//   AI4 — Reserved (future: hydraulic pressure)
// -----------------------------------------------------------------------------
#define PIN_AI1_RUDDER_ANGLE        36   // GPIO36 / ADC1_CH0 / SVP
#define PIN_AI2_BATTERY_VOLTAGE     39   // GPIO39 / ADC1_CH3 / SVN
#define PIN_AI3_ACTUATOR_CURRENT    34   // GPIO34 / ADC1_CH6
#define PIN_AI4_RESERVED            35   // GPIO35 / ADC1_CH7

// -----------------------------------------------------------------------------
// Digital inputs (5)
//   DI1 — "Engage / Disengage" push-button on bridge console (ALWAYS DISENGAGES)
//   DI2 — Port-side rudder mechanical limit switch
//   DI3 — Starboard-side rudder mechanical limit switch
//   DI4 — External critical alarm (VMS blackout, genset critical)
//   DI5 — Manual confirmation (emergency override)
// -----------------------------------------------------------------------------
#define PIN_DI1_DISENGAGE_BUTTON    32   // GPIO32 — wakes from light sleep
#define PIN_DI2_LIMIT_SWITCH_PORT   33   // GPIO33
#define PIN_DI3_LIMIT_SWITCH_STBD   25   // GPIO25
#define PIN_DI4_EXTERNAL_ALARM      26   // GPIO26
#define PIN_DI5_MANUAL_CONFIRM      27   // GPIO27

// -----------------------------------------------------------------------------
// RPM / frequency input (1)
//   RPM1 — Reserved (future: rotation sensor if applicable)
// -----------------------------------------------------------------------------
#define PIN_RPM1_RESERVED           14   // GPIO14 — PCNT-capable

// -----------------------------------------------------------------------------
// Digital outputs (10)
//   DO1 — Pump/motor command PORT (direction)
//   DO2 — Pump/motor command STARBOARD (direction)
//   DO3 — Master power enable to actuator (relay)
//   DO4 — Audible alarm
//   DO5 — "Pilot engaged" console lamp
//   DO6..DO10 — Reserved
// -----------------------------------------------------------------------------
#define PIN_DO1_PUMP_PORT           13   // GPIO13
#define PIN_DO2_PUMP_STBD           12   // GPIO12
#define PIN_DO3_ACTUATOR_POWER      15   // GPIO15
#define PIN_DO4_BUZZER              2    // GPIO2  — on-board LED on many boards; check schematic
#define PIN_DO5_ENGAGED_LAMP        4    // GPIO4
#define PIN_DO6_RESERVED            16   // GPIO16
#define PIN_DO7_RESERVED            17   // GPIO17
#define PIN_DO8_RESERVED            5    // GPIO5
#define PIN_DO9_RESERVED            18   // GPIO18
#define PIN_DO10_RESERVED           19   // GPIO19

// -----------------------------------------------------------------------------
// Communication buses (board-level; pins shown for reference, drivers in Sprint 1)
// -----------------------------------------------------------------------------
// RS-485 (Modbus RTU to dedicated display)
#define PIN_RS485_TX                21   // U2_TXD
#define PIN_RS485_RX                22   // U2_RXD
#define PIN_RS485_DE                23   // driver enable

// CAN bus (NMEA 2000 backbone)
#define PIN_CAN_TX                  3    // U0_RXD on some boards — verify
#define PIN_CAN_RX                  1    // U0_TXD on some boards — verify

// -----------------------------------------------------------------------------
// Control-loop frequencies (logical; consumed by Sprint 2+ PID code)
// -----------------------------------------------------------------------------
#define AR_INNER_LOOP_HZ            50   // rudder position controller
#define AR_OUTER_LOOP_HZ            10   // heading controller
#define AR_RUDDER_SENSOR_SAMPLE_HZ  100  // ADC sample rate for AI1
#define AR_WATCHDOG_TIMEOUT_MS      2000 // brief section 7

// -----------------------------------------------------------------------------
// Safety constants
// -----------------------------------------------------------------------------
#define AR_DEFAULT_MAX_RUDDER_DEG      35   // ± from amidships
#define AR_DEFAULT_MAX_RUDDER_RATE_DPS 6    // degrees/second
#define AR_DEFAULT_OFF_COURSE_DEG      10   // warning threshold
#define AR_SEVERE_OFF_COURSE_DEG       30   // auto-disengage threshold
#define AR_SEVERE_OFF_COURSE_HOLD_MS   5000 // duration before auto-disengage
#define AR_HEADING_SENSOR_TIMEOUT_MS   5000 // auto-disengage if no PGN 127250