#include "b6x.h"
#include "drvs.h"
#include "dbg.h"
#include "rbuf.h"
#include "app_uart.h"
#include "app_speed_governor.h"
#include "app_control_out.h"
#include "app_ws2812.h"

void app_uart_Init(uint8_t port, uint32_t baudrate, uint8_t io_tx, uint8_t io_rx)
{
    uart_init(port, io_tx, io_rx);
    uart_conf(port, BRR_DIV(baudrate, 16M), LCR_BITS(8, 1, none));
    // 使能FIFO 接收8字节时触发、使能超过20字节触发超时中断
    uart_fctl(port, FCR_FIFOEN_BIT | FCR_RXTL_1BYTE, 0, UART_IR_RXRD_BIT);

    NVIC_EnableIRQ(port==UART1_PORT?UART1_IRQn:UART2_IRQn);
}


//CRC-8/MAXIM：x8+X5+X4+1
uint8_t crc8_checkout(uint8_t *buff, uint8_t length)
{
    uint8_t i;
    uint8_t crc = 0; //initial value

    while (length--) {
        crc ^= *buff++; //crc ^= *buff; buff++;
        for(i = 0; i < 8; i++) {
            if(crc & 1)
                crc = (crc >> 1) ^ 0x8C; //0x8C = reverse 0x31
            else
                crc >>= 1;
        }
    }
    return crc;
}

radar_daraframe_t radar_daraframe;
uart_daraframe_t uart1_daraframe;
volatile uint8_t uart1_state =0;
volatile uint8_t uart1_data_cnt =0;

extern GRB_Data_t WS2812_GRBs;
bool uart2_Back_car=0;

static void app_uart1_hande(void){
    uint8_t ret_data[MAX_LEN]={0,0};
    uint8_t length;

    switch(uart1_daraframe.cmd_id){
        case 0x01://电门锁
            if(1 ==uart1_daraframe.length){//电门锁状态设置/0：锁车状态/1：开锁状态
                ret_data[0] =app_set_Door_lock_status(uart1_daraframe.data[0]);
                length  = 1;
                app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
            }
        break;
        case 0x02://油门控制
            if(3 ==uart1_daraframe.length){
                if(1==Get_Status(IN_GPS)){
                    Set_Status(OUT_Door_lock,0);//GPS超出范围，直接锁车
                }
                if(app_get_Door_lock_status()){//开锁时
                    if(0 > *(int8_t *)(&uart1_daraframe.data[0])){//倒车
                        if(1 == uart2_Back_car){
                            // NVIC_EnableIRQ(UART2_IRQn);
                            // app_uart_Init(UART2_PORT,9600,PA10,PA04);//倒车雷达
                        }
                        uart2_Back_car =0;
                        
                    }else {//前进
                        if(0 == uart2_Back_car){
                            // NVIC_DisableIRQ(UART2_IRQn);
                            // app_uart_Init(UART2_PORT,9600,PA10,PA09);//磁刹控制器
                        }
                        uart2_Back_car =1;
                        
                    }
                    
                    app_set_speed(*(int8_t *)(&uart1_daraframe.data[0]));
                    ret_data[0] = uart1_daraframe.data[0];//当前油门状态 倒车：-100~0 / 前进：0~100
                    ret_data[1] = app_set_brake_status(uart1_daraframe.data[1]);//当前刹车状态
                    if(1==Get_Status(IN_EXTI0_Custom0)){ 
                        ret_data[2] = app_set_gears_status(0);//进入管理员模式
                    }else {
                        ret_data[2] = app_set_gears_status(uart1_daraframe.data[2]);//当前速度档位
                    }
                    ret_data[3] = radar_daraframe.Left_data;
                    ret_data[4] = radar_daraframe.Right_data;
                    length  = 5;
                    app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
                }else{

                    ret_data[0] = app_get_Door_lock_status();
                    length  = 1;
                    app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
                }
            }
        break;
        case 0x03://推车模式
            if(1 ==uart1_daraframe.length){//推车模式设置/0：退出推车状态/1：推车状态
                ret_data[0] =app_set_Push_status(uart1_daraframe.data[0]);
                length  = 1;
                app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
            }
        break;
        case 0x04://GRB
                WS2812_GRBs.len =uart1_daraframe.length;
                
                for(length=0;length < WS2812_GRBs.len;length++){//G3,R3,B2
                    WS2812_GRBs.GRBs[length] = ((uint32_t)(uart1_daraframe.data[length] & 0xE0)<<16) | ((uint32_t)(uart1_daraframe.data[length] & 0x1C)<<11) | ((uint32_t)(uart1_daraframe.data[length] & 0x03)<<6);
                }

                // WS2812_GRBs.len =uart1_daraframe.length / 3;
                // for(length=0;length < WS2812_GRBs.len;length++){
                //     WS2812_GRBs.GRBs[length] = ((uint32_t)uart1_daraframe.data[3*length + 0]<<16) | ((uint32_t)uart1_daraframe.data[3*length +1]<<8) | ((uint32_t)uart1_daraframe.data[3*length +2]);
                // }
                // app_uart_Sendcmd(UART2_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, uart1_daraframe.data, length);
                // app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, uart1_daraframe.data, length);
        break;

        default :

        break;
        /*
            其他功能....
        */
    }
    uart1_state =0;//数据处理完要清零，准备接收下一帧数据
}

static void uart1_Receive(uint8_t data)
{
    uint8_t *frame = (uint8_t *)&uart1_daraframe;

    switch(uart1_state){
        case 0://header
            if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (uart1_daraframe.header == 0x0)) {
                uart1_daraframe.header = (FRAME_HEADER >> 8);
            } else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (uart1_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
                uart1_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
                uart1_daraframe.length = 0;
                uart1_state = 1;//to cmd id
                //debug("header");
            }
        break;
        case 1://cmd_id
            //debug("rxcmd:%x", data);
            uart1_daraframe.cmd_id = data;
            uart1_state = 2;//to device addr
        break;
        case 2://reg addr
            //debug("reg_addr");
            uart1_daraframe.reg_addr = data;
            uart1_state = 3;//to data length
        break;
        case 3://data length
            //debug("length");
            uart1_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
            if (uart1_daraframe.length == 0) {
                uart1_state = 5;//to crc
            } else {
                uart1_state = 4;//to data
                uart1_data_cnt = 0;
            }
        break;
        case 4://data
            //debug("data");
            if (uart1_data_cnt < uart1_daraframe.length) {
                uart1_daraframe.data[uart1_data_cnt++] = data;
            }
            if (uart1_data_cnt == uart1_daraframe.length) {
                uart1_data_cnt = 0;
                uart1_state = 5;//to crc
            }
        break;
        case 5://CRC8
            uart1_daraframe.crc = crc8_checkout(frame, 5 + uart1_daraframe.length);
#if DISABLE_CRC8            
            uart1_daraframe.crc = data;
#endif
            //计算并验证crc8
            if (uart1_daraframe.crc == data) {
                uart1_state = 6;//to ack
                //debug("crc correct cmd:%x", uart1_daraframe.cmd_id);
            } else {
                uart1_state = 0;//to haeder
                uart1_daraframe.header = 0;
                //debug("crc error cmd:%x-%x", uart1_daraframe.cmd_id, uart1_daraframe.crc);
            }
        break;
    }
    // uart_putc(UART1_PORT,data);//debug
    // uart_putc(UART1_PORT,'0'+uart1_state);
    if(uart1_state == 6){
        uart1_daraframe.header = 0;
        uart1_state = 7;//数据处理完，需要将状态位归零，才会接收下一帧数据，即：uart1_state =0时。
        app_uart1_hande();
        uart1_state =0;
        /*
            rx handler codes....
        */
    }
}

void UART1_IRQHandler(void)
{
    uint32_t state = UART1->IFM.Word; // UART1->RIF.Word;
    
    if (state & 0x01) //(BIT_RXRD)
    {
        UART1->IDR.RXRD = 1; // Disable RXRD Interrupt

        uart1_Receive(UART1->RBR);
        UART1->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
        UART1->IER.RXRD = 1; // Enable RXRD Interrupt
    }

}

/*
***************************************UART2*****************************************************
*/

uint8_t uart2_state =0;

static void uart2_Receive(uint8_t data)
{
    switch(uart2_state){
        case 0://header
            if (data == 0x0C || data == 0x0D) {
                radar_daraframe.header = data;
                uart2_state = 1;//to data
                //debug("header");
            }
        break;
        case 1://data
            //debug("data:%x", data);
            if(0x0c == radar_daraframe.header){
                radar_daraframe.Left_data = data;
            }else if(0x0d == radar_daraframe.header){
                radar_daraframe.Right_data = data;  
            }
            uart2_state = 2;
        break;
    }
        
    // uart_putc(UART2_PORT,data);
    // uart_putc(UART2_PORT,'0'+uart2_state);
    if(uart2_state == 2){
        radar_daraframe.header = 0;
        app_updata_radar();
        uart2_state = 0;
        /*
            rx handler codes....
        */
    }
}

void UART2_IRQHandler(void)
{
    uint32_t state = UART2->IFM.Word; // UART2->RIF.Word;
    
    if (state & 0x01) //(BIT_RXRD)
    {
        UART2->IDR.RXRD = 1; // Disable RXRD Interrupt

        uart2_Receive(UART2->RBR);
        UART2->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
        UART2->IER.RXRD = 1; // Enable RXRD Interrupt
    }

}
//发送命令
void app_uart_Sendcmd(uint8_t port, volatile uint8_t cmd_id ,volatile uint8_t reg_addr ,volatile uint8_t *data, volatile uint8_t length)
{
    uart_daraframe_t frame;
    uint8_t *cmd_data =(uint8_t *)&frame;
    uint8_t i;

	frame.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100
	frame.cmd_id = cmd_id;
	frame.reg_addr = reg_addr;
	frame.length = length < MAX_LEN ? length:MAX_LEN;

    for(i = 0;i < frame.length ;i ++){
        frame.data[i] = * data++;
    }
    length =5 + frame.length;
	frame.crc = crc8_checkout(cmd_data, length);
	while(length--)
	    uart_putc(port, (uint32_t)(*cmd_data ++));
    uart_putc(port, (uint32_t)(frame.crc));
}