#include "process.h"
#include "gpio.h"
#include "cfg.h"
#include "ac780x_gpio.h"
#include "Radar.h"
#include "Imu.h"
#include "adc.h"

uint16_t	g_blinkLedTime;		/*LED闪烁频率控制时间*/
uint16_t	g_blinkLedTgtTime;	/*LED目标闪烁频率*/

uint8_t		g_mr_Interval = 0;			/*  压力传感器更新周期  */
uint16_t  g_print_interval = 0;   /* 打印周期 */

#define STATUS_DETECTINTERVAL  (40)  /*60ms * 8 == 320ms 去抖动 */

uint8_t g_runstate; //状态
uint8_t g_state; 		//状态
uint8_t g_exception; //异常，主要指雷达

static float  radar_airheight = 0;
static uint8_t  radar_status = 0;


static void update_state()
{
	 radar_status = Radar_GetHeight(&radar_airheight);
	 
	 if((STATUS_NoResponse == radar_status) || (STATUS_DataError == radar_status)){
			g_exception = 1;
	 }else{
			g_exception = 0;
	 }
	
		
	if(STATUS_OPEN == g_state){
		g_runstate = STATUS_OPEN;
	}else if(STATUS_CLOSE == g_state){
		g_runstate = STATUS_CLOSE;
	}
	
	if(1 == g_exception){
		g_runstate = STATUS_EXCEPTION;
	}

}

void Process_Init(void)
{
		/*初始化控制变量.*/
		g_blinkLedTime 	  = 0;
		g_blinkLedTgtTime = BLINK_LED_DFTT;
	
		g_mr_Interval = 0;
		g_exception = 0;
	
		g_state = STATUS_CLOSE;

		update_state();
	
		ADCSample_UpdateBias(config->temperature_bias, config->pressure_bias);
	
	  //printf("process init \r\n");
}

void Process_RunPeriod(void)
{
	/*周期性地检查LED闪烁,LED2和LED3同时闪烁.*/
	if (g_blinkLedTime >= g_blinkLedTgtTime)
	{
		g_blinkLedTime = 0;
		
		switch(g_runstate){
			case STATUS_CLOSE:
				REDLED_OFF;
				GREENLED_TOGGLE;
				break;
			case STATUS_OPEN:
				GREENLED_OFF;
				REDLED_TOGGLE;
				break;
			case STATUS_UNKNOW:
				REDLED_OFF;
				GREENLED_ON;
				break;
			default:
				GREENLED_OFF;
				REDLED_ON;
				break;
		
		};
		
	}
	
	
	
	//压力传感器测量请求  
	if(g_mr_Interval >= 50){
		g_mr_Interval=0;
		//g_exception = PressureSensor_MR();
		Imu_MR();
		Radar_CheckResponse();
		
		update_state();
		
	}
	
	
	
	if(g_print_interval >= 500){
		g_print_interval=0;
		
		Radar_SendRequest();
		
		//Imu_MR();
		
		//printTempPress();
		
		//PressureSensor_Print();
		
		//printf("the NTC temperature: %f \r\n",getTemperature());
		//printf("the DIFF ADC1-ADC2: %d \r\n", getHalldiff());
	}
	
	
	
}

uint8_t Process_GetValveStatus(void)
{
	return g_state;
}


float Process_GetTemperature(void)
{
	return getTemperature();
}


float Process_GetPressure(void)
{
	return getPressure();
	
}

uint8_t Process_GetAirHeight(float* pHeight)
{
		return Radar_GetHeight(pHeight);
}


uint8_t Process_GetAngle(float* pRoll, float* pPitch, float* pYaw)
{
		return Imu_GetAngle(pRoll, pPitch, pYaw);
}

uint8_t Process_WRadarTransData(uint8_t *pdata, uint8_t len)
{
		Radar_SendData(pdata, len);
		return 0;
}

uint8_t Process_RRadarTransData(uint8_t *pBuf, uint8_t read_len)
{
		Radar_ReadData(pBuf, read_len);
		return 0;
}

uint8_t Process_SetBias(float temp_bias, float press_bias)
{
		ADCSample_UpdateBias(temp_bias, press_bias);
	  return 0;
}