#include "stdio.h"
#include "string.h"

#include "gpio.h"
#include "AngleSensor.h"

#define DATA_SIZE 6U

/*! SPI发送和接收数组*/
uint8_t g_spiTxBuff1[DATA_SIZE] = {0};
uint8_t g_spiRxBuff1[DATA_SIZE] = {0};

static float angle_offset = 0.0;
static float angle_raw = 0.0;

/*************<prototype>**************/
void SPI0_Callback(void *device, uint32_t wpara, uint32_t lpara);


void AngleSensor_Init(void)
{
	SPI_ConfigType spiConfig;
	
	
	/*初始化SPI引脚,功能复用选择.*/
	//GPIO_SetFunc(GPIOB, GPIO_PIN15, GPIO_FUN3);//SCK
	//GPIO_SetFunc(GPIOB, GPIO_PIN14, GPIO_FUN3);//MOSI
	//GPIO_SetFunc(GPIOC, GPIO_PIN0, GPIO_FUN3);//MISO
	//GPIO_SetFunc(GPIOC, GPIO_PIN1, GPIO_FUN3);//CS
	
	/*清零配置结构体变量.*/
	memset(&spiConfig, 0x00, sizeof(spiConfig));
	
	/*初始化SPI参数,波特率 = 2Mbps = (F_BCLK / (SCK_LOW+1 + SCK_HIGH+1)).*/
	spiConfig.csSetup = 4;/*片选建立时间  = (CS_SETUP + 1) * CLK_PERIOD.*/
	spiConfig.csHold  = 4;/*片选保持时间  = (CS_HOLD + 1) * CLK_PERIOD.*/
	spiConfig.sckHigh = 5;/*SCK高电平时间 = (SCK_HIGH + 1) * CLK_PERIOD.*/
	spiConfig.sckLow  = 5;/*SCK低电平时间 = (SCK_LOW + 1) * CLK_PERIOD.*/
	spiConfig.csIdle  = 3;/*两条数据间最短时间间隔 = (CS_IDLE + 1) * CLK_PERIOD.*/
	spiConfig.mode   		= SPI_MASTER;//设置为主机模式
	spiConfig.cpha	 		= SPI_CPHA_2EDGE;//设置数据采样相位,第2个边沿采样数据
	spiConfig.cpol	 		= SPI_CPOL_LOW;//设置SCK空闲时极性,空闲时SCK为低
	spiConfig.frmSize 		= SPI_FRAME_SIZE_16BITS;
	spiConfig.rxMsbFirstEn	= ENABLE;//选择从最高位开始接收
	spiConfig.txMsbFirstEn	= ENABLE;//选择从最高位开始发送
	spiConfig.csOutputEn	= ENABLE;//CS有SPI硬件控制
	spiConfig.continuousCSEn= ENABLE;//片选连续模式
	spiConfig.dmaRxEn		= DISABLE;//禁止使用DMA接收数据
	spiConfig.dmaTxEn		= DISABLE;//禁止使用DMA发送数据
	spiConfig.modeFaultEn	= DISABLE;//模式故障禁止
	spiConfig.wakeUpEn		= DISABLE;//主机模式不支持唤醒功能
	spiConfig.spiEn 		= ENABLE;
	spiConfig.callBack		= SPI0_Callback;
	spiConfig.interruptEn		= ENABLE;//使能NVIC中断
	spiConfig.txUFInterruptEn 	= ENABLE;//打开TXUF中断,可禁止
	spiConfig.rxOFInterruptEn 	= ENABLE;//打开RXOF中断,可禁止
	spiConfig.modeFaultInterruptEn = DISABLE;//模式故障中断
	SPI_Init(SPI0, &spiConfig);
	
	while(AngleSensor_GetAngle() < 0){
		mdelay(5);
	}

}

void AngleSensor_Setoffset(float offset)
{
	angle_offset = offset;
}



float AngleSensor_GetAngle(void)
{
	uint16_t angle_value;
	//uint8_t  safeword =0;
	//uint8_t crc;
	float angle = 0.0;
			
	g_spiTxBuff1[0] = 0x21;
	g_spiTxBuff1[1] = 0x80;
	g_spiTxBuff1[2] = 0xFF;
	g_spiTxBuff1[3] = 0xFF;
	g_spiTxBuff1[4] = 0xFF;
	g_spiTxBuff1[5] = 0xFF;
	
	SPI_TransmitReceivePoll(SPI0, g_spiRxBuff1, g_spiTxBuff1, 6);
	
	angle_value = g_spiRxBuff1[3]&0x7F;
	//printf("g_spiRxBuff1[2]:0x%x, g_spiRxBuff1[3]:0x%x \r\n", g_spiRxBuff1[2], g_spiRxBuff1[3]);
	//printf("g_spiRxBuff1[4]:0x%x, g_spiRxBuff1[5]:0x%x \r\n", g_spiRxBuff1[4], g_spiRxBuff1[5]);
	angle_value = (angle_value<<8)|g_spiRxBuff1[2];
	angle = (360.0*angle_value)/32768;

	if((g_spiRxBuff1[5]&0xF0) != 0x70){
	
		angle = -180.0;
	}else{
		angle_raw = angle;
		
		angle += angle_offset;
		if(angle > 360.0){
			angle -= 360.0;
		}
		
		if(angle < 0.0){
			angle += 360.0;
		}
		
	}
	
	return angle;
}

float AngleSensor_GetAngleRaw(void)
{
		return angle_raw;
}

void AngleSensor_PrintInfo(void)
{
	printf("AngleSensor angle:%f \r\n", AngleSensor_GetAngle());

}

void AngleSensor_DeInit(void)
{
	SPI_DeInit(SPI0);
}

/**
* @prototype SPI1_Callback(void *device, uint32_t wpara, uint32_t lpara)
*
* @param[in] ...
* @return	 void
*
* @brief  	 SPI1中断回调函数.
*/
void SPI0_Callback(void *device, uint32_t wpara, uint32_t lpara)
{
	if (wpara & SPI_STATUS_TXUF_Msk)
	{
		//TX下溢处理
	}
	else if (wpara & SPI_STATUS_RXOF_Msk)
	{
		//RX溢出处理
	}
	
}