/* Copyright Statement:
 *
 * This software/firmware and related documentation ("AutoChips Software") are
 * protected under relevant copyright laws. The information contained herein is
 * confidential and proprietary to AutoChips Inc. and/or its licensors. Without
 * the prior written permission of AutoChips inc. and/or its licensors, any
 * reproduction, modification, use or disclosure of AutoChips Software, and
 * information contained herein, in whole or in part, shall be strictly
 * prohibited.
 *
 * AutoChips Inc. (C) 2016. All rights reserved.
 *
 * BY OPENING THIS FILE, RECEIVER HEREBY UNEQUIVOCALLY ACKNOWLEDGES AND AGREES
 * THAT THE SOFTWARE/FIRMWARE AND ITS DOCUMENTATIONS ("AUTOCHIPS SOFTWARE")
 * RECEIVED FROM AUTOCHIPS AND/OR ITS REPRESENTATIVES ARE PROVIDED TO RECEIVER
 * ON AN "AS-IS" BASIS ONLY. AUTOCHIPS EXPRESSLY DISCLAIMS ANY AND ALL
 * WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR
 * NONINFRINGEMENT. NEITHER DOES AUTOCHIPS PROVIDE ANY WARRANTY WHATSOEVER WITH
 * RESPECT TO THE SOFTWARE OF ANY THIRD PARTY WHICH MAY BE USED BY,
 * INCORPORATED IN, OR SUPPLIED WITH THE AUTOCHIPS SOFTWARE, AND RECEIVER AGREES
 * TO LOOK ONLY TO SUCH THIRD PARTY FOR ANY WARRANTY CLAIM RELATING THERETO.
 * RECEIVER EXPRESSLY ACKNOWLEDGES THAT IT IS RECEIVER'S SOLE RESPONSIBILITY TO
 * OBTAIN FROM ANY THIRD PARTY ALL PROPER LICENSES CONTAINED IN AUTOCHIPS
 * SOFTWARE. AUTOCHIPS SHALL ALSO NOT BE RESPONSIBLE FOR ANY AUTOCHIPS SOFTWARE
 * RELEASES MADE TO RECEIVER'S SPECIFICATION OR TO CONFORM TO A PARTICULAR
 * STANDARD OR OPEN FORUM. RECEIVER'S SOLE AND EXCLUSIVE REMEDY AND AUTOCHIPS'S
 * ENTIRE AND CUMULATIVE LIABILITY WITH RESPECT TO THE AUTOCHIPS SOFTWARE
 * RELEASED HEREUNDER WILL BE, AT AUTOCHIPS'S OPTION, TO REVISE OR REPLACE THE
 * AUTOCHIPS SOFTWARE AT ISSUE, OR REFUND ANY SOFTWARE LICENSE FEES OR SERVICE
 * CHARGE PAID BY RECEIVER TO AUTOCHIPS FOR SUCH AUTOCHIPS SOFTWARE AT ISSUE.
 */
 
#include "ac780x_uart_reg.h"
#include "ac780x_gpio.h"
#include "Radar.h"
#include "uart.h"
#include "string.h"
#include "crc16.h"

#define LaDarUARTx   UART0
#define LaDarUARTx_IRQn  UART0_IRQn

#define RADAR_RX_BUFF_LENGTH   9

uint8_t g_radarRxDataBuff[RADAR_RX_BUFF_LENGTH];
uint16_t g_radarRxDataIndex;

uint8_t *g_radarTxDataPoint;
uint16_t g_radarTxDataLength;
uint16_t g_radarTxDataIndex;


static uint8_t * p_float;
static float  tmp_v;
static uint16_t _crc = 0;


static float airHeight = 0;
static uint8_t _status = 0;


uint8_t radar_cmd[8] = {0x7F, 0x04, 0x0A, 0x0F, 0x00, 0x02, 0x48, 0x0E};
//static uint8_t radar_cmd[32];
//uint8_t 

//static uint32_t ladar_printfBuff[16];
//static uint16_t ladar_printfLen = 0;

static int TransmitData(uint8_t *pdata, uint16_t length);
/**
* UartEventCallback
*
* @param[in] device: UART_Type pointer
* @param[in] wpara: UART lsr0 register
* @param[in] lpara: UART lsr1 register
* @return    none
*
* @brief   uart receive handle
*/
 static void UartEventCallback(void *device, uint32_t wpara, uint32_t lpara)
{
    uint8_t data = 0;
    UART_Type *uart_Device = (UART_Type *)device;
	
    /*rx interrupt*/
    if ((uart_Device->IER & UART_IER_ERXNE_Msk) && (wpara & UART_LSR0_DR_Msk))
    {
        data = uart_Device->RBR;  
        g_radarRxDataBuff[g_radarRxDataIndex++] = data;
        
        if (g_radarRxDataIndex >= RADAR_RX_BUFF_LENGTH)
        {
            g_radarRxDataIndex = 0;
						_crc = crc16(g_radarRxDataBuff, 7);
					
						if( _crc ==  (((uint16_t)g_radarRxDataBuff[7]<<8) | g_radarRxDataBuff[8])){
							
							if((g_radarRxDataBuff[3] == 0xFF)&&(g_radarRxDataBuff[4] == 0xFF)&&(g_radarRxDataBuff[5] == 0xFF)&&(g_radarRxDataBuff[6] == 0xFF)){
									_status = STATUS_EXCEED;
									airHeight = 0;
							}else if((g_radarRxDataBuff[3] == 0xFE)&&(g_radarRxDataBuff[4] == 0xFE)&&(g_radarRxDataBuff[5] == 0xFE)&&(g_radarRxDataBuff[6] == 0xFE)){
									_status = STATUS_BLIND;
									airHeight = 0;
							}else if((g_radarRxDataBuff[3] == 0xFD)&&(g_radarRxDataBuff[4] == 0xFD)&&(g_radarRxDataBuff[5] == 0xFD)&&(g_radarRxDataBuff[6] == 0xFD)){
									_status = STATUS_WEAK;
									airHeight = 0;
							}else{
									_status = STATUS_NORMAL;
									p_float = (uint8_t*)&tmp_v;
								
									p_float[0] = g_radarRxDataBuff[4];
									p_float[1] = g_radarRxDataBuff[3];
									p_float[2] = g_radarRxDataBuff[6];
									p_float[3] = g_radarRxDataBuff[5];
								
									airHeight = tmp_v;
								
							}	
							
						
						}

						
//						ladar_printfLen = snprintf((char*)ladar_printfBuff, 64, "Radar[%d] airheight: %f m\r\n",_status, airHeight);
//						rs485_TransmitData((uint8_t*)ladar_printfBuff, ladar_printfLen);
						
        }
    }
		
    /*tx interrupt*/
    if ((uart_Device->IER & UART_IER_ETXE_Msk) && (wpara & UART_LSR0_THRE_Msk)) 
    {
        uart_Device->RBR = g_radarTxDataPoint[g_radarTxDataIndex++];

        if (g_radarTxDataIndex >= g_radarTxDataLength)
        {
            UART_SetTXEInterrupt(device, DISABLE);  ///<发送最后一个字节时关闭发送空中断
        }
    }
}
/**
* uart_Initialize
* 
* @param[in] none
* @return none
*
* @brief uart 初始化
*/
static void uart0_Initialize(void)
{
    UART_ConfigType  uartConfig = {0};

    uartConfig.baudrate = 9600;
    uartConfig.dataBits = UART_WORD_LEN_8BIT;
    uartConfig.stopBits = UART_STOP_1BIT;
    uartConfig.parity = UART_PARI_NO;
    uartConfig.fifoByteEn = DISABLE; ///<must enable fifoByte when use DMA
    uartConfig.dmaEn = UART_DMA_TXRX_NONE;
    uartConfig.callBack = UartEventCallback;   ///<uart0 interrupt callback
    UART_Init(LaDarUARTx, &uartConfig);
    

    UART_SetRXNEInterrupt(LaDarUARTx, ENABLE);
    ///Enable UARTx interrupt
    NVIC_SetPriority(LaDarUARTx_IRQn, 3);
    NVIC_ClearPendingIRQ(LaDarUARTx_IRQn);
    NVIC_EnableIRQ(LaDarUARTx_IRQn);
    
}
/**
* TransmitData
* 
* @param[in] pdata :发送数据指针
* @param[in] length :发送数据长度
* @return none
*
* @brief uart 发送函数，通过中断发送 
*/
int TransmitData(uint8_t *pdata, uint16_t length) 
{
    if (g_radarTxDataIndex < g_radarTxDataLength){
        return -1;      ///<有数据正在发送
    }
		
    g_radarTxDataPoint = pdata;
    g_radarTxDataLength = length;
    g_radarTxDataIndex = 0;
    UART_SetTXEInterrupt(LaDarUARTx, ENABLE);
		
    return 0;
}

//static void set_collectfreq(uint16_t interval){
//		uint16_t len = 0;
//		len = (uint16_t)snprintf((char*)radar_cmd, 32, "AT+COLLECTFREQ=%d\n", interval);
//		TransmitData(radar_cmd, len);
//}

//static void read_airheight(){
//		uint16_t len = 0;
//		len = (uint16_t)snprintf((char*)radar_cmd, 32, "AT+REALAIRHEIGHT\n");
//		TransmitData(radar_cmd, len);
//}


void Radar_Init(void)
{
		uart0_Initialize();

		_status = STATUS_NORMAL;
		airHeight = 0;
	
}

uint8_t Radar_MR(void)
{
	 //清空、接收缓冲
	 g_radarRxDataIndex = 0;
	 TransmitData(radar_cmd, 8);
	
	 return 0;
}
uint8_t Radar_GetHeight(float* height)
{
	*height = airHeight;
	return _status;
}

uint8_t Radar_Print(void)
{
	return 0;
}

void Radar_DeInit(void)
{

}