#include "b6x.h"
#include "drvs.h"
#include "dbg.h"
#include "rbuf.h"
#include "CRCxx.h"

#include "sys_config.h"

#include "app_PAD.h"





// void app_otas_txd(uint16_t len, const uint8_t *data){
//     app_PAD_Sendcmd(OTA_CMD_ID ,OTA_REG_ADDR ,data ,len);
// }

// 用于PAD通信处理
PAD_daraframe_t PAD_daraframe;
volatile uint8_t Rec_state =0;
volatile uint8_t Rec_data_cnt =0;

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

    if((PAD_daraframe.cmd_id == OTA_CMD_ID) && (PAD_daraframe.reg_addr == OTA_REG_ADDR) && (PAD_daraframe.length == 18)){
        app_otas_rxd(PAD_daraframe.length ,PAD_daraframe.data);
        goto PAD_Data_Hande_end;
    }

    switch(PAD_daraframe.reg_addr){
        case 0x01: // 写入系统配置
            if(PAD_daraframe.cmd_id == 0x06){// 写入
                write_cfg(&sys_conf);
            }
            break;
        case 0x02: // 管理员模式油门极限寄存器(Unit:%)
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                // ret_data[length++] =0;
                ret_data[length++] =sys_conf.Manager_sLim;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_conf.Manager_sLim =PAD_daraframe.data[0];
                break;
            }
        case 0x03: // 游客模式油门极限寄存器(Unit:%)
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                // ret_data[length++] =0;
                ret_data[length++] =sys_conf.Tourist_sLim;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_conf.Tourist_sLim =PAD_daraframe.data[0];
                break;
            }
        case 0x04: // 减速油门极限寄存器(Unit:%)(自动减速时油门极限)
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                // ret_data[length++] =0;
                ret_data[length++] =sys_conf.Speed_Cut_sLim;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_conf.Speed_Cut_sLim =PAD_daraframe.data[0];
                break;
            }
        case 0x05: // 刹车距离极限寄存器(前进)(Unit:mm)
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                ret_data[length++] =sys_conf.Brake_DLimit & 0x00FF;
                ret_data[length++] =sys_conf.Brake_DLimit >> 8;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_conf.Brake_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
                break;
            }
        case 0x06: // 减速距离极限寄存器(Unit:mm)
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                ret_data[length++] =sys_conf.Speed_Cut_DLimit & 0x00FF;
                ret_data[length++] =sys_conf.Speed_Cut_DLimit >> 8;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_conf.Speed_Cut_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
                break;
            }
        case 0x07: // 刹车距离极限寄存器(前进)(Unit:mm)
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                ret_data[length++] =sys_conf.Brake_DLimit_B & 0x00FF;
                ret_data[length++] =sys_conf.Brake_DLimit_B >> 8;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_conf.Brake_DLimit_B =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
                break;
            }
        case 0x08: // 减速距离极限寄存器(Unit:mm)
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                ret_data[length++] =sys_conf.Speed_Cut_DLimit_B & 0x00FF;
                ret_data[length++] =sys_conf.Speed_Cut_DLimit_B >> 8;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_conf.Speed_Cut_DLimit_B = (((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
                break;
            }
        case 0x09: //PAD模式寄存器
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                // ret_data[length++] =0;
                ret_data[length++] =sys_sta.Pmode;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_sta.Pmode = PAD_daraframe.data[0] & 0x03;//0 退出模式//1 进入游客模式//2 进入管理员模式
                break;
            }
        case 0x0A: //系统模式寄存器
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                // ret_data[length++] =0;
                ret_data[length++] =sys_sta.Smode;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }
        case 0x0B: //0 关闭12V输出//1 开启12V输出
            if(PAD_daraframe.cmd_id == 0x03){// 读取
                // ret_data[length++] =0;
                ret_data[length++] =sys_sta.O_12V;
                // if(0 == --PAD_daraframe.length){
                    break;
                // }
            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
                sys_sta.O_12V = PAD_daraframe.data[0] & 0x01;
                break;
            }
        break;
        // default :
        //     app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
        // break;
    }
    app_PAD_Sendcmd(PAD_daraframe.cmd_id ,PAD_daraframe.reg_addr ,ret_data ,length);

PAD_Data_Hande_end:   
    Rec_state =0;//数据处理完要清零，准备接收下一帧数据
}

void app_PAD_Receive(uint8_t data){
    uint8_t *frame = (uint8_t *)&PAD_daraframe;

    switch(Rec_state){
        case 0://header
            if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (PAD_daraframe.header == 0x0)) {
                PAD_daraframe.header = (FRAME_HEADER >> 8);
            } else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (PAD_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
                PAD_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
                PAD_daraframe.length = 0;
                Rec_state = 1;//to cmd id
                //debug("header");
            }
        break;
        case 1://cmd_id
            //debug("rxcmd:%x", data);
            PAD_daraframe.cmd_id = data;
            Rec_state = 2;//to device addr
        break;
        case 2://reg addr
            //debug("reg_addr");
            PAD_daraframe.reg_addr = data;
            Rec_state = 3;//to data length
        break;
        case 3://data length
            //debug("length");
            PAD_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
            if (PAD_daraframe.length == 0) {
                Rec_state = 5;//to crc
            } else {
                Rec_state = 4;//to data
                Rec_data_cnt = 0;
            }
        break;
        case 4://data
            //debug("data");
            if (Rec_data_cnt < PAD_daraframe.length) {
                PAD_daraframe.data[Rec_data_cnt++] = data;
            }
            if (Rec_data_cnt == PAD_daraframe.length) {
                Rec_data_cnt = 0;
                Rec_state = 5;//to crc
            }
        break;
        case 5://CRC8
            PAD_daraframe.crc = crc8_maxim(frame, 5 + PAD_daraframe.length);
#if !PAD_CRC8_EN         
            PAD_daraframe.crc = data;
#endif
            //计算并验证crc8
            if (PAD_daraframe.crc == data) {
                Rec_state = 6;//to ack
                //debug("crc correct cmd:%x", PAD_daraframe.cmd_id);
            } else {
                Rec_state = 0;//to haeder
                PAD_daraframe.header = 0;
                //debug("crc error cmd:%x-%x", PAD_daraframe.cmd_id, PAD_daraframe.crc);
            }
        break;
    }
    // uart_putc(UART1_PORT,data);//debug
    // uart_putc(UART1_PORT,'0'+Rec_state);
    if(Rec_state == 6){
        PAD_daraframe.header = 0;
        Rec_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。
        PAD_Data_Hande();
        Rec_state =0;
        /*
            rx handler codes....
        */
    }
}

//发送命令
void app_PAD_Sendcmd(uint8_t cmd_id ,uint8_t reg_addr ,const uint8_t *data, uint8_t length){
    PAD_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_maxim(cmd_data, length);
	while(length--)
	    uart_putc(UART1_PORT, (uint32_t)(*cmd_data ++));
    uart_putc(UART1_PORT, (uint32_t)(frame.crc));
}