/**
 * @file dj.c
 * @author 1722451300@qq.com
 * @brief
 * @version 0.1
 * @date 2021-12-15
 *
 * @copyright Copyright (c) 2021
 *
 */
#include "motor.h"
volatile int32_t recv_motor_data_state=0;//1就判断是不是接收完成，0不判断
volatile int32_t motor_jerk_state = 0;
extern volatile int32_t lcd_issue_motor_speed;
volatile int16_t motor_off_state=0;
extern int32_t recv_motor_data_time;
extern int32_t inquire_error_time=0;
void motor_uart_config(void) 
{
  /**
   * @brief 用的 UART0 作为与单机的通信接口 CH340电机端
   *
   */
  uart0_config();
  rs485_re_pin = 0;
  rs485_re_port &= ~(0x01 << 3);  //初始化为低电平默认接收模式
}

void send_cmd_to_motor(volatile char buff[20], unsigned int num) 
{
  /**
   * @brief 向电机发送命令
   * @param buff 发送的命令
   */
  rs485_re_port |= (0x01 << 3);
  while (num--) {
    while (!TRMT0)
      ;
    TX0B = *buff;
    buff++;
  }
  while (!TRMT0)
    ;  //等待向电机发送数据完成
  rs485_re_port &= ~(0x01 << 3);
}



void inquire_motor_error_state(void)
{
  /**
   * @brief 每3秒查询一次电机的状态
   * 3E 9C 01 00 DB
   */
  unsigned char inquire_motor_error_cmd[20] = {0};
  unsigned char str[2]={0};
  if(inquire_error_time>=2000)//2s查询一次
  {
    inquire_error_time=0;
    //读取错误信息
    inquire_motor_error_cmd[0] = 0x3E;
    inquire_motor_error_cmd[1] = 0x9A;
    inquire_motor_error_cmd[2] = 0X01;
    inquire_motor_error_cmd[3] = 0x00;
    inquire_motor_error_cmd[4] = 0xD9;
    //send_cmd_to_motor(inquire_motor_error_cmd, 5);
    sleep_ms(10);
    //读取速度的值
    inquire_motor_error_cmd[0] = 0x3E;
    inquire_motor_error_cmd[1] = 0x9C;
    inquire_motor_error_cmd[2] = 0X01;
    inquire_motor_error_cmd[3] = 0x00;
    inquire_motor_error_cmd[4] = 0xDB;
    //send_cmd_to_motor(inquire_motor_error_cmd, 5);
    sleep_ms(10);
  }
}
//----------------------------------------------------
//----------------------------------------------------
//----------------------------------------------------
uint8_t g_motor_rxbuf_isready = 0;
volatile char motor_rxbuff[50] = {0};
volatile uint32_t motor_count = 0;
uint32_t g_process_recv_motor_data_time = 0;
void recv_from_motor_data(unsigned char data)
{
/**
 * @brief 接受来自电机的数据
 * 
 */
   g_motor_rxbuf_isready=true;//进入中断就让他为真
   motor_rxbuff[motor_count++] = data;
   g_process_recv_motor_data_time= hal_get_irqticket();//记录最后的时间
}


uint32_t judge_recv_motor_data_finish(uint32_t time)
{
    /**
 * @brief 接收motor的数据完成
 */
   static uint32_t recv_motor_data_time = 0;
  recv_motor_data_time = time;
  if(recv_motor_data_time=0)
  {
    recv_motor_data_time = hal_get_ticket();
    return recv_motor_data_time;
  }
  else if (hal_has_passedms(recv_motor_data_time) > 10) {
    g_motor_rxbuf_isready=false;
    recv_motor_data_time = hal_get_ticket();
    send_cmd_to_motor(motor_rxbuff,motor_count);//接收完成将数据发给电脑
    motor_count=0;
    return 0;
  }
}


void  motor_data_analyse(volatile char buff[20], unsigned int num)
{
  /**
   * @brief 对电机回复的数据进行分析
   * @param 电机回复的数据
   * @param 数据长度
   * buff[8]电机速度低字节,buff[9]电机速度高字节
   */
  if (buff[0] == 0x3E && buff[1] == 0x9A)//查询电机错误状态命令下发后，电机的回复
  {
    if((buff[11]>>0&0x01)||(buff[11]>>3&0x01))
    {
      lcd_switch_anomaly_page();
    }
  }
   if (buff[0] == 0x3E && buff[1] == 0x9C)//读取点击速度数值
   {
   }
}




volatile int32_t speed_dsp_now = 0;//记录现在的速度
volatile int32_t first_set_motor_speed_dsp = 0;

int32_t motor_jerk_status(void)
{
  /**
   * @brief 判断急停按键是否被按下
   *
   */
  if(!((PA>>0)&1)&&motor_jerk_state==0)
  {
      sleep_ms(10);
      if(!((PA>>0)&1))
      {
        motor_jerk_state = 1;
        speed_dsp_now=0;
        first_set_motor_speed_dsp=0;
        lcd_switch_anomaly_page();//急停状态的时候显示异常界面
        clear_zero();
        sleep_ms(3000);
        lcd_switch_anomaly_page_key();
      }
  }
  else if((PA >> 0) & 1)  //不是急停状态
  {
    if((PA >> 0) & 1) 
    {
      motor_jerk_state = 0;
      beep_off;
    }
  }
}

int32_t judge_foreward_or_reversal(int32_t speed,int32_t turn_state) {
  /**
   * @brief 用户点击正转反转时，判断现在的状态是正转还是反转
   *
   */
  if(turn_state==0) //正转
  {
    if(first_set_motor_speed_dsp<0)
    {
      speed =~speed+1;
    }
    return speed;
  }
  else if (turn_state == 1)  //反转
  {
      if(first_set_motor_speed_dsp>0)
      {
        speed = ~(speed - 1);
      }
      return speed;
  } 

}


void set_motor_off(void)
{
 /**
  * @brief 电机速度为0时也不能彻底停止需要再发一个停止指令
  * 3E 80 01 00 BF
  */
  motor_off_state=1;
  unsigned char motor_off_cmd[20] = {0};
  motor_off_cmd[0] = 0x3E;
  motor_off_cmd[1] = 0x80;
  motor_off_cmd[2] = 0X01;
  motor_off_cmd[3] = 0x00;
  motor_off_cmd[4] = 0xBF;
  send_cmd_to_motor(motor_off_cmd, 5);
}

//===========================================================================
//===========================================================================
//===========================================================================
//===========================================================================
int32_t set_moter_speed_internal(int32_t speed_dsp) 
{
  /**
   * @brief 速度闭环控制命令用来控制电机的速度
   */
  unsigned char motor_speed_cmd[20] = {0};
  speed_dsp_now = speed_dsp;
  first_set_motor_speed_dsp = speed_dsp;
  speed_dsp = speed_dsp * 100;  //电机下发速度要乘以100
  motor_speed_cmd[0] = 0x3E;
  motor_speed_cmd[1] = 0xA2;
  motor_speed_cmd[2] = 0X01;
  motor_speed_cmd[3] = 0x04;
  motor_speed_cmd[4] = motor_speed_cmd[0] + motor_speed_cmd[1] + motor_speed_cmd[2] + motor_speed_cmd[3];
  motor_speed_cmd[5] = speed_dsp & 0xFF;
  motor_speed_cmd[6] = (speed_dsp >> 8) & 0xFF;
  motor_speed_cmd[7] = (speed_dsp >> 16) & 0xFF;
  motor_speed_cmd[8] = (speed_dsp >> 24) & 0xFF;
  motor_speed_cmd[9] = motor_speed_cmd[5] + motor_speed_cmd[6] + motor_speed_cmd[7] + motor_speed_cmd[8];
  send_cmd_to_motor(motor_speed_cmd, 10);
  if(speed_dsp_now==0)
  {
    sleep_ms(10);
    set_motor_off();
  }
}
/*
void set_motor_speed(int32_t speed_dsp_target)
{
 /**
  * @brief 设置电机的速度
  * @param 要设置的速度（经过单位换算过的）
  */
 /*
      while(1)
        {
          if(speed_dsp_target==speed_dsp_now)//目标速度与现在的速度相等
            {
              break;
            }
            else if(speed_dsp_target < speed_dsp_now)//说明用户向让速度减小
            {
              int32_t setspeedthistime = speed_dsp_now - 10;
              if (setspeedthistime < speed_dsp_target) {
                setspeedthistime = speed_dsp_target;
              }
              set_moter_speed_internal(setspeedthistime);
            }
          else if (speed_dsp_target > speed_dsp_now) //说明用户想让速度进行增加   要设置的speed_dsp_target是150，现在的speed_dsp_now 0
          {
              int32_t nowexpectspeed = speed_dsp_now + 10;
              if (nowexpectspeed > speed_dsp_target) {
                nowexpectspeed = speed_dsp_target;
              }
              set_moter_speed_internal(nowexpectspeed);// 去设置的是10
          }
            sleep_ms(10);
        }
    }
*/