#include "ai.h"
#include "bsp/uart.h"
#include "component/crc16.h"
#include "module/gimbal.h"


void ai_init(AI_t* ai){
		ai->RX.head[0]="M";
		ai->RX.head[0]="R";	
		ai->TX.head[0]="M";
		ai->TX.head[0]="R";		
} 





int8_t AI_StartReceiving(AI_t *ai) {
  if (BSP_UART_Receive(BSP_UART_NUC,&ai->RX,sizeof(ai->RX), false)) 
    return DEVICE_OK;
  return DEVICE_ERR;
}

int8_t AI_Get_NUC(AI_t *ai,AI_cmd_t* ai_cmd) {
		if(ai->RX.head[0]!='M'&&ai->RX.head[1]!='R'){
					return DEVICE_ERR;
		}
//		CRC16_Calc(&ai->RX,sizeof(ai->RX),ai->RX.crc16);
//		if(CRC16_Verify((const uint8_t*)&(ai->RX), sizeof(ai->RX.crc16))!=true){
//				  return DEVICE_ERR;
//		}
		ai_cmd->gimbal_t.setpoint.pit=ai->RX.pitch;
		ai_cmd->gimbal_t.setpoint.yaw=ai->RX.yaw;
		ai_cmd->mode=ai->RX.mode;
		ai_cmd->gimbal_t.accl.pit=ai->RX.pitch_acc;
		ai_cmd->gimbal_t.vel.pit=ai->RX.pitch_vel;
		ai_cmd->gimbal_t.accl.yaw=ai->RX.yaw_acc;
		ai_cmd->gimbal_t.vel.yaw=ai->RX.yaw_vel;		
  return DEVICE_OK;
}


int8_t AI_ParseHost(AI_t *ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) {
		
		ai->TX.head[0]='M';
		ai->TX.head[1]='R';	
//		ai->TX.mode=2;
		ai->TX.pitch=motor->motor.pitch_4310_motor_feedback.rotor_abs_angle;
		ai->TX.yaw=motor->motor.yaw_4310_motor_feedback.rotor_abs_angle;	
		ai->TX.pitch_vel=motor->motor.pitch_4310_motor_feedback.rotor_speed;
		ai->TX.yaw_vel=motor->motor.yaw_4310_motor_feedback.rotor_speed;	
		ai->TX.q[0]=quat->q1;	
		ai->TX.q[1]=quat->q2;	
		ai->TX.q[2]=quat->q3;	
		ai->TX.q[3]=quat->q0;		

		ai->TX.bullet_count=10;
		ai->TX.bullet_speed=10;	
		
		ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t),ai->TX.crc16);
		if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){
				  return DEVICE_ERR;
		}
		      return DEVICE_OK;
}

int8_t AI_StartSend(AI_t *ai) {
//  if (ref_update) {
      if (BSP_UART_Transmit(BSP_UART_NUC,&ai->TX,sizeof(ai->TX), false))  
      return DEVICE_OK;
//    else
//      return DEVICE_ERR;
//  } else {
//    if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI),
//                              (uint8_t *)&(ai->TX),
//                              sizeof(ai->TX)) == HAL_OK)
//      return DEVICE_OK;
//    else
//      return DEVICE_ERR;
//  }
}