/* Includes ----------------------------------------------------------------- */
#include "AT9S_Pro.h"

#include <string.h>
#include "bsp/uart.h"
#include "device/device.h"

/* Private define ----------------------------------------------------------- */
#define DEAD_AREA 0.025f
/* Private variables -------------------------------------------------------- */
static osThreadId_t thread_alert;
static bool inited = false;

/* Private function --------------------------------------------------------- */
static void AT9S_RxCpltCallback(void)
{
    osThreadFlagsSet(thread_alert, SIGNAL_AT9S_RAW_REDY);
}

/* Exported functions ------------------------------------------------------- */
int8_t AT9S_Init(AT9S_t *at9s)
{
    if (at9s == NULL) return DEVICE_ERR_NULL;
    if (inited) return DEVICE_ERR_INITED;
    if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;

    BSP_UART_RegisterCallback(BSP_UART_AT9S_PRO, BSP_UART_RX_CPLT_CB,
                              AT9S_RxCpltCallback);

    inited = true;
    return DEVICE_OK;
}

int8_t AT9S_Restart(void)
{
    __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AT9S_PRO));
    __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AT9S_PRO));
    return DEVICE_OK;
}

int8_t AT9S_StartDmaRecv(uint8_t *cmd_buffer)
{
    if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AT9S_PRO),
                             cmd_buffer,
                             AT9S_FRAME_LEN) == HAL_OK)
        return DEVICE_OK;
    return DEVICE_ERR;
}

bool AT9S_WaitDmaCplt(uint32_t timeout)
{
    return (osThreadFlagsWait(SIGNAL_AT9S_RAW_REDY,
                              osFlagsWaitAll, timeout) == SIGNAL_AT9S_RAW_REDY);
}
AT9S_Raw_t r;
/* 解析 25 字节原始帧并填充结构体 */
void AT9S_ParseRaw(const uint8_t raw[AT9S_FRAME_LEN], AT9S_t *out)
{
//    AT9S_Raw_t r;

    /* 摇杆 */
	r.ch[0] = ((raw[1]      | raw[2]  << 8)                 & 0x07FF);
    r.ch[1] = ((raw[2] >> 3 | raw[3]  << 5)                 & 0x07FF);
    r.ch[2] = ((raw[3] >> 6 | raw[4] << 2 | raw[5] << 10)   & 0x07FF);
    r.ch[3] = ((raw[5] >> 1 | raw[6] << 7)                 & 0x07FF);

    /* 开关/旋钮 */ 
    r.sw[0] = ((raw[6] >> 4 | raw[7] << 4)                  & 0x07FF);
    r.sw[1] = ((raw[7] >> 7 | raw[8] << 1 | raw[9] << 9)    & 0x07FF);
    r.sw[2] = ((raw[9] >> 2 | raw[10]<< 6)                  & 0x07FF);
    r.sw[3] = ((raw[10]>> 5 | raw[11]<< 3)                  & 0x07FF);
    r.sw[4] = ((raw[12]     | raw[13]<< 8)                  & 0x07FF);
    r.sw[5] = ((raw[13]>> 3 | raw[14]<< 5)                  & 0x07FF);
    r.sw[6] = ((raw[14]>> 6 | raw[15]<< 2 | raw[16]<< 10)   & 0x07FF);
    r.sw[7] = ((raw[16]>> 1 | raw[17]<< 7)                  & 0x07FF);

    /* 开关映射 */
    #define MAP_SWITCH(v) \
        ((v) > 300 && (v) < 500) ? AT9S_CMD_SW_DOWN : \
        ((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
        ((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_UP : AT9S_CMD_SW_ERR
	
	#define MAP_SWITCH_RESERVE(v) \
        ((v) > 300 && (v) < 500) ? AT9S_CMD_SW_UP : \
        ((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
        ((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_DOWN : AT9S_CMD_SW_ERR
	
	out->data.rc.ch_l_x = 2.0f*(r.ch[3]-209.0f)/(1596.0f-209.0f)-1.0f;
	out->data.rc.ch_l_y = 2.0f*(r.ch[2]-178.0f)/(1575.0f-198.0f)-1.0f;
	out->data.rc.ch_r_x = 2.0f*(r.ch[0]-210.0f)/(1596.0f-210.0f)-1.0f;
	out->data.rc.ch_r_y = 2.0f*(r.ch[1]-221.0f)/(1604.0f-217.0f)-1.0f;
	
	if(fabs(out->data.rc.ch_l_x)<=DEAD_AREA)out->data.rc.ch_l_x = 0;
	if(fabs(out->data.rc.ch_l_y)<=4*DEAD_AREA)out->data.rc.ch_l_y = 0;
	if(fabs(out->data.rc.ch_r_x)<=DEAD_AREA)out->data.rc.ch_r_x = 0;
	if(fabs(out->data.rc.ch_r_y)<=DEAD_AREA)out->data.rc.ch_r_y = 0;
						
	if(fabs(out->data.rc.ch_l_x)>=1.0f)out->data.rc.ch_l_x= out->data.rc.ch_l_x>0?1.0f:-1.0f;
	if(fabs(out->data.rc.ch_l_y)>=1.0f)out->data.rc.ch_l_y= out->data.rc.ch_l_y>0?1.0f:-1.0f;
	if(fabs(out->data.rc.ch_r_x)>=1.0f)out->data.rc.ch_r_x= out->data.rc.ch_r_x>0?1.0f:-1.0f;
	if(fabs(out->data.rc.ch_r_y)>=1.0f)out->data.rc.ch_r_y= out->data.rc.ch_r_y>0?1.0f:-1.0f;  
//	out->data.ch_r_x 		= r.ch[0];
//	out->data.ch_r_y 		= r.ch[1];
//	out->data.ch_l_y		= r.ch[2];
//	out->data.ch_l_x 		= r.ch[3];
	
    out->data.rc.key_A      = MAP_SWITCH_RESERVE(r.sw[0]);
    out->data.rc.key_B      = MAP_SWITCH_RESERVE(r.sw[1]);
    out->data.rc.key_C      = MAP_SWITCH_RESERVE(r.sw[2]);
    out->data.rc.key_D      = MAP_SWITCH(r.sw[3]);
    out->data.rc.key_E      = MAP_SWITCH(r.sw[4]);
    out->data.rc.key_F      = MAP_SWITCH(r.sw[5]);
	out->data.rc.key_G      = MAP_SWITCH_RESERVE(r.sw[6]);
	out->data.rc.key_H      = MAP_SWITCH(r.sw[7]);
//    out->knob_left  = MAP_SWITCH(r.sw[6]);
//    out->knob_right = MAP_SWITCH(r.sw[7]);

    #undef MAP_SWITCH
	//check online.
	out->header.online = (r.sw[7] != 300&&r.ch[0] != 1000);
}