#include "xc_hal.h"
#include "uart.h"
#include "radar.h"

uint8_t rad_txbuff[16] = {0};
uint8_t rad_rxbuff[16] = {0};

uint8_t rad_flag = 1;
uint8_t rad_ccc = 1;
uint16_t rad_aaa = 100;
uint32_t rad_bbb = 30;

static uint8_t cmd_setval(uint32_t setval, uint8_t save)
{
	rad_txbuff[0] = 0xA1; 
	rad_txbuff[1] = 0x07;
	rad_txbuff[2] = setval >> 8;
	rad_txbuff[3] = setval & 0xFF;
	rad_txbuff[4] = 0x00;
	rad_txbuff[5] = 0x02;
	rad_txbuff[6] = 0x00;
	rad_txbuff[7] = 0x00;
	rad_txbuff[8] = (save!=0)?1:0;
	return uart_trx(rad_txbuff, rad_rxbuff);
}

static uint8_t cmd_getval(uint32_t *getval)
{
	rad_txbuff[0] = 0xA2;
	rad_txbuff[1] = 0x00;
	if(uart_trx(rad_txbuff, rad_rxbuff))
	{
		*getval = rad_rxbuff[2]<<8|rad_rxbuff[3];
		return 1;
	}
	return 0;
}

static uint8_t cmd_setflag(uint8_t flag)
{
	rad_txbuff[0] = 0xA3;
	rad_txbuff[1] = 0x01;
	rad_txbuff[2] = flag;
	return uart_trx(rad_txbuff, rad_rxbuff);
}

static uint8_t cmd_getflag(uint8_t *data)
{
	rad_txbuff[0] = 0xA4;
	rad_txbuff[1] = 0x00;
	if(uart_trx(rad_txbuff, rad_rxbuff))
	{
		*data = rad_rxbuff[2];
		return 1;
	}
	return 0;
}

//À×´ï³õʼ»¯
uint8_t radar_init(uint32_t setbase, uint16_t setper, uint8_t save)
{
	uint8_t enable = 0;
	uint32_t setval = 0;
	
	rad_flag = save;
	if(setper & 0x8000)
	{
		enable = 0;
		setval = 255;
	}
	else
	{
		enable = 1;
		setval = (uint64_t)(setbase * setper) / 100;
		if(setval > 255) setval = 255;
	}
	if(!cmd_setflag(enable))
	{
		return 0;
	}
	
	rad_ccc = enable;
	delay_ms(40);
	if(!cmd_setval(setval, save))
	{
		return 0;
	}
	rad_bbb = setval;
	rad_aaa = setper;
	
	return 1;
}

uint8_t radar_setbase(uint32_t setbase)
{
	return radar_init(setbase, rad_aaa, rad_flag);
}

void radar_readval(uint16_t *data)
{
	data[0] = (hal_rad_get())?1023:0;
	data[1] = data[0];
}

void radar_getper(uint8_t *data)
{
	data[0] = rad_aaa & 0xFF;
	data[1] = rad_aaa >> 8;
}

void radar_getcfg(uint8_t *data)
{
	cmd_getval(&rad_bbb);
	cmd_getflag(&rad_ccc);
	data[0] = rad_ccc;
	data[1] = (rad_bbb >> 0) & 0xFF;
	data[2] = (rad_bbb >> 8) & 0xFF;
	data[3] = (rad_bbb >> 16) & 0xFF;
	data[4] = (rad_bbb >> 24) & 0xFF;
}