/*
 * @Author       : ChenJie
 * @Date         : 2021-12-15 10:40:06
 * @Version      : V3.0
 * @LastEditors  : ChenJie
 * @LastEditTime : 2022-01-11 18:14:41
 * @Description  : AppFunc
 * @FilePath     : \VehicleControl\VehicleControl\src\System\Vehicle\AppFunc.c
 */
#include "string.h"
#include "stdlib.h"
#include "HardwareLib.h"
#include "CanVar.h"
#include "math.h"
#include "AppFunc.h"
#include "Std_Types.h"
#define Lock 0
#define Unlock 1
#define LockCtrl() PSwtDrv_Interface(_PSWT_INDEX_HBAK1_CHAN, Lock)
#define UnlockCtrl() PSwtDrv_Interface(_PSWT_INDEX_HBAK1_CHAN, Unlock)
void LockAndUnlockCtrl()
{
	static uint16 LockDelay = 0;
	static uint16 UnlockDelay = 0;
	static uint8 CtrlFlg = 0;
	static uint16 BleConCounter = 0;
	static uint16 battSwpeModeCounter = 0;
	if (ebcd_flg_ebcManCtrlEn) //手动控制使能
	{
		if (ebcd_flg_ebcManCtrlMode==1)//循环控制模式
		{
			if(ebcd_st_lockSensor==1)//处于锁紧状态，传感器判定一个
			{
				LockDelay = LockDelay + 10;
				if(LockDelay>LockDelayTime)//锁紧状态超时就解锁
				{
					ManuControlTimes++;
					LockDelay = 0;
					CtrlFlg = Unlock;
				}
			}
			else if(ebcd_st_unlockSensor==1)//处于解锁状态，传感器判定一个
			{
				UnlockDelay = UnlockDelay + 10;
				if(UnlockDelay>UnlockDelayTime)
				{
					UnlockDelay = 0;
					CtrlFlg = Lock;
				}
			}
		}
		else if(ebcd_flg_ebcManCtrlMode==2)//控制锁紧
		{
			CtrlFlg = Lock;
		}
		else if(ebcd_flg_ebcManCtrlMode==3)//控制解锁
		{
			CtrlFlg = Unlock;
		}
	}
	else //正常工作模式
	{
		switch(ebcd_st_ebcWork)
		{
		case DriveMode://行车状态，自动进入，默认状态
		{
			PSwtDrv_Interface(_PSWT_INDEX_EBCLEDCONTROL,0);//行车状态换电指示灯关闭
			if(bled_flg_handShake==1)
			{
				ebcd_st_ebcWork = CommuMode;//进入通讯状态
				bled_flg_handShake = 0;
				break;
			}
			break;
		}
		case CommuMode://通讯状态，握手才能进入
		{
			BleConCounter = BleConCounter + 10;
			if((BleConCounter%1000)<500)//换电指示灯闪烁
			{
				PSwtDrv_Interface(_PSWT_INDEX_EBCLEDCONTROL,1);
			}
			else
			{
				PSwtDrv_Interface(_PSWT_INDEX_EBCLEDCONTROL,0);
			}

			if(BleConCounter>=60*1000||bled_flg_backToDrv == 1)
			{
				ebcd_st_ebcWork = DriveMode;//切换到行车状态
				BleConCounter = 0;
				bled_flg_backToDrv = 0;
				break;
			}
			else if(BattCD_stWakeupU.B.bLogic==0 && BattCD_stWakeupU.B.bWkpSig1==1)
			{
				ebcd_st_ebcWork = SwapMode;//切换到换电状态
				BleConCounter = 0;
				break;
			}
			if(bled_st_dataTrans==1)
			{
				BleConCounter = 0;
				bled_st_dataTrans = 0;
			}
			break;
		}
		case SwapMode://换电状态
		{
			PSwtDrv_Interface(_PSWT_INDEX_EBCLEDCONTROL,1);//换电状态换电指示灯常亮
			battSwpeModeCounter = battSwpeModeCounter + 10;
			if(bled_flg_swapBattDone==1)
			{
				bled_flg_swapBattDone = 0;
				ebcd_st_ebcWork = CommuMode; //切换到通讯状态
				break;
			}
			else if(battSwpeModeCounter>=60*1000)
			{
				battSwpeModeCounter = DriveMode;//切换到行车状态
				ebcd_st_ebcWork = 0;
				break;
			}
			if(bled_st_dataTrans==1)
			{
				battSwpeModeCounter = 0;
				bled_st_dataTrans = 0;
			}
			if(bled_flg_unlockCmdForce)
			{
				CtrlFlg = Unlock;
				bled_flg_unlockCmdForce = 0;
			}
			if(bled_flg_lockCmdForce)
			{
				CtrlFlg = Lock;
				bled_flg_lockCmdForce = 0;
			}
			break;
		}
		}
	}

	//锁紧解锁执行
	if(CtrlFlg)
	{
		UnlockCtrl();
	}
	else
	{
		LockCtrl();
	}
}
/**
 * @brief : 互锁检测函数
 * @param {*}
 * @return {*}
 */
void GetHVLockState(void)
{
	// PWM输出，互锁1检测，频率100HZ，占空比30%
	uint16 VehCo_fTestUI = 1000;
	uint16 VehCo_rTestUW = 3000;
	uint32 PwmFreAcq = 0;
	uint16 PwmDutyAcq = 0;
	PPWMDrv_Interface(_PPWM_INDEX_HVLOCK2, VehCo_fTestUI, VehCo_rTestUW);
	PulseAcqDrv_GetChanFreq(_PULSEACQ_INDEX_HVLOCK2, &PwmFreAcq, &PwmDutyAcq);
	if (abs(PwmFreAcq - VehCo_fTestUI) < 100 && abs(PwmDutyAcq - VehCo_rTestUW) < 500)
	{
		m_flg_HVlock1 = 1;
	}
	else
	{
		m_flg_HVlock1 = 0;
	}
	//互锁2检测，配置高有效，悬空为0则未接入，高电平为1则接入，
	// DINDrv_SetChanThres(_DIN_INDEX_PLUGHVLOCK, 0, 4095 * 3);
	m_flg_HVlock2 = DINDrv_GetChanState(_DIN_INDEX_PLUGHVLOCK);
}
/**
 * @brief : 数字量传感器信号检测函数
 * @param {*}
 * @return {*}
 */
void GetDIOState(void)
{
	uint8 temp[4];
	//松开传感器检测，配置低有效，底层悬空为1，触发为0,应用层输出悬空为0，触发为1
	memset(temp, 0x00, 4);
	ebcd_st_unlockSensor = 0;
	DINDrv_SetChanThres(_DIN_INDEX_UNLOCKSENSOR1, 1, 4095U);
	DINDrv_SetChanThres(_DIN_INDEX_UNLOCKSENSOR2, 1, 4095U);
	DINDrv_SetChanThres(_DIN_INDEX_UNLOCKSENSOR3, 1, 4095U);
	DINDrv_SetChanThres(_DIN_INDEX_UNLOCKSENSOR4, 1, 4095U);
	temp[0] = !DINDrv_GetChanState(_DIN_INDEX_UNLOCKSENSOR1);
	temp[1] = !DINDrv_GetChanState(_DIN_INDEX_UNLOCKSENSOR2);
	temp[2] = !DINDrv_GetChanState(_DIN_INDEX_UNLOCKSENSOR3);
	temp[3] = !DINDrv_GetChanState(_DIN_INDEX_UNLOCKSENSOR4);
	ebcd_st_unlockSensor = (getbit(temp[3], 0) << 3) | (getbit(temp[2], 0) << 2) | (getbit(temp[1], 0) << 1) | (getbit(temp[0], 0) << 0);

	//夹紧传感器检测，配置低有效，底层悬空为1，触发为0,应用层输出悬空为0，触发为1
	memset(temp, 0x00, 4);
	ebcd_st_lockSensor = 0;
	DINDrv_SetChanThres(_DIN_INDEX_LOCKSENSOR1, 1, 4095U);
	DINDrv_SetChanThres(_DIN_INDEX_LOCKSENSOR2, 1, 4095U);
	DINDrv_SetChanThres(_DIN_INDEX_LOCKSENSOR3, 1, 4095U);
	DINDrv_SetChanThres(_DIN_INDEX_LOCKSENSOR4, 1, 4095U);
	temp[0] = !DINDrv_GetChanState(_DIN_INDEX_LOCKSENSOR1);
	temp[1] = !DINDrv_GetChanState(_DIN_INDEX_LOCKSENSOR2);
	temp[2] = !DINDrv_GetChanState(_DIN_INDEX_LOCKSENSOR3);
	temp[3] = !DINDrv_GetChanState(_DIN_INDEX_LOCKSENSOR4);
	ebcd_st_lockSensor = (getbit(temp[3], 0) << 3) | (getbit(temp[2], 0) << 2) | (getbit(temp[1], 0) << 1) | (getbit(temp[0], 0) << 0);

	//落座传感器检测，高有效，悬空为0则未接入，高电平为1则接入
	memset(temp, 0x00, 4);
	temp[0] = !DINDrv_GetChanState(_DIN_INDEX_READYSENSOR1);
	temp[1] = !DINDrv_GetChanState(_DIN_INDEX_READYSENSOR2);
	ebcd_st_pedstSensor = (getbit(temp[1], 0) << 1) | (getbit(temp[0], 0) << 0);

	//根据上述量得到，运动状态值
	if (ebcd_st_lockSensor == 0x0F)
	{
		ebcd_st_lockSucJug = 1;
	}
	else if (ebcd_st_lockSensor == 0x00)
	{
		ebcd_st_lockSucJug = 0;
	}
	else
	{
		ebcd_st_lockSucJug = 2;
	}
	if (ebcd_st_unlockSensor == 0x0F)
	{
		ebcd_st_unlockSucJug = 1;
	}
	else if (ebcd_st_unlockSensor == 0x00)
	{
		ebcd_st_unlockSucJug = 2;
	}
	else
	{
		ebcd_st_unlockSucJug = 0;
	}
	if (ebcd_st_pedstSucJug == 0x03)
	{
		ebcd_st_pedstSucJug = 1;
	}
	else if (ebcd_st_pedstSucJug == 0x00)
	{
		ebcd_st_pedstSucJug = 0;
	}
	else
	{
		ebcd_st_pedstSucJug = 2;
	}
}

/**
 * @brief : 获取模拟量输入值，并进行转换
 * @param {*}
 * @return {*}
 */
void GetAIOValue(void)
{
	uint16 AirPressureTemp_Vol = 0;
	uint16 PluginTemp1_Vol = 0;
	uint32 PluginTemp1_R = 0;
	uint16 PluginTemp2_Vol = 0;
	uint32 PluginTemp2_R = 0;
	uint16 PluginTemp3_Vol = 0;
	uint32 PluginTemp3_R = 0;
	uint16 PluginTemp4_Vol = 0;
	uint32 PluginTemp4_R = 0;

	AirPressureTemp_Vol = ATDDrv_GetChanResult(_ATD_INDEX_AIRPRESSURE);
	AirPressureTemp_Vol = (uint16)(AirPressureTemp_Vol * 1000 / 4095.0);
	Test_LockPressure = AirPressureTemp_Vol;//锁紧力测试变量
	/*气压数据转换*/
	AirPressureTemp_Vol = MAX(AirPressureTemp_Vol, 500);
	AirPressureTemp_Vol = MIN(AirPressureTemp_Vol, 4500);
	ebcd_P_airSensor = (uint8)((AirPressureTemp_Vol - 500) / 40);
	/*温度采集获取*/
	PluginTemp1_Vol = ATDDrv_GetChanResult(_ATD_INDEX_PLUGINTEMP1);
	PluginTemp2_Vol = ATDDrv_GetChanResult(_ATD_INDEX_PLUGINTEMP2);
	PluginTemp3_Vol = ATDDrv_GetChanResult(_ATD_INDEX_PLUGINTEMP3);
	PluginTemp4_Vol = ATDDrv_GetChanResult(_ATD_INDEX_PLUGINTEMP4);
	PluginTemp1_R = (uint32)((PluginTemp1_Vol / (5.0 * 4095 - PluginTemp1_Vol)) * 1000.0);
	PluginTemp2_R = (uint32)((PluginTemp2_Vol / (5.0 * 4095 - PluginTemp2_Vol)) * 1000.0);
	PluginTemp3_R = (uint32)((PluginTemp3_Vol / (5.0 * 4095 - PluginTemp3_Vol)) * 1000.0);
	PluginTemp4_R = (uint32)((PluginTemp4_Vol / (5.0 * 4095 - PluginTemp4_Vol)) * 1000.0);
	ebcd_T_plugin[0] = (uint8)Look1_u32u8(PluginTemp1_R, R_table, T_table, 240);
	ebcd_T_plugin[1] = (uint8)Look1_u32u8(PluginTemp2_R, R_table, T_table, 240);
	ebcd_T_plugin[2] = (uint8)Look1_u32u8(PluginTemp3_R, R_table, T_table, 240);
	ebcd_T_plugin[3] = (uint8)Look1_u32u8(PluginTemp4_R, R_table, T_table, 240);
}
/**
 * @brief : lookUp Table Fun
 * @param {uint32} u0 x
 * @param {uint32} bp0 x_table
 * @param {uint16} table y_table
 * @param {uint16} maxIndex
 * @return {*}
 */
uint16 Look1_u32u8(uint32 u0, uint32 *bp0, uint8 *table, uint16 MaxLen)
{
	uint32 bpIdx = 0;
	uint32 iLeft = 0;
	uint32 iRght = 0;
	uint16 y = 0;
	uint32 yL_0d0 = 0;
	uint32 yR_0d0 = 0;
	uint32 maxIndex = MaxLen - 1;
	if (u0 <= bp0[0U])
	{
		iLeft = 0U;
		iRght = 0U;
	}
	else if (u0 < bp0[maxIndex])
	{
		//对折法寻找u0的位置
		bpIdx = maxIndex >> 1U;
		iLeft = 0U;
		iRght = maxIndex;
		while ((iRght - iLeft) > 1)
		{
			if (u0 < bp0[bpIdx])
			{
				iRght = bpIdx;
			}
			else
			{
				iLeft = bpIdx;
			}
			bpIdx = (iRght + iLeft) >> 1U;
		}
	}
	else
	{
		iLeft = maxIndex;
		iRght = maxIndex;
	}
	//找到位置以后计算插值
	if (iLeft != iRght)
	{
		//线性插值
		yR_0d0 = table[iLeft + 1U];
		yL_0d0 = table[iLeft];
		if (yR_0d0 >= yL_0d0)
		{
			y = (uint16)(((uint32)(u0 - bp0[iLeft]) * (yR_0d0 - yL_0d0)) / (bp0[iLeft + 1] - bp0[iLeft]) + yL_0d0);
		}
		else
		{
			y = (uint16)(yL_0d0 - ((uint32)(u0 - bp0[iLeft]) * (yL_0d0 - yR_0d0)) / (bp0[iLeft + 1] - bp0[iLeft]));
		}
	}
	else
	{
		y = (uint16)table[iLeft];
	}
	return y;
}