/*
 * msp_Force_Sensor.c
 *
 *  Created on: Oct 8, 2024
 *      Author: akeguo
 */
#include "msp_Force_Sensor.h"
#include "bsp_Error.pb.h"
#include "BHBF_ROBOT.h"


void decode_force(uint8_t *buffer, uint16_t length);
void GF_FS_Inquiry();//inqure data from the, in fact this is a modbus 03 function;


int32_t* ForceValue_in;
struct UARTHandler *Force_sensor;

DispacherController *Force_sensor_dispacherController;
void force_sensor_intialize(struct UARTHandler *Handler)
{
	//uartHandler_intialize(&Force_sensor,Handler,10);
	Force_sensor = Handler;
	Force_sensor->UART_Decode=decode_force;
	Force_sensor->Wait_time = 10; //等待10ms 最低不要低于4；
	Force_sensor_dispacherController=Handler->dispacherController;
	Force_sensor_dispacherController->DispacherCallTime = 50;//10 是100ms 难道这个2ms的定时器是10ms的？
	LOG("angle_encoder_intialize");
	Force_sensor_dispacherController->Dispacher_Enable = 1;
		//log_info("angle_encoder_intialize");
	Force_sensor_dispacherController->Add_Dispatcher_List(Force_sensor_dispacherController,GF_FS_Inquiry);


	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"force_sensor",0,force_sensor);
		//uartHandler->Insert_HardWare_Entry_UART
	 LOG("steering_engine_intialize");
}

uint8_t Inquiry_Order[8]={0X01, 0X03, 0X07, 0XD0, 0X00, 0X02, 0XC4, 0X86};
void GF_FS_Inquiry()
{

	MB_ReadHoldingReg(&Force_sensor->Tx_Buf,
			&Force_sensor->TxCount, 1, 0x07D0, 2); //03 command ; read 2 registers

	Force_sensor->UART_Tx(Force_sensor);//send the data from the modbus command;
	LOG("GF_FS_Inquiry Second Version");

}

uint8_t data[20];
void decode_force(uint8_t *buffer, uint16_t length)
{
	memcpy(data,buffer,length);
	LOG("start decoding and the length is %d",length);
	/* CRC 校验 */
	uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
	/* CRC 校验正确 */
	if (crc_check == MB_CRC16(buffer, length - 2))
	{
		*ForceValue_in = (int32_t)((int32_t)buffer[3]<<24|buffer[4]<<16|buffer[5]<<8|buffer[6]);

		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"force_sensor",1);
		LOG("decode_force  succeeded and the force is %d",*ForceValue_in);

	}
	else
	{
		//Decode Error；
		//log_error("wire sensor decoding failed");
		LOGFF(DL_ERROR,"force_sensor decoding failed");

	}

}