/*
 * msp_30GM_UltraSonic.c
 *
 *  Created on: Feb 25, 2025
 *      Author: bihon
 */

#include "msp_30GM_UltraSonic.h"
#include "msp_Modbus_crc16.h"

UART_HandleTypeDef* Huart_30GM;
SP_MSP_30GM_Parameters* _UltraSonic_30GM;
uint8_t GM_stas[7];
uint8_t Request_Cmd;//指令标志，0：无指令，1：瞬时距离，2：内部温度，3：飞行时间

void GF_30GM_Unscramble_Callback();
int16_t hex2dec(uint8_t highByte,uint8_t lowbyte);

uint8_t GF_MSP_30GM_Init(UART_HandleTypeDef* huart,SP_MSP_30GM_Parameters* UltraSonic_30GM)
{
	Huart_30GM = huart;
	GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_RS485_4_RxCpltCallback, GF_30GM_Unscramble_Callback);
	HAL_UART_Receive_IT(Huart_30GM,GM_stas,7);
	_UltraSonic_30GM = UltraSonic_30GM;
	return 1;
}

//查询超声波传感器瞬时距离值
void GF_MSP_30GM_Instance_Dist_Inquiry()
{
	uint8_t Inquiry_Order[8]={0X01, 0X04, 0X00, 0X00, 0X00, 0X01, 0X31, 0XCA};
	Request_Cmd = 1;
	GF_BSP_UART_Transmit(4, Inquiry_Order, 8);
}

//查询超声波传感器内部温度值
void GF_MSP_30GM_Inner_Temp_Inquiry()
{
	uint8_t Inquiry_Order[8]={0X01, 0X04, 0X00, 0X01, 0X00, 0X01, 0X60, 0X0A};
	Request_Cmd = 2;
	GF_BSP_UART_Transmit(4, Inquiry_Order, 8);
}

//查询超声波传感器飞行时间
void GF_MSP_30GM_Fly_Time_Inquiry()
{
	uint8_t Inquiry_Order[8]={0X01, 0X04, 0X00, 0X02, 0X00, 0X01, 0X90, 0X0A};
	Request_Cmd = 3;
	GF_BSP_UART_Transmit(4, Inquiry_Order, 8);
}

//超声波传感器返回数据解析
void GF_30GM_Unscramble_Callback()
{
	uint16_t CRC_Check;
	CRC_Check = (GM_stas[5]<<8|GM_stas[6]);
	if(CRC_Check == ModBusCRC16(GM_stas, 5))//CRC校验正确
	{
		switch(Request_Cmd)
		{
		case 0://无指令
			HAL_UART_Receive_IT(Huart_30GM,GM_stas,7);
			break;
		case 1://瞬时距离值解析
			//16进制数据转化为10进制数据
			_UltraSonic_30GM->Inst_Distance = hex2dec(GM_stas[3],GM_stas[4]);
			Request_Cmd = 0;//指令标志置零
			HAL_UART_Receive_IT(Huart_30GM,GM_stas,7);//开启串口接收
			break;
		case 2://内部温度值解析
			//16进制数据转化为10进制数据
			_UltraSonic_30GM ->Inner_Temp = hex2dec(GM_stas[3],GM_stas[4]);
			Request_Cmd = 0;//指令标志置零
			HAL_UART_Receive_IT(Huart_30GM,GM_stas,7);//开启串口接收
			break;
		case 3://飞行时间解析
			//16进制数据转化为10进制数据
			_UltraSonic_30GM ->Fly_Time = hex2dec(GM_stas[3],GM_stas[4]);
			Request_Cmd = 0;//指令标志置零
			HAL_UART_Receive_IT(Huart_30GM,GM_stas,7);//开启串口接收
			break;
		default:
			Request_Cmd = 0;//指令标志置零
			HAL_UART_Receive_IT(Huart_30GM,GM_stas,7);//开启串口接收
			break;
		}
	}else
	{
		Request_Cmd = 0;//指令标志置零
		HAL_UART_Receive_IT(Huart_30GM,GM_stas,7);//开启串口接收
	}
}
//将两位8进制数转化为16进制数
int16_t hex2dec(uint8_t highByte,uint8_t lowbyte)
{
	return (int16_t)((highByte<<8)|(lowbyte++));
}