/********************************************************************
 * Copyright (C), 2022, 中天海洋系统有限公司
 * 文件名：McuBspAdc.c
 * 作者：任家豪(ZT-040157)
 * 日期：2022年5月16日
 * 描述：关于带FIFO的OV7670的驱动程序
 * ******************************************************************/
#include "McuWH-GN100Drv.h"
#include "ZthyToolCheck.h"
#include <string.h>
#include <stdio.h>
#include <stdlib.h>

/* 延迟函数 */
#define WHGN100_DELAY(x) HAL_Delay(x)

#define WH_GN100_RBUF_LEN 100

#define RESPONSE_HEADER_STRING	"$PGKC001" // 设置信息时，对方回应的应答消息的头
#define POSITION_HEADER_STRING  "$GNRMC" // 定位信息的头

/* 关键信息ID */
#define RESTART_ID_STRING	"030" // 重启的ID
#define OUT_FREQ_ID_STRING 	"101" // 输出频率ID
#define LOW_POWER_ID_STRING	"105" // 低功耗ID
#define SET_GPS_BD_MODE_ID_STRING	"115" // GPS或者北斗的工作模式ID

#define MESSAGE_EFFECTIVE_ENABLE 1   // 表示当前数据有效
#define MESSAGE_EFFECTIVE_DISABLE 0  // 表示当前数据无效

#define WHGN100_LON_AND_LAT_EFFECT  0
#define WHGN100_RESTART_ACK_EFFECT  1
#define WHGN100_OUT_FREQ_ACK_EFFECT 2
#define WHGN100_LOW_POWER_ACK_EFFECT 3
#define WHGN100_GPS_AND_BD_ACK_EFFECT 4
#define WHGN100_EFFECT_All 5

static void McuDrvWHGN100Write(uint8_t *buf, uint32_t BufLen);
static void McuDrvWHGN100Recv(uint8_t RecvData);
/* 处理接收的数据 */
static void McuDrvWHGN100RecvDataHandle(void);

/* WGS84坐标系 */
double gMcuDrvWHGN100Time;
int gMcuDrvWHGN100Time1;
double gMcuDrvWHGN100Lon; // 精度
double gMcuDrvWHGN100Lat; // 纬度
uint8_t gMcuDrvWHGN100LonEorW = MCU_DRV_WH_GN100_LON_E;
uint8_t gMcuDrvWHGN100LatNorS = MCU_DRV_WH_GN100_LAT_N;
uint8_t gMcuDrvWHGN100LonAndLatUpdata = 0;

/* 回应信息当前值 */
uint8_t gMcuDrvWHGN100RestartAck = 0;
uint8_t gMcuDrvWHGN100OutFreqAck = 0;
uint8_t gMcuDrvWHGN100LowPowerAck = 0;
uint8_t gMcuDrvWHGN100GpsAndBdAck = 0;

MCU_BSP_CLOCK gMcuDrvWHGN100GpsClock;

static uint8_t gWhgn100Rbuf[WH_GN100_RBUF_LEN] = {0}; // 确保能完成留下一帧数据
static uint16_t gWhgn100RbufLocal = 0;

/* 初始化函数 */
int McuDrvWHGN100Init(void)
{
    MCU_BSP_UART_CONF UartConfig = {0};
    UartConfig.BaudRate = MCU_DRV_WH_GN100_UART_BAUDRATE;
    UartConfig.WordLength = MCU_DRV_WH_GN100_UART_WORDLEN;
    UartConfig.StopBits = MCU_DRV_WH_GN100_UART_STOPBITS;
    UartConfig.Parity = MCU_DRV_WH_GN100_UART_PARITY;
    UartConfig.Mode = MCU_DRV_WH_GN100_UART_MODE;
    if (McuBspUartInit(MCU_DRV_WH_GN100_UART_ID, &UartConfig, NULL, McuDrvWHGN100Recv) < 0) {
        return -1;
    }
    McuBspUartStartRecv(MCU_DRV_WH_GN100_UART_ID);
    McuBspGpioInit(MCU_DRV_WH_GN100_WAKEUP_GPIO_PORT, MCU_DRV_WH_GN100_WAKEUP_GPIO_PIN,
                       MCU_DRV_WH_GN100_WAKEUP_GPIO_MODE, MCU_DRV_WH_GN100_WAKEUP_GPIO_SPEED,
                       MCU_DRV_WH_GN100_WAKEUP_GPIO_PULL, 0, NULL);
    McuBspGpioInit(MCU_DRV_WH_GN100_POWER_GPIO_PORT, MCU_DRV_WH_GN100_POWER_GPIO_PIN,
                       MCU_DRV_WH_GN100_POWER_GPIO_MODE, MCU_DRV_WH_GN100_POWER_GPIO_SPEED,
                       MCU_DRV_WH_GN100_POWER_GPIO_PULL, 0, NULL);
    McuDrvWHGN100LowPower(MCU_DRV_WH_GN100_LOW_POWER_FLAG);
    gWhgn100RbufLocal = 0;
    return 0;
}

/* 获取经纬度数据 */
int McuDrvWHGN100GetLatAndLon(float *Lat, unsigned char *LatFlag, float *Lon, unsigned char *LonFlag, MCU_BSP_CLOCK *Clock)
{
    uint16_t i = 0;
    gMcuDrvWHGN100LonAndLatUpdata = 0;
    McuDrvWHGN100LowPower(MCU_DRV_WH_GN100_WAKEUP_FLAG);
    while (gMcuDrvWHGN100LonAndLatUpdata == 0) {
        WHGN100_DELAY(20); // 延迟ms 
        if (i >= 6000) {
            McuDrvWHGN100LowPower(MCU_DRV_WH_GN100_LOW_POWER_FLAG);
             return -1; //设置失败
        }
        i++;
    }
    McuDrvWHGN100LowPower(MCU_DRV_WH_GN100_LOW_POWER_FLAG);
    *Lat = gMcuDrvWHGN100Lat;
    *LatFlag = gMcuDrvWHGN100LatNorS;
    *Lon = gMcuDrvWHGN100Lon;
    *LonFlag = gMcuDrvWHGN100LonEorW;
    Clock->Year = gMcuDrvWHGN100GpsClock.Year;
    Clock->Month = gMcuDrvWHGN100GpsClock.Month;
    Clock->Date = gMcuDrvWHGN100GpsClock.Date;
    Clock->Hours = gMcuDrvWHGN100GpsClock.Hours;
    Clock->Minutes = gMcuDrvWHGN100GpsClock.Minutes;
    Clock->Seconds = gMcuDrvWHGN100GpsClock.Seconds;
    return 0;
}

/* 配置NMEA输出频率 freq单位为ms，范围为200-10000 */
int McuDrvWHGN100NMEAOutfreq(uint16_t freq)
{
    char tbuf[50] = {0};
	unsigned char Xor = 0;
	unsigned char i = 0;
    sprintf(tbuf, "$PGKC101,%d", freq);
	i = strlen(tbuf);
    ZthyToolCheckXor((unsigned char *)(tbuf + 1), i, &Xor);
	sprintf(&tbuf[i], "*%02x\r\n", Xor);
    i = 0;
    gMcuDrvWHGN100OutFreqAck = 0;
	McuDrvWHGN100Write((uint8_t *)tbuf, strlen(tbuf));
	/* 等待是否收到消息回复 */
	while (gMcuDrvWHGN100OutFreqAck == 0) {
        WHGN100_DELAY(10); // 延迟ms 
        if (i >= 100) {
            return -1; //设置失败
        }
        i++;
    }
    return 0;
}

/* 设置重启指令 */
int McuDrvWHGN100NMEASetRestart(uint8_t type)
{
    char tbuf[50] = {0};
    unsigned char Xor = 0;
	unsigned char i = 0;
    if (type != MCU_DRV_WH_GN100_RESTART_TYPE_HOT &&
        type != MCU_DRV_WH_GN100_RESTART_TYPE_WARM &&
        type != MCU_DRV_WH_GN100_RESTART_TYPE_COLD) {
        return -1;
    }
    sprintf(tbuf, "$PGKC030,%d,1", type);
	i = strlen(tbuf);
    ZthyToolCheckXor((unsigned char *)(tbuf + 1), i, &Xor);
	sprintf(&tbuf[i], "*%02x\r\n", Xor);
    i = 0;
    gMcuDrvWHGN100RestartAck = 0;
	McuDrvWHGN100Write((uint8_t *)tbuf, strlen(tbuf));
	/* 等待是否收到消息回复 */
	while (gMcuDrvWHGN100RestartAck == 0) {
        WHGN100_DELAY(10); // 延迟ms 
        if (i >= 100) {
            return -1; //设置失败
        }
        i++;
    }
    return 0;
}

/* 设置定位模式 */
int McuDrvWHGN100NMEASetPositioningMode(uint8_t mode)
{
    char tbuf[50] = {0};
    unsigned char Xor = 0;
	unsigned char i = 0;
    sprintf(tbuf, "$PGKC115,%d,%d,%d,%d", (mode & MCU_DRV_WH_GN100_POSITION_GPS),
                                          (mode & MCU_DRV_WH_GN100_POSITION_GNSS) >> 1,
                                          (mode & MCU_DRV_WH_GN100_POSITION_BD) >> 2,
                                          (mode & MCU_DRV_WH_GN100_POSITION_Gli) >> 3);
	i = strlen(tbuf);
    ZthyToolCheckXor((unsigned char *)(tbuf + 1), i, &Xor);
	sprintf(&tbuf[i], "*%02x\r\n", Xor);
    i = 0;
    gMcuDrvWHGN100GpsAndBdAck = 0;
	McuDrvWHGN100Write((uint8_t *)tbuf, strlen(tbuf));
	/* 等待是否收到消息回复 */
	while (gMcuDrvWHGN100GpsAndBdAck == 0) {
        WHGN100_DELAY(10); // 延迟ms 
        if (i >= 100) {
            return -1; //设置失败
        }
        i++;
    }
    return 0;
}

/* 进入或者唤醒低功耗 */
void McuDrvWHGN100LowPower(uint8_t flag)
{
    if (flag == MCU_DRV_WH_GN100_WAKEUP_FLAG) {
        McuBspGpioSetLevel(MCU_DRV_WH_GN100_WAKEUP_GPIO_PORT, 
                               MCU_DRV_WH_GN100_WAKEUP_GPIO_PIN,
                               MCU_BSP_GPIO_OUT_HIGH);
        McuBspGpioSetLevel(MCU_DRV_WH_GN100_POWER_GPIO_PORT, 
                               MCU_DRV_WH_GN100_POWER_GPIO_PIN,
                               MCU_BSP_GPIO_OUT_HIGH);
    } else {
        McuBspGpioSetLevel(MCU_DRV_WH_GN100_POWER_GPIO_PORT, 
                               MCU_DRV_WH_GN100_POWER_GPIO_PIN,
                               MCU_BSP_GPIO_OUT_LOW);
        McuBspGpioSetLevel(MCU_DRV_WH_GN100_WAKEUP_GPIO_PORT, 
                               MCU_DRV_WH_GN100_WAKEUP_GPIO_PIN,
                               MCU_BSP_GPIO_OUT_LOW);
    }
}

/* 发送数据给定位模块 */
static void McuDrvWHGN100Write(uint8_t *buf, uint32_t BufLen)
{
	McuBspUartSend(MCU_DRV_WH_GN100_UART_ID, buf, BufLen);
}

/* 处理接收的数据 */
static void McuDrvWHGN100RecvDataHandle(void)
{
    char *p = NULL;
    char *q = NULL;
    /* 判断这一帧数据中是否存在GNRMC */
	if (NULL != strstr((const char *)gWhgn100Rbuf, POSITION_HEADER_STRING)) {
		/* 找到内容中的第二个逗号与第三个逗号之间的值 */
        p = strchr((const char *)gWhgn100Rbuf, ','); // 第一个逗号
        if (p == NULL) {
            return;
        }
        p++;
        q = strchr((const char *)p, ','); // 第二个逗号
        if (q == NULL) {
            return;
        }
        *q = 0;
        if (strlen(p) == 0) {
            return;
        }
        gMcuDrvWHGN100Time = atof(p);
        gMcuDrvWHGN100GpsClock.Hours = ((uint32_t)gMcuDrvWHGN100Time) / 10000;
        gMcuDrvWHGN100GpsClock.Minutes = (((uint32_t)gMcuDrvWHGN100Time) / 100) % 100;
        gMcuDrvWHGN100GpsClock.Seconds = ((uint32_t)gMcuDrvWHGN100Time) % 100;
        q++;
        p = strchr((const char *)q, ','); // 第三个逗号
        if (p == NULL) {
            return;
        }
        *p = 0;
        if (strlen(q) == 0 || *q != 'A') { // 判断数据是否为空或者定位是否已经处于差分定位
            return;
        }
        p++;
        q = strchr((const char *)p, ','); //找到纬度值所在位置
        if (q == NULL) {
            return;
        }
        *q = 0;
        if (strlen(p) == 0) { // 判断数据是否为空
            return;
        }
        gMcuDrvWHGN100Lat = atof(p); // 将纬度值赋值给接收变量
        q++;
        p = strchr((const char *)q, ','); // 找到北纬南纬
        if (p == NULL) {
            return;
        }
        *p = 0;
        if (strlen(q) == 0) { // 判断数据是否为空
            return;
        }
        if (*q == 'N') {
            gMcuDrvWHGN100LatNorS = MCU_DRV_WH_GN100_LAT_N;
        } else {
            gMcuDrvWHGN100LatNorS = MCU_DRV_WH_GN100_LAT_S;
        }
        
        p++;
        q = strchr((const char *)p, ','); //找到经度值所在位置
        if (q == NULL) {
            return;
        }
        *q = 0;
        if (strlen(p) == 0) { // 判断数据是否为空
            return;
        }
        gMcuDrvWHGN100Lon = atof(p); // 将经度值赋值给接收变量
        q++;
        p = strchr((const char *)q, ','); // 找到东经西经
        if (p == NULL) {
            return;
        }
        *p = 0;
        if (strlen(q) == 0) { // 判断数据是否为空
            return;
        }
        if (*q == 'E') {
            gMcuDrvWHGN100LonEorW = MCU_DRV_WH_GN100_LON_E;
        } else {
            gMcuDrvWHGN100LonEorW = MCU_DRV_WH_GN100_LON_W;
        }
        p++;
        q = strchr((const char *)p, ',');
        if (q == NULL) {
            return;
        }
        q++;
        p = strchr((const char *)q, ',');
        if (p == NULL) {
            return;
        }
        p++;
        q = strchr((const char *)p, ',');
        if (q == NULL) {
            return;
        }
        *q = 0;
        if (strlen(p) == 0) {
            return;
        }
        gMcuDrvWHGN100Time1 = atoi(p);
        gMcuDrvWHGN100GpsClock.Date = gMcuDrvWHGN100Time1 / 10000;
        gMcuDrvWHGN100GpsClock.Month = (gMcuDrvWHGN100Time1 / 100) %100;
        gMcuDrvWHGN100GpsClock.Year = 2000 + (gMcuDrvWHGN100Time1 % 100);
        gMcuDrvWHGN100LonAndLatUpdata = 1;
	} else if (NULL != strstr((const char *)gWhgn100Rbuf, RESPONSE_HEADER_STRING)) {
	/* 判断这一帧数据中是否存在 */
		p = strchr((const char *)gWhgn100Rbuf, ','); // 第一个逗号
        if (p == NULL) {
            return ;
        }
        p++;
        q =  strchr((const char *)p, ','); // 第二个逗号
        if (q == NULL) {
            return ;
        }
        *q = 0;
        if (NULL != strstr((const char *)p, RESTART_ID_STRING)) {
            q++;
            if (*q == '3') {
                gMcuDrvWHGN100RestartAck = 1;
            }
        } else if (NULL != strstr((const char *)p, OUT_FREQ_ID_STRING)) {
            q++;
            if (*q == '3') {
                gMcuDrvWHGN100OutFreqAck = 1;
            }
        } else if (NULL != strstr((const char *)p, LOW_POWER_ID_STRING)) {
            q++;
            if (*q == '3') {
                gMcuDrvWHGN100LowPowerAck = 1;
            }
        } else if (NULL != strstr((const char *)p, SET_GPS_BD_MODE_ID_STRING)) {
            q++;
            if (*q == '3') {
                gMcuDrvWHGN100GpsAndBdAck = 1;
            }
        }
	}
}

static void McuDrvWHGN100Recv(uint8_t RecvData)
{
	gWhgn100Rbuf[gWhgn100RbufLocal] = RecvData;
	gWhgn100RbufLocal++;
	if (RecvData == '\n') {
		gWhgn100Rbuf[gWhgn100RbufLocal] = 0; // 给最后一帧
		McuDrvWHGN100RecvDataHandle();
		gWhgn100RbufLocal = 0;
	}
	// 取余，容错处理，防止串口数据乱流导致部分逻辑错误
	gWhgn100RbufLocal = gWhgn100RbufLocal % WH_GN100_RBUF_LEN;
}