#ifndef __BSP_H__
#define __BSP_H__

#include "stm32f1xx_hal.h"
#include "stdbool.h"

#include "main.h"
#include "tim.h"


typedef enum {
	
	ID_TYPE_HID 	 = 0X00, //0x00 ~ 0x10 都是界面
	ID_TYPE_MOT		 = 0x40, //0x40 ~ 0x7F 都是伺服电机
	ID_TYPE_DIO      = 0x80, //0x80 ~ 0x90 都是数字输入和输出
	ID_TYPE_ANL      = 0xA0, //0xA0 ~ 0xB0 都是模拟量
	
}ID_TYPE_ENUM;

typedef enum {
	
	COMM_TYPE_485  = 0,
	COMM_TYPE_CAN  = !COMM_TYPE_485
	
}COMM_TYPE_ENUM;

typedef enum {
	
	COMM_DIR_RX  = 0x00,
	COMM_DIR_TX  = !COMM_DIR_RX
	
}COMM_DIR_ENUM;



typedef enum {
	
	LED_STATE_OFF  = 0x00,
	LED_STATE_ON   = !LED_STATE_OFF,

}LED_STATE_ENUM;

typedef enum {
	
	LED_GREEN  = 0x01,
	LED_RED    = 0x02,

}LED_CHANNEL_ENUM;



typedef enum {
	
	MOTOR_MS_1  = 1,
	MOTOR_MS_8  = 8,
	MOTOR_MS_16 = 16,
	MOTOR_MS_32 = 32,
	MOTOR_MS_64 = 64
	
}MOTOR_MS_ENUM;

typedef enum {
	
	MOTOR_DIR_CW    = 0x00,
	MOTOR_DIR_CCW   = !MOTOR_DIR_CW,

}MOTOR_DIR_ENUM;

typedef enum {
	
	MOTOR_DISNABLE     = 0x00,
	MOTOR_ENABLE       = !MOTOR_DISNABLE,

}MOTOR_STATE_ENUM;


typedef struct SERIAL_s
{
	char *name;
	
	UART_HandleTypeDef *huart;
	
	uint8_t *recv_buff;
	size_t recv_head;
	size_t recv_tail;
	size_t recv_buff_len;
	size_t recv_max_used_len;
	unsigned char isOverLoop;
	
	uint8_t *send_buff[2];
	size_t send_head;
	size_t send_tail;
	size_t send_buff_len;
	size_t send_max_used_len;
	uint8_t sel;
	bool sending;
	
	bool isbusy;
	
	void (*setDir)(COMM_DIR_ENUM dir);
	
	struct SERIAL_s *next_ptr;
	
}SERIAL_t;

typedef SERIAL_t* SERIAL_ptr;


extern SERIAL_t serial1;
extern SERIAL_t serial3;







unsigned char SYS_getID(void);
unsigned char SYS_getKey(void);

void COMM_setSel(COMM_TYPE_ENUM type);
void COMM_setDir(COMM_DIR_ENUM dir);


void LED_setState(LED_CHANNEL_ENUM channel,LED_STATE_ENUM state);
void LED_setToggle(LED_CHANNEL_ENUM channel);



void MOTOR_setMS(MOTOR_MS_ENUM ms);
void MOTOR_setEn(MOTOR_STATE_ENUM state);
void MOTOR_setDir(MOTOR_DIR_ENUM dir);
void MOTOR_setStep(unsigned char step);


int SERIAL_Init(SERIAL_t *serial,char *name,UART_HandleTypeDef *huart,size_t send_len, size_t recv_len);
bool SERIAL_Write(SERIAL_t *serial, uint8_t *data, size_t len);
size_t SERIAL_Read(SERIAL_t *serial, uint8_t *buff, size_t maxlen);

void SERIAL_StartRecv(SERIAL_t *serial);
void SERIAL_StopRecv(SERIAL_t *serial);



extern volatile uint32_t tick_count_200Hz;

void tick_init(void);
void tick_count(void);
uint32_t get_ticks_msec(void);
uint32_t get_ticks_usec(void);
void HAL_Delay_usec(uint32_t ticks_usec);




#endif //end BSP_H