#ifndef AFS_CFG_H
#define AFS_CFG_H

// *****************************************************************************
// Filename    : Afs_Cfg.h
//
// Project     :
//
// Author      : Mario.Wang
// Owner       :
//
// Date        : 09.26.2022
//
// Description : speed class for afs function
//
// (C) Automotive-Lighting   -  ALSH/EE-SW
//     No.685, Jujin Road, Pudong New District, Shanghai, China
// *****************************************************************************



/* steer wheel angle, raw data of CAN signal, transmit to 0.1 degree value. output value unit : 0.1degree */
#define STEER_WHEEL_ANGLE_DEGREE_DECI(RawDataAngle)       ((RawDataAngle)-7800u)
/* vehicle speed, raw data of CAN signal transmit to 0.1 km/h value. output value unit : 0.1km/h */
#define VEHICLE_SPEED_KMPH_DECI(RawDataSpeed)             (((RawDataSpeed) * (uint8)9u) >> (uint8)4u)



/* steering wheel angle(degree) = ( BDCM_RT_31.EPS_PinionAg_1 * 0.1 -780 ), unit is degree */
/* When in speed class V1 mode, threshold degree is [40,70] */
#define SBL_THRSHOLD_UPPER_70DEGREE_RAW_L_SIGNAL            (700+7800)
#define SBL_THRSHOLD_LOWER_40DEGREE_RAW_L_SIGNAL            (400+7800)

#define SBL_THRSHOLD_UPPER_70DEGREE_RAW_R_SIGNAL            (7800-700)
#define SBL_THRSHOLD_LOWER_40DEGREE_RAW_R_SIGNAL            (7800-400)

/* When in speed class C mode, threshold degree is [30,50] */
#define SBL_THRSHOLD_UPPER_50DEGREE_RAW_L_SIGNAL            (500+7800)
#define SBL_THRSHOLD_LOWER_30DEGREE_RAW_L_SIGNAL            (300+7800)

#define SBL_THRSHOLD_UPPER_50DEGREE_RAW_R_SIGNAL            (7800-500)
#define SBL_THRSHOLD_LOWER_30DEGREE_RAW_R_SIGNAL            (7800-300)

#define SBL_NEUTRAL_DEGREE_RAW_SIGNAL                        7800

#define SPD_CLASS_ZERO                  ( 0u)
#define CODMCFG_NUM                     ( 10u)


// vertical stepper offset definition for different AFS speed mode or travel mode
#define SPD_CLASS_V1_STP_OFFSET          (-57)   /* -0.57 deg, class V1   */
#define SPD_CLASS_V2_STP_OFFSET          (-57)   /* -0.57 deg, class V2   */
#define SPD_CLASS_V3_STP_OFFSET          (-57)   /* -0.57 deg, class V3   */
#define SPD_CLASS_C1_STP_OFFSET          (-57)   /* -0.57 deg, class C1    */
#define SPD_CLASS_C2_STP_OFFSET          (-57)   /* -0.57 deg, class C2    */
#define SPD_CLASS_C3_STP_OFFSET          (-57)   /* -0.57 deg, class C3    */
#define SPD_CLASS_E1_STP_OFFSET          (-46)   /* -0.46 deg, class E1    */
#define SPD_CLASS_E2_STP_OFFSET          (-46)   /* -0.46 deg, class E2    */
#define SPD_CLASS_E3_STP_OFFSET          (-46)   /* -0.46 deg, class E3    */
#define SPD_CLASS_INACTIVE_STP_OFFSET    (-57)   /* -0.57 deg, class INACTIVE */


#define TURN_STEER_DEBOUNCE_TIME        (100u)  /* ms, debounce time for new Turn by steer */
#define SPEED_CLASS_DEBOUNCE_TIME       (300u)  /* ms, debounce time for new speed class  */

//Fill in the AFS mode as required. Fill in the 0xff mode if not used
#define AFS_SPD_CLASS_INACTIVE          (0u)
#define AFS_SPD_CLASS_V1                (1u)
#define AFS_SPD_CLASS_V2                (2u)
#define AFS_SPD_CLASS_V3                (0xff)
#define AFS_SPD_CLASS_C1                 (3u)
#define AFS_SPD_CLASS_C2                (0xff)
#define AFS_SPD_CLASS_C3                (0xff)
#define AFS_SPD_CLASS_E1                 (4u)
#define AFS_SPD_CLASS_E2                (0xff)
#define AFS_SPD_CLASS_E3                (0xff)
#define AFS_SPD_CLASS_NUM               (10u)


#define ROMPARA_AFSCONFIG_AFSMODE_INACTIVE                        \
{                                                                 \
  1,                /* ModeEnable*/                               \
  0,                /* reserved1*/                                \
  0,                /* Speed_LowThreshold*/                       \
  0,                /* Speed_HighThreshold*/                      \
  57,               /* LWR_Offset*/                               \
  0,                /* SBLEnable*/                                \
  0,                /* SteeringAngle_On_Left*/                    \
  0,                /* SteeringAngle_Off_Left*/                   \
  0,                /* SteeringAngle_On_Right*/                   \
  0,                /* SteeringAngle_Off_Right*/                  \
  {0, 0}             /* reserved2*/                               \
}

#define ROMPARA_AFSCONFIG_AFSMODE_INIT                            \
{                                                                 \
  0,                /* ModeEnable*/                               \
  0,                /* reserved1*/                                \
  0,                /* Speed_LowThreshold*/                       \
  0,                /* Speed_HighThreshold*/                      \
  0,               /* LWR_Offset*/                               \
  0,                /* SBLEnable*/                                \
  0,                /* SteeringAngle_On_Left*/                    \
  0,                /* SteeringAngle_Off_Left*/                   \
  0,                /* SteeringAngle_On_Right*/                   \
  0,                /* SteeringAngle_Off_Right*/                  \
  {0, 0}             /* reserved2*/                               \
}


/* Please delete the micro-define after Util_Time.h is OK */
#define AFS_NORMAL_TIMER                (1u)

/*Defined validity of signal*/
#define SigQtyValid                     (0u)

//Is switch on or off?
#define Switch_ON                       (1u)
#define Switch_OFF                      (0u)

#define Power_ON                        (1u)
#define Power_OFF                       (0u)

#define LightKnob_Auto                  (1u)

#define CLEnable                        (1u)
#define CLDisable                       (0u)



#endif // AFS_CFG_H