#include "ctrl.h"
#include "stm8s_beep.h"
#include "task.h"
#include "DC2AC.H"
#include "key.h"
#include "EEPROM.H" 
#include "WarnCtrl.h"
#include "modbus.h"
#include "main.h"
extern unsigned char Warning_flag;
const unsigned char LED7Code[]={
	0xC0,		// 0
	0xF9,		// 1
	0xA4,		// 2
	0xB0,		// 3
	0x99,		// 4
	0x92,		// 5
	0x82,		// 6
	0xF8,		// 7
	0x80,		// 8
	0x90,		// 9
	0x88,		// A
	0x83,		// B
	0xC6,		// C
	0xA1,		// D
	0x86,		// E
	0x8E,		// F
	0xFF		//0x10
};
sIOBuffer SPIIO={0xFF,0xFF,0xFF,0,0xFF};  
//DM74HC164 SPI74HC164={0xFF};
IED_DATABASE @near IED;
MyTimeOut TimeOut ;   
#define FIXTIMECNT 100L   //25S	  50ms*100 = 5S
void Translate2(void);
void UpdateIO(void)
{   
	char i;  
	GPIO_WriteLow(GPIOE, SPI_CS); 
	for(i=0;i<sizeof(SPIIO.OutPort.Out);i++) 
		Translate(SPIIO.OutPort.Out[i]); 
    //为啥不空走8个时钟就会出现错位呢02变04了  //待查
	GPIO_WriteHigh(GPIOE, SPI_CS);  
	for(i=0;i<sizeof(SPIIO.InPort.In);i++)
		SPIIO.InPort.In[i]  = Receive(); 	
	GPIO_WriteLow(GPIOE, SPI_CS);
	for(i=0;i<sizeof(SPIIO.OutPort.Out);i++) 
		Translate(SPIIO.OutPort.Out[i]); 
	GPIO_WriteHigh(GPIOE, SPI_CS);    
	GPIO_WriteLow(GPIOC, SPI_OE);	
}
 extern unsigned char Debug_time;
void Task_SEG7(void)
{ 
	static char dispBit = 0;
	if(Debug_time==0)
	{
	dispBit = (++dispBit)%2;
	SEG7 = dispBit?LED7Code[IED.nId/10==0?0x10:IED.nId/10]:LED7Code[IED.nId%10];
	CSLED = 1<<dispBit; 
  }
	else
  {
	dispBit = (++dispBit)%2;
	SEG7 = dispBit?LED7Code[(IED.MidTimeWait-10)/1000==0?0x10:(IED.MidTimeWait-10)/1000]:LED7Code[((IED.MidTimeWait-10)%1000)/100];
	CSLED = 1<<dispBit; 
	}
}

void Translate(unsigned char out)
{ 
	unsigned char j,r,k;
	for(j=0;j<8;j++)
	{ 
		GPIO_WriteLow(GPIOC, SPI_CLK);	 	
		nop();nop();nop();	
		if(out&0x80) 	 
		{
			GPIO_WriteHigh(GPIOC, SPI_MOSI); 
		}
		else 
		{
			GPIO_WriteLow(GPIOC, SPI_MOSI); 
		} 		
		GPIO_WriteHigh(GPIOC, SPI_CLK);
		nop();nop();nop();
		out = out<<1; 		
	} 
 
}
void Translate2(void)
{ 
	unsigned char j,r,k;
	for(j=0;j<8;j++)
	{ 
		GPIO_WriteLow(GPIOC, SPI_CLK);	 	
		nop();
		GPIO_WriteHigh(GPIOC, SPI_CLK); 
		nop();
	} 
 
}

unsigned char Receive(void)
{
	unsigned char j, r ;
	for(j=0;j<8;j++)
	{ 
		r=r<<1;
		GPIO_WriteLow(GPIOC, SPI_CLK); 		
		nop();nop();nop();
		if(GPIO_ReadInputPin(GPIOC,SPI_MISO)) 
			r|=1;    
		GPIO_WriteHigh(GPIOC, SPI_CLK); 
		nop();nop();nop();	 
		nop();	
		
	} 	
	return r;
}

 
void InitBeep(void)
{ 
	BEEP_LSICalibrationConfig(128000);
	BEEP_Init(BEEP_FREQUENCY_1KHZ);
	//BEEP_Cmd(ENABLE);
}


unsigned char gcBeepTrig = 0;
unsigned int gcNumBeep   = 0; 
//蜂鸣任务 
//A
void TaskBeep(void)
{      
	if(!gcBeepTrig)
	{ 		
		SetWarningFreq(1000);
		BEEP_Cmd(ENABLE);	
	}
	else
	{ 
		SetWarningFreq(0);
		BEEP_Cmd(DISABLE);
		gcNumBeep--;
		if(gcNumBeep==0)
		{
			GPIOD->ODR&=(~0x80);	
	    SuspendTask(TASK_BEEP);
		}
	}
	gcBeepTrig=!gcBeepTrig;	  
}


/***********************************************************
    激活蜂鸣器任务
***********************************************************/

void Beep(UCHAR	cNumBeep,UINT beepTime)
{
 
	int	a;
	gcNumBeep=cNumBeep;
	//gcBeepTrig=1;
	a=beepTime;	//mS
	//DrvGPIO_Open(E_GPA,PIN_SPK, E_IO_OUTPUT);  
	//DrvGPIO_SetBit(E_GPA,PIN_SPK);
	ActiveTask(TASK_BEEP,a);
}

void StopBeep(void)	  
{
	SetWarningFreq(0);
	BEEP_Cmd(DISABLE); 
	SuspendTask(TASK_BEEP);
}

			
unsigned char gcMotorDir = 0;	  	  //方向控制薄码开关	
//启动电机运行,1S 后启动位置检测信号	   
//#define gcPhaseCtrl
unsigned char gcPhaseCtrl; 
signed char  gcTimer_Motor_ID = -1;

//#define TIME_OVERROLL 40L 
#define TIME_OVERROLL (IED.OverRollTime)
signed char MovMotor(unsigned char cPos)
{	  
	if(IED.cMoving==1)
	{  
		return -1;
	}	  
	_nop_();	
	if(cPos==IED.cPos)
	{
		#ifdef _DEBUG
		printf("电机已经到位,无需执行该命令\n");
		#endif						   
		return -2;
	} 
	_nop_();
	MOTOR__RUN = 0; 
	 
 

	 switch(cPos)
	 {
	 	case POS_TOP:				  				//到顶,方向为向上
			IED.Direction=MOTOR_UP; 
			//修正短期行走为0的问题   
			break;
		case POS_BOT:
			IED.Direction=MOTOR_DOWN; 				//到底,方向为向下 
			//到底部,超时时间为TimeTopToBot	 
			break;
		case POS_MIDDLE:							
			return -2;
		case POS_UNKNOWN:	 
		default:
			return -5;	 
	 }	
	 /////////////////////////////////////////////////////
	 if((IED.Err&ERR_TOP_OVERROLL)&&( MOTOR_UP==IED.Direction))	 //上过卷,禁止上行
			return -4;	  
	 if((IED.Err&ERR_BOT_OVERROLL)&&( MOTOR_DOWN==IED.Direction))	 	//下过卷,禁止下行
			return -4;	  
 
	//////////////////////////////////////////////////////
	 #ifdef _DEBUG												 
//	 printf("方向%s ",(  IED.Direction==MOTOR_UP?"向上":"向下"));
	 #endif		
   
 
		//有电源错误,判断运行方向后推出
	if(IED.Err&(ErrPhase|						 //相位错
				ErrOverHeat|MAIN_POWER_ERROR|	 //过热//无主电
				COIL_SHORT_ERR|COIL_BREAK_ERR| 	 //刹车线圈坏 
				ERR_MOTOR_LINE|									//电机断线
				ERR_RELAY_FAIL|									//继电器损坏
				ERR_BRAKE_POWER_FAIL
				))
	{			     
		return -4;	 
	}
	///////////////////////////////////////////////
	UNLockAllMotor();
	EnableBrakPower(TRUE);	   
	IED.cMoving = 1;	  
	//启动电机到位检测任务 	
	IED.BrakeDelayTimerID = StartTimer(TIMER_MODE_ONCEROUTINE,
				20L,MotorDelay,0);			    
	  
	return 0; 
}


void ErrStopMotor(void)
{  
	LockAllMotor();
	StopMotor();
}

void StopMotor(void)
{ 
	MOTOR__RUN = 0;		  
	ConvertDown(0);//停止逆变 
	EnableBrakPower(FALSE);
	StopTimer(&IED.MotorMoveDelayTimerID);
	SuspendTask(TASK_STOPMOTOR); 
	IED.cMoving = 0;
	#ifdef _DEBUG
	printf("StopMotor()电机停止 !\n");	  
	#endif		    
}
 
void GetCurretPos(void)
{	
	if(pos_top_bit==0)
	{  
		IED.cPos = POS_TOP; 
	}
	else if(pos_bot_bit==0)
	{   
		IED.cPos = POS_BOT;    
	} 
	else 
	{
		IED.cPos = POS_UNKNOWN;
	}
	#ifdef _DEBUG
	//printf("Current POS is %d\n",(int)IED.cPos);
	#endif
	_nop_();
}

void EnableRunCtrl(void)
{	
	if(gcPhaseCtrl)												  //运行方向控制、、 	    	  
			MOTOR__RUN=	~(IED.Direction==MOTOR_UP?1:2);	  
	else 
			MOTOR__RUN=	(IED.Direction==MOTOR_UP?1:2);   
}
//检测是否到位,到位后停止电机 
void TaskStopMotor(void)								//TASK_MOTOR
{ 	
	if(Warning_flag==0)
		Beep(1,200); 
	//防止运行中相序发生变化
	EnableRunCtrl();
	//位置检测		    
	GetCurretPos();
	///////////////////////////////////////////
		//到位停止
	if(((IED.Direction==MOTOR_UP)&&(pos_top_bit==0))		////运行方向向上,检测到上到位 停止
		||((IED.Direction==MOTOR_DOWN)&&(pos_bot_bit==0)))	//运行方向向下,检测到下到位 停止
	{ 	 		 
		#ifdef _DEBUG		
		printf("电机到位\n上到位=%d,下到位=%d,继电器释放!\n",(int)pos_top_bit,(int)pos_bot_bit);
		#endif 
		StopMotor(); 
		_nop_(); 
	} 
	
//	CheckRelay();//检查继电器故障
	CheckBrakePower();//检查刹车电源
	if(IED.Err&(ERR_BRAKE_POWER_FAIL))
		ErrStopMotor();
}



void ResumeCheckSensor(void* p)
{ 
	ActiveTask(TASK_SENSOR,500UL);
}
 

//开始报警
void StartWarning(void)
{	
//	IED.b_warning = 1;		 	    
 	ActiveTask(TASK_WARN,100);   
	#ifdef _DEBUG
	printf("Start Warning !\n");
	#endif		 				    
}

//停止报警
unsigned char StopWarning_flag;
void StopWarning(void)
{			    
	SetWarningFreq(0);
  IED.b_warning = 0;   
 	SuspendTask(TASK_WARN);	
	#ifdef _DEBUG
	printf("Stop Warning !\n");	  
	#endif
 				  
} 
 void InitTim2(void)
 {

  TIM2_DeInit();
  TIM2_TimeBaseInit( TIM2_PRESCALER_16,50000);//50ms
  TIM2_ITConfig( TIM2_IT_UPDATE , ENABLE);
  
  TIM2_SetCounter(0x0000); 
  
  TIM2_Cmd(ENABLE);
 

 }

 @far @interrupt void TIM2_UPD_OVF_BRK_IRQHandler(void)
 {
	 static char m;
	 TIM2_ClearITPendingBit(TIM2_IT_UPDATE);//清除中断标记位
	 if(StopWarning_flag==1)
	 {
	   m++;
	   if(m>=30)
     {
		   StopWarning_flag=0;
			 GPIO_WriteHigh(GPIOA, GPIO_PIN_2);//关闭3S后重新开启
       m=0;
	   }
    }
	
  }

#define FREQ_MIN 450L
#define FREQ_MAX 1500L	
//定时器产生的脉冲
//////////////报警控制////////////////////////////
//unsigned int gcFreqCurr = 0;	 //当前频率
//char gcFreqdir = 1;				 //频率方向
//报警任务
void TaskWarn(void)
{	
	//if(IED.WarnMute^IED.u_WarnState)
		SetWarningFreq(IED.FreqCurr);	
	//else
	//	SetWarningFreq(0);
	if(IED.FreqCurr>=FREQ_MAX)
	{
		IED.FreqCurr =	FREQ_MAX;
		IED.Freqdir=-1;
	}
	if(IED.FreqCurr<=FREQ_MIN)
	{
		IED.FreqCurr =	FREQ_MIN;
		IED.Freqdir=1;
	} 
	IED.FreqCurr+=IED.Freqdir*20;		 
}	 


 
void MotorDelay(void *p)
{
	IED.BrakeDelayTimerID  = -1;
	EnableRunCtrl();
	ActiveTask(TASK_STOPMOTOR,50);	////每50ms检测一次电机是否到位
	#ifdef _DEBUG												 
	//printf("启动电机!\n");
	#endif	
}


//volatile unsigned int INT1Cnt = 0;
int HiCnt     = 0;
int LowCnt    = 0;   
int abs(int x) {return x>0?x:-x;}
void TaskCheckPhase(void)		   
{
	int err;
	#ifdef _DEBUG
	//printf("Hicnt=%u,LowCnt=%u\n",(unsigned int)HiCnt,(unsigned int)LowCnt)  ;
	#endif	
	err = abs(HiCnt-LowCnt);
	if(err<60*PHASE_PRIOD/1000L)
	{
		#ifdef _DEBUG                                        
		printf("缺相错误,停止电机运行\n")  ;			
		#endif	
		ErrStopMotor();
		IED.Err |= ErrPhase;
		
		IED.Err &= (~ERR_BRAKE_POWER_FAIL);
		IED.Err &= (~ERR_RELAY_FAIL);
	}
	else
	{
		if(HiCnt>LowCnt)
		{
	 		gcPhaseCtrl =1;		//相位反过来了      
			IED.Err &= (~ErrPhase); 
			#ifdef _DEBUG
			//printf("相位正确,电机正向运行\n")  ;
			#endif                                 
		}
		else
		{
			//IED.Err &= (~ErrPhase); 
			IED.Err |= ErrPhase;   //锁定这个相位
			gcPhaseCtrl =0;		//正确相位
			#ifdef _DEBUG
			//printf("相位错误,电机反向运行\n")  ;
			#endif	  			 
		}
		//IED.Err &= (~ErrPhase); 
	} 
	LowCnt = HiCnt     =0;	 
	//电机过热保护报错
    
} 
 
char PreEx1,PreEx2;
void TaskFREQ(void)
{   
	char Ph1,Ph2 ;
	char PhaseIn = GPIOD->IDR; 
	Ph1 = PhaseIn&0x04;
	Ph2 = PhaseIn&0x08; 
	if((!Ph1)&&(Ph1!=PreEx1))		 //下降沿
	{ 
		if(Ph2)
			HiCnt ++;
		else
			LowCnt ++;	 
	} 
	if((!Ph2)&&(Ph2!=PreEx2))
	{		   
		if(Ph1)
			LowCnt ++; 
		else
			HiCnt  ++;	   
	} 
	PreEx1 	= Ph1;
	PreEx2	= Ph2; 
	if((pos_bot_bit==0)&&(pos_top_bit==0))//过热保护
	{
		IED.Err |= ErrOverHeat;
	}
	else
	{
		IED.Err &= (~ErrOverHeat); 
	}	  
}

char preIDMode	 = 3; 

void checkSetIDMode(void)
{	//用户模式和检测模式切换
	if(preIDMode!=ID_SET)
	{  
		EEReadStruct(&IED.nId ,sizeof(IED.nId)/sizeof(char),0); 
		checkID();
		Beep(1,500); 
	} 
	preIDMode = ID_SET;
}
  

#define UNMASKERR 	 0xFFFFFFFF
void MuteError(void)
{
	IED.ErrMute=(IED.Err&UNMASKERR); 
	StopWarning();
}



char preLEDMainPower;
char preLEDBatPower;
char preLEDWarn;
char preLEDRUN;
  

#define FEEDSMOKE	 		Feed_Smoke_Relay
#define FEEDTEMP	 		Feed_Temp_Relay
#define LED_MAINPOWER FeedMainPowerLED

void Feed(void)
{  										  	 
	//电机运行指示灯
	if(IED.cMoving==1)		
		FeedDoorRun = 0;
	else
		FeedDoorRun = 1;

//相位方向为0的时候不关闭主电灯
	if((IED.Err&(MAIN_POWER_ERROR|(gcPhaseCtrl?ErrPhase:0)))==0)
	{
		LED_MAINPOWER = 0; 
	}
	else
	{
		LED_MAINPOWER = 1;
	}

	//报警指示灯
	if(Warning_flag==1)
	{ 						   	
		FeedWarnLED = 0;	  
	}
	else
	{
		FeedWarnLED = 1;
	}	 
	FeedRightPhaseLED	= gcPhaseCtrl?0:1; 
	//中位指示灯 
	//错误指示灯
	if(IED.Err!=0)
	{
//		FeedErrLED = 1;
		IED.ErrMute&=IED.Err;  //故障已清除,消除故障消音位为下一次故障声音报警做准备
		#ifdef _DEBUG
		//printf("IED.Err=0X%04X\n",IED.Err);
		#endif 
		//指定错误声音提示方案
		if(IED.Err^IED.ErrMute)
			Beep(1,300);
        										
	}	  
	else
	{
	}
	if((IED.Err&(BAT_LOW_ERR|BAT_SHORT|BAT_OVER_ERROR))==0)		//电池无过压欠压错误.备电指示正常
	{	 
		LED_BAT = 0;	
	}	
	else
	{
		LED_BAT = 1;	
	}
	//
  FeedErrFlash();			
  //

}


void FeedErrFlash(void)
{
	static char i = 0;
	i=(++i)%2;
	if(i==0)
	{
		//打开错误灯 
		if(IED.Err&(ErrPhase|MAIN_POWER_ERROR))
			FeedLEDMPowerError = 0;
		
		if(IED.Err&(BAT_LOW_ERR|BAT_OVER_ERROR|BAT_SHORT))
			FeedLEDBatError = 0;
		if(IED.Err&(COIL_SHORT_ERR|COIL_BREAK_ERR))
			FeedLEDBrakeError = 0;
			
		if(IED.Err&ERR_SENSOR_SMOKE)
			FeedLEDSmokeSensor = 0;
		if(IED.Err&ERR_SENSOR_TEMP)
			FeedLEDTempSensor = 0;
		
		if(IED.Err&(ERR_TOP_OVERROLL|ERR_BOT_OVERROLL|ErrOverHeat))
			FeedLEDOverRollSensor = 0;
		if(IED.Err&	ERR_MOTOR_LINE)
			FeedLEDMotorError = 0; 
		if(IED.Err&	ERR_RELAY_FAIL)  	//0x2000,//继电器故障
			FeedRelayErr = 0; 
		if(IED.Err&	ERR_BRAKE_POWER_FAIL)//0x4000 //逆变电源故障
			FeedBrakePowerErr = 0;  
		if(IED.Err&	ErrPhase)
			FeedErrPhaseLED = 0; 
	}
	else
	{
		//关闭所有的灯
		SPI74HC164 = 0xFF; 
	}
}


signed char SelftestTimer = -1;
int selftestcnt = 4;
void SelfTest(void)
{ 
 if(SelftestTimer==-1)
 { 
	  Beep(3,500);
		selftestcnt = 4;
		SelftestTimer = StartTimer(TIMER_MODE_CYCROUTINE,50L,TaskSelfTestLED,0); 
	}
}



void TaskSelfTestLED(void* param)
{ 
	FeedMainPowerLED= !FeedMainPowerLED;
	FeedBatPowerLED	= !FeedBatPowerLED ;
	FeedMidLED = !FeedMidLED; 
	FeedWarnLED	= !FeedWarnLED;
	FeedDoorRun	= !FeedDoorRun;
	
	SPI74HC164 = ~SPI74HC164;  
	if(selftestcnt==0)
	{
		StopTimer(&SelftestTimer);
		StopWarning();
		Beep(1,100);
		ActiveTask(TASK_FEED,1000L);
		//ActiveTask(TASK_FEED2,500L);
		//SetTaskLastTime(TASK_FEED2,1000L);
		selftestcnt = 4;
	}
	if(selftestcnt==4)
	{
		SetWarningFreq(1000);
	}
	selftestcnt--;
} 


//全部降落
void MotorDown(void *p)
{
	#ifdef _DEBUG	
	printf("MOTOR_DOWN!\n");	    
	#endif			 
	MovMotor(POS_BOT);//启动全降信号
	IED.MotorMoveDelayTimerID = -1;
}

void MotorUp(void *p)
{
	#ifdef _DEBUG
	printf("MOTOR_UP!\n");
	#endif		
	MovMotor(POS_TOP);//启动全升信号
	IED.MotorMoveDelayTimerID = -1;
}