//
// Created by hu123456 on 2024/2/20.
//
#include "Usart1.h"
#include "stdio.h"
#include <stdlib.h>

#if USART_EN_RX
uint16_t g_usart_rx_sta = 0;
uint8_t g_usart_rx_buf[USART_REC_LEN];
uint8_t g_rx_buffer[RXBUFFERSIZE];
void set_pid();
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if(huart->Instance == USART1)
    {
        if((g_usart_rx_sta & 0x8000) == 0)
        {
            if(g_usart_rx_sta & 0x4000)
            {
                if(g_rx_buffer[0] != 0x0a)
                {
                    g_usart_rx_sta = 0;
                }
                else
                {
                    g_usart_rx_sta |= 0x8000;
                }
            }
            else
            {
                if(g_rx_buffer[0] == 0x0d)
                {
                    g_usart_rx_sta |= 0x4000;
                }
                else
                {
                    g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ;
                    g_usart_rx_sta++;
                    if(g_usart_rx_sta > (USART_REC_LEN - 1))
                    {
                        g_usart_rx_sta = 0;
                    }
                }
            }
        }
        HAL_UART_Receive_IT(&huart1, (uint8_t *)g_rx_buffer, RXBUFFERSIZE);
    }
}

#endif
//xzp1.16
void commander_run(void)
{
    if((g_usart_rx_sta&0x8000)!=0)
    {
        switch(g_usart_rx_buf[0])
        {
            case 'H':
                printf("Hello World!\r\n");
                break;
            case 'x':   //T6.28
                set_pid();
                break;
            case 'y':
                set_pid();
                break;
        }
        g_usart_rx_sta=0;
    }
}
void set_pid()
{
    float a =0;
    if(g_usart_rx_buf[1] == 'z')
    {
        switch (g_usart_rx_buf[2])
        {
            case 'p':
                a = atof((const char *) (g_usart_rx_buf + 3));
                printf("xzp:%f\r\n",a);
                break;
            case 'i':
                FOCStruct_X.ZT_KI = atof((const char *) (g_usart_rx_buf + 3));
                printf("xzi:%f\r\n",FOCStruct_X.ZT_KP);
                break;
            case 'd':
                FOCStruct_X.ZT_KD = atof((const char *) (g_usart_rx_buf + 3));
                printf("xzd:%f\r\n",FOCStruct_X.ZT_KP);
                break;
        }
    }
    else
    {
        switch (g_usart_rx_buf[2])
        {
            case 'p':
                FOCStruct_X.V_KP = atof((const char *) (g_usart_rx_buf + 3));
                printf("xvp:%f\r\n",FOCStruct_X.ZT_KP);
                break;
            case 'i':
                FOCStruct_X.V_KI = atof((const char *) (g_usart_rx_buf + 3));
                printf("xvi:%f\r\n",FOCStruct_X.ZT_KP);
                break;
            case 'd':
                FOCStruct_X.V_KD = atof((const char *) (g_usart_rx_buf + 3));
                printf("xvd:%f\r\n",FOCStruct_X.ZT_KP);
                break;
        }
    }
}