#ifndef __MAIN__H
#define __MAIN__H
#include <stdlib.h>
#include "bsp.h"

#define 	OSC_CNT    			40
#define 	SLOPE_CNT			  20

#define		PRESS_VPT				3
#define		FOLLOW_VPT			10
#define		SHIELD_VPT			8000
#define		EME_STOP_VPT		4000
#define		CENTRE_VPT			8000
#define		CENTRE_SHIELD_VPT			2000

#define 	STOP_TIME_MS		500
#define 	CENT_TIME_MS		200
#define 	RUN_TIME_MS			0
#define		EME_START_MS		0
#define		EME_STOP_MS			2000

#define		BDC_STOP()			(SET_TWIN_BIT0(),SET_TWIN_BIT1())
#define  	BDC_DOWN()				(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
#define		BDC_UP()			(SET_TWIN_BIT1(),CLR_TWIN_BIT0())

//#define	BDC_STOP()				Motor_Control(MOTOR_CMD_STOP)
//#define BDC_UP()					Motor_Control(MOTOR_CMD_FORWARD)
//#define	BDC_DOWN()				Motor_Control(MOTOR_CMD_REVERSE)

/*控制等级*/
typedef enum {
	LEVEL_1 = 1,  		// 一级
	LEVEL_2 = 2,      // 二级
	LEVEL_3 = 3,      // 三级
	LEVEL_4 = 4,      // 四级
	LEVEL_5 = 5       // 五级
}ControlLevel_m;

/*设备阈值*/
typedef struct{
	int32_t	Stop_VPT;
	
	int32_t LeftUpVPT;//左上设备阈值
	int32_t LeftLowVPT;//左下设备阈值
	int32_t RightUpVPT;//右上设备阈值
	int32_t RightLowVPT;//右下设备阈值
	
	int32_t LeftUpShieldVPT;	//左上屏蔽阈值
	int32_t LeftLowShieldVPT;	//左下屏蔽阈值
	int32_t RightUpShieldVPT;	//右上屏蔽阈值
	int32_t RightLowShieldVPT;	//右下屏蔽阈值
	
	int32_t LeftUp_Org_AdZero;//左上设备原始AD零点
	int32_t LeftLow_Org_AdZero;//左下设备原始AD零点
	int32_t RightUp_Org_AdZero;//右上设备原始AD零点
	int32_t RightLow_Org_AdZero;//右下设备原始AD零点
}ADTrack_t;
typedef struct{//电机参数
	bool RestFlag;
	int16_t Current_height;//当前高度mm
}MotorPara_t;
/*数据读取状态机*/
typedef enum {
	READ_STATUS_IDLE,
	READ_STATUS_START,
	READ_STATUS_LEFTUP,
	READ_STATUS_WAIT_LEFTUP,
	READ_STATUS_LEFTLOW,
	READ_STATUS_WAIT_LEFTLOW,
	READ_STATUS_RIGHTUP,
	READ_STATUS_WAIT_RIGHTUP,
	READ_STATUS_RIGHTLOW,
	READ_STATUS_WAIT_RIGHTLOW,
	READ_STATUS_SUPPORT_CONT
}ReadStatus_m;

/*主程序状态机*/
typedef enum {
	APP_STATUS_IDLE,
	APP_STATUS_ON,
	APP_STATUS_OFF,
	APP_STATUS_ZERO_MARKING,
}AppStatus_m;

typedef struct{
	__IO uint16_t rPayLen;
	__IO bool HeaderFrame;
	__IO uint16_t RxLen;
	uint8_t RxBuff[4];
}Uart3Rx_t;

typedef struct {
	AppStatus_m Status;//状态
	ReadStatus_m RStatus;
	AppPara_T Para;
	Uart3Rx_t RxUart3Data;

	ADTrack_t ADTrack;
	MotorPara_t	MotorPara;
	uint32_t TD1mSDelayCnt;
	uint32_t Read1mSDelayCnt;	
	uint32_t Uart3RxTimeOut1mSCnt;
	uint32_t StopCollDelay1mSCnt;
	uint32_t RunCollDelay1mSCnt;
	uint32_t CentCollDelay1mSCnt;
	uint32_t EmergencyDelay1mSCnt;
	uint8_t FeedDogDlyCnt;
	
	bool CaliZeroFlag;//校零标志位
	bool UpFlag;//上升标志位
	bool DownFlag;//下降标志位
	bool StopFlag;//停止标志位
	bool EmeFlag;//应急标志位
	bool LeftRunFalg;
	bool RightRunFalg;
	bool CentreRunFalg;

	bool LeftUpCS1237ReadEndFlag;
	bool LeftLowCS1237ReadEndFlag;
	bool RightUpCS1237ReadEndFlag;
	bool RightLowCS1237ReadEndFlag;	

	int32_t LeftUpCS1237_TrendArray[OSC_CNT];
	int32_t LeftLowCS1237_TrendArray[OSC_CNT];
	int32_t RightUpCS1237_TrendArray[OSC_CNT];
	int32_t RightLowCS1237_TrendArray[OSC_CNT];
	
	int32_t LeftUpCS1237_SlopeArray[SLOPE_CNT];
	int32_t LeftLowCS1237_SlopeArray[SLOPE_CNT];
	int32_t RightUpCS1237_SlopeArray[SLOPE_CNT];
	int32_t RightLowCS1237_SlopeArray[SLOPE_CNT];
}AppDetect_t;
extern AppDetect_t App;

#endif