#include "tasks.h"
#include "usart.h"
#include "var.h"
#include "functional_safety_key.h"

Key_Flag_Struct_t Key_Flag;
Key_Status_Struct_t Key_Recv_Status;
Key_Status_Struct_t Key_Scan_Status;
PBU_TE_STATUS PBU_TE_Status=HANDSHAKE_NO;

void Scan_Key(void)
{
  static uint32_t DelayTimeCnt_power=0,DelayTimeCnt_walk=0,DelayTimeCnt_dec=0,DelayTimeCnt_add=0,DelayTimeCnt_start=0;	
  static uint8_t 	Flag_key_power = 0;
	static uint8_t 	Flag_key_walk = 0;
	static uint8_t 	Flag_key_dec = 0;
	static uint8_t 	Flag_key_add = 0;
	static uint8_t 	Flag_Start = 0;
  if(Scan_Key_Start == 0x01)
  {
		if(Flag_Start == 0)
		{
			DelayTimeCnt_start = SysTime_5ms;
			Flag_Start = 1;
		}			
		if(TimeCntDiff_5ms(DelayTimeCnt_start) > 4)
		{
			Scan_Key_Start = 0x00;
			Flag_Start = 0;
			SendKeyStatusToTE();
		}
		/* Processing power button */
		if( *(Key_On_Off.ADC_result)<1000 )	
		{
			if(Flag_key_power == 0)
			{
				DelayTimeCnt_power = SysTime_5ms;
				Flag_key_power = 1;
			}
			
			if(TimeCntDiff_5ms(DelayTimeCnt_power) > 1)
			{
				if( *(Key_On_Off.ADC_result)<1000 )
				{
					Key_Scan_Status.Status_Bit.Power = 0x00;
					Flag_key_power = 0;
				}
			}
		}
		else if(*(Key_On_Off.ADC_result)>3000)
		{
			Key_Scan_Status.Status_Bit.Power = 0x01;
			Flag_key_power = 0;
		}
		
		/* Processing Walk button */
		if( *(Key_Walk.ADC_result)<1000 )	
		{
			if(Flag_key_walk == 0)
			{
				DelayTimeCnt_walk = SysTime_5ms;
				Flag_key_walk = 1;
			}
			if(TimeCntDiff_5ms(DelayTimeCnt_walk) > 1)
			{		
				if(*(Key_Walk.ADC_result)<1000)
				{
					Key_Scan_Status.Status_Bit.Walk = 0x00;
					Flag_key_walk = 0;
				}
			}
		}
		else if(*(Key_Walk.ADC_result)>3000)
		{
			Key_Scan_Status.Status_Bit.Walk = 0x01;
			Flag_key_walk = 0;
		}	
		
		/* Processing DEC button */
		if( *(Key_Down.ADC_result)<1000 )			
		{
			if(Flag_key_dec == 0)
			{
					DelayTimeCnt_dec = SysTime_5ms;
				Flag_key_dec = 1;
			}
			
				if(TimeCntDiff_5ms(DelayTimeCnt_dec) > 1)
			{	
				if(	 *(Key_Down.ADC_result)<1000 )
				{
						Key_Scan_Status.Status_Bit.Dec = 0x00;
					Flag_key_dec = 0;
				}
			}
		}
		else if(*(Key_Down.ADC_result)>3000)
		{
			Key_Scan_Status.Status_Bit.Dec = 0x01;
			Flag_key_dec = 0;
		}	

		/* Processing ADD button */
		if( *(Key_Up.ADC_result)<1000 )		
		{
			if(Flag_key_add == 0)
			{
				DelayTimeCnt_add = SysTime_5ms;
				Flag_key_add = 1;
			}
			
			if(TimeCntDiff_5ms(DelayTimeCnt_add) > 1)
			{			
				if(*(Key_Up.ADC_result)<1000)
				{
					Key_Scan_Status.Status_Bit.Add = 0x00;
					Flag_key_add = 0;
				}
			}
		}
		else if(*(Key_Up.ADC_result)>3000)
		{
			Key_Scan_Status.Status_Bit.Add = 0x01;
			Flag_key_add = 0;
		}	
	}
}

void SendKeyStatusToTE(void)
{
	uint8_t send_buffer[256];
	uint8_t mode;
	
	mode = 0x0C;    //0x11:read，0x16:write，0x0C:report		
	/* Add command word */
	send_buffer[0] = 0x11;
	send_buffer[1] = 0x01;
	/* Add data */
	send_buffer[2] = Key_Scan_Status.Status;
	/* Send data */
	SendCmdData(mode, send_buffer, 3);
}

void SendMotorEnableToTE(void)
{
	uint8_t send_buffer[3];
	uint8_t mode;
	
	mode = 0x0C;    //0x11:read，0x16:write，0x0C:report
	/* Shut down information command word */
	send_buffer[0] = 0x44;
	send_buffer[1] = 0x01;
	/* Add data */
	send_buffer[2] = 0x01;
	/* Send data */
	SendCmdData(mode, send_buffer, 3);	
}

void SendMotorDisableToTE(void)
{
	uint8_t send_buffer[3];
	uint8_t mode;
	
	mode = 0x0C;    //0x11:read，0x16:write，0x0C:report
	/* Shut down information command word */
	send_buffer[0] = 0x44;
	send_buffer[1] = 0x01;
	/* Add data */
	send_buffer[2] = 0x00;
	/* Send data */
	SendCmdData(mode, send_buffer, 3);	
}

void Error_Key_Process(void)
{
	static uint32_t LongDelayTimeCnt_On_Off = 0;
	static uint32_t LongDelayTimeCnt_Walk = 0;
	static uint32_t LongDelayTimeCnt_Down = 0;
	static uint32_t LongDelayTimeCnt_Up = 0;
	static uint32_t LongDelayTimeCnt_Light = 0;	
	
	static uint8_t 	Flag1_1 = 0;
	static uint8_t 	Flag2_1 = 0;
	static uint8_t 	Flag3_1 = 0;
	static uint8_t 	Flag4_1 = 0;
	static uint8_t 	Flag6_1 = 0;
	
	/* Processing power key */
	if(*(Key_On_Off.ADC_result)<1000)	
	{
		if(Flag1_1 == 0)
		{
		  LongDelayTimeCnt_On_Off = SysTime_5ms;
			Flag1_1 = 1;
		}
	  if(TimeCntDiff_5ms(LongDelayTimeCnt_On_Off) >= FAILURE_TIME)
		{
			if(*(Key_On_Off.ADC_result)<1000)
			{
			  Key_Flag.power_long_press = 1;
				PBU_hardwareErrorCode.ERROR_Bit.Key_Power = 0x01;
				Flag1_1 = 0;
			}
		}		
	}
	else	if(*(Key_On_Off.ADC_result)>3000)
	{
		Key_Flag.power_long_press = 0;
		Flag1_1 = 0;
	}
	
	/* Processing Walk key */
	if(*(Key_Walk.ADC_result)<1000)
	{
		if(Flag2_1 == 0)
		{
		  LongDelayTimeCnt_Walk = SysTime_5ms;
			Flag2_1 = 1;
		}		
	  if(TimeCntDiff_5ms(LongDelayTimeCnt_Walk) >= FAILURE_TIME)
		{
			if(*(Key_Walk.ADC_result)<1000)
			{
			  Key_Flag.walk_long_press = 1;
				PBU_hardwareErrorCode.ERROR_Bit.Key_Walk = 0x01;
				Flag2_1 = 0;
			}
		}		
	}
	else if(*(Key_Walk.ADC_result)>3000)
	{
		Key_Flag.walk_long_press = 0;
		Flag2_1 = 0;
	}	
	
	/* Processing Down key */
	if(*(Key_Down.ADC_result)<1000)
	{
		if(Flag3_1 == 0)
		{
		  LongDelayTimeCnt_Down = SysTime_5ms;
			Flag3_1 = 1;
		}		
	  if(TimeCntDiff_5ms(LongDelayTimeCnt_Down) >= FAILURE_TIME)
		{
			if(*(Key_Down.ADC_result)<1000)
			{
			  Key_Flag.dec_long_press = 1;
				PBU_hardwareErrorCode.ERROR_Bit.Key_Dec = 0x01;
				Flag3_1 = 0;
			}
		}		
	}
	else if(*(Key_Down.ADC_result)>3000)
	{
		Key_Flag.dec_long_press = 0;
		Flag3_1 = 0;
	}	

	/* Processing ADD key */
	if(*(Key_Up.ADC_result)<1000)	
	{
		if(Flag4_1 == 0)
		{
		  LongDelayTimeCnt_Up = SysTime_5ms;
			Flag4_1 = 1;
		}		
		if((PBU_AssitMode_Status.PBU_AssistMode_Flag == PBU_AssistMode_Flag_Walk)||(PBU_AssitMode_Status.PBU_AssistMode_Flag == PBU_AssistMode_Flag_WalkSby))	 
		LongDelayTimeCnt_Up = SysTime_5ms;
		
	  if(TimeCntDiff_5ms(LongDelayTimeCnt_Up) >= FAILURE_TIME)
		{
			if(*(Key_Up.ADC_result)<1000)	
			{
			  Key_Flag.add_long_press = 1;
				PBU_hardwareErrorCode.ERROR_Bit.Key_Add = 0x01;
				Flag4_1 = 0;
			}
		}		
	}
	else if(*(Key_Up.ADC_result)>3000)
	{
		Key_Flag.add_long_press = 0;
		Flag4_1 = 0;
	}	
	
	/* Processing LIGHT key */
	if(*(Key_Light.ADC_result)<1000)	
	{	
		if(Flag6_1 == 0)
		{
		  LongDelayTimeCnt_Light = SysTime_5ms;
			Flag6_1 = 1;
		}		
		
		/* Handle long press 10s */
	  if(TimeCntDiff_5ms(LongDelayTimeCnt_Light) >= FAILURE_TIME)
		{		
			if(*(Key_Light.ADC_result)<1000)	
			{
			  Key_Flag.light_long_press = 1;
				PBU_hardwareErrorCode.ERROR_Bit.Key_Light = 0x01;
				Flag6_1 = 0;
			}
		}		
	}
	else 	if(*(Key_Light.ADC_result)>3000)
	{
		Key_Flag.light_long_press = 0;
		Flag6_1 = 0;
	}
}

void Scan_Key_ADC_Error(void)
{	
	static uint16_t On_Off_error_cnt  = 0;	
	static uint16_t Walk_error_cnt  = 0;	
	static uint16_t Up_error_cnt  = 0;
	static uint16_t Down_error_cnt  = 0;
	static uint16_t Light_error_cnt  = 0;	
////////////On_Off判断////////////////////////	
	if((*(Key_On_Off.ADC_result)>1000)&&(*(Key_On_Off.ADC_result)<3000))
	{
			On_Off_error_cnt++;		
	}
	else
	{
			On_Off_error_cnt=0;
	}
	
	if(On_Off_error_cnt>5000)
	{
		PBU_hardwareErrorCode.ERROR_Bit.Key_Power = 0x01;
	}
////////////Walk判断////////////////////////	
	if((*(Key_Walk.ADC_result)>1000)&&(*(Key_Walk.ADC_result)<3000))
	{
			Walk_error_cnt++;		
	}
	else
	{
			Walk_error_cnt=0;
	}
	
	if(Walk_error_cnt>5000)
	{
		PBU_hardwareErrorCode.ERROR_Bit.Key_Walk = 0x01;
	}
////////////Add判断////////////////////////	
	if((*(Key_Up.ADC_result)>1000)&&(*(Key_Up.ADC_result)<3000))
	{
			Up_error_cnt++;		
	}
	else
	{
			Up_error_cnt=0;
	}
	
	if(Up_error_cnt>5000)
	{
		PBU_hardwareErrorCode.ERROR_Bit.Key_Add = 0x01;
	}
////////////Down判断////////////////////////	
	if((*(Key_Down.ADC_result)>1000)&&(*(Key_Down.ADC_result)<3000))
	{
			Down_error_cnt++;		
	}
	else
	{
			Down_error_cnt=0;
	}
	
	if(Down_error_cnt>5000)
	{
		PBU_hardwareErrorCode.ERROR_Bit.Key_Dec = 0x01;
	}
////////////Light判断////////////////////////	
	if((*(Key_Light.ADC_result)>1000)&&(*(Key_Light.ADC_result)<3000))
	{
			Light_error_cnt++;		
	}
	else
	{
			Light_error_cnt=0;
	}
	
	if(Light_error_cnt>5000)
	{
		PBU_hardwareErrorCode.ERROR_Bit.Key_Light = 0x01;
	}
}

void Power_Mos_Check(void)
{
	static uint16_t Power_Mos_error_cnt  = 0;
	if((ADC_Result[0]>2000)&&(*(Key_On_Off.ADC_result)>3000))
	{	
		Power_Mos_error_cnt ++;
	}
	else	
		Power_Mos_error_cnt=0;
	
	if(Power_Mos_error_cnt>3)
	{
		Power_Mos_error_cnt=0;
		PBU_ErrorCode.ERROR_Bit.MOS_Fault =1;
	}	
}

void Vin_test_Check(void)
{
	if((ADC_Result[0]<3000)&&(ADC_Result[0]>1000))
	{	
		Vin_test_TimeCnt=SysTime_5ms;
	}			
	
	if(TimeCntDiff_5ms(Vin_test_TimeCnt) >= 400)
	{		
		PBU_ErrorCode.ERROR_Bit.Hardware_Fault =1;
	}	
}