#include <string.h>

#define BYTE0(dwTemp)       (*( (char *)(&dwTemp)    ))   /* !< uint32_t 数据拆分 byte0 */
#define BYTE1(dwTemp)       (*( (char *)(&dwTemp) + 1))   /* !< uint32_t 数据拆分 byte1 */
#define BYTE2(dwTemp)       (*( (char *)(&dwTemp) + 2))   /* !< uint32_t 数据拆分 byte2 */
#define BYTE3(dwTemp)       (*( (char *)(&dwTemp) + 3))   /* !< uint32_t 数据拆分 byte3 */

#define USERDATALEN 2						 // 数据长度

uint8_t waveform[6 + USERDATALEN] = {0};     // 数据帧缓存

/*
 * @name:       void Wireless_Send(void)
 * @notion:     V7
 */
void Wireless_Send(void)
{
	uint8_t waveform[6 + UserDataLen] = {0};    // 数据帧缓存
    uint8_t _cnt = 0;

    memset(waveform, 0, sizeof(waveform));

    waveform[_cnt++] = 0xAA;        			// 帧头
    waveform[_cnt++] = 0xFF;        			// 目标地址
    waveform[_cnt++] = 0xF1;        			// 功能码ID
//	waveform[_cnt++] = sizeof(waveform) - 6;  	// 有效数据长度
//	waveform[_cnt++] = UserDataLen;
    waveform[_cnt++] = 0;

    int16_t UserData_1 = (int16_t)(Mortor1.Speed_Read);

    //数据区使用小端模式, 低字节在前。
    waveform[_cnt++] = BYTE0(UserData_1);   	// 数据内容
    waveform[_cnt++] = BYTE1(UserData_1);

    waveform[3] = _cnt - 4; 					// 写入有效数据字节数

    uint8_t sumcheck = 0;  			 			// 和校验SC
    uint8_t addcheck = 0;   					// 附加校验AC
    for(uint8_t i = 0; i < waveform[3] + 4; i++) {
      sumcheck += waveform[i];      			// 从帧头开始, 一直到 data 区结束, 对每一字节进行累加操作, 只取低8位
      addcheck += sumcheck;         			// 计算和校验时, 每进行一字节的加法运算, 同时进行一次 sumcheck 的累加操作, 只取低8位
    }
    waveform[_cnt++] = sumcheck;
    waveform[_cnt++] = addcheck;

    // 串口发送数据
    seekfree_wireless_send_buff(waveform, sizeof(waveform)); 
//	HAL_UART_Transmit(&huart1, (uint8_t*)waveform, _cnt, 2);
}

#define TFMINI_DATA_Len     9
#define TFMINT_DATA_HEAD    (0x59)

uint16_t TFmin_Dist = 0;    // 距离信息 单位 cm
uint16_t TFmin_Strength = 0;// 信号强度 小于 100 或等于 65535 时, Dist的测量值被认为不可信输出置0
uint16_t TFmin_Temp = 0;    // 表征芯片内部温度值 摄氏度 = Temp / 8 - 256

uint8_t TFminiPlus_buf[TFMINI_DATA_Len] = {0};  // 暂存数据帧
uint8_t TFminiPlus_num = 0;                     // 暂存本字节数据编码
uint8_t TFminiPlus_flag = 0;                    // 接收数据标志位 1-成功;2-帧头错误;3-SC校验错误

/*
 * @name:       void TFminiPlus_Proc2(uint8_t date)
 * @function:   TFminiPlus单字节接收方式
 * @example:    TFminiPlus_Proc2(rx_receive);
 */
void TFminiPlus_Proc2(uint8_t data)
{
    uint8_t i = 0;
    uint8_t checksum = 0;

    if (TFminiPlus_num == 0 && data == TFMINT_DATA_HEAD) {                      // 校验并记录帧头
        TFminiPlus_buf[0] = TFMINT_DATA_HEAD;
        TFminiPlus_num = 1;
    } else if (TFminiPlus_num == 1 && data == TFMINT_DATA_HEAD) {               // 校验并记录帧头
        TFminiPlus_buf[1] = TFMINT_DATA_HEAD;
        TFminiPlus_num = 2;
    } else if (TFminiPlus_num >= 2 && TFminiPlus_num <= (TFMINI_DATA_Len - 2)) {
        TFminiPlus_buf[TFminiPlus_num] = data;
        TFminiPlus_num++;
    } else if (TFminiPlus_num == (TFMINI_DATA_Len - 1)) {
        for (i = 0; i < (TFMINI_DATA_Len - 1); i++) {
            checksum += TFminiPlus_buf[i];                                      // 从帧头开始到数据区结束, 做checksum校验
        }

        if (checksum == data) {                                                 // 校验Checksum
            //数据为小端模式, 低字节在前保存在数据帧的低地址中
            TFmin_Dist = TFminiPlus_buf[2] | (TFminiPlus_buf[3] << 8);
            TFmin_Strength = TFminiPlus_buf[4] | (TFminiPlus_buf[5] << 8);
            TFmin_Temp = TFminiPlus_buf[6] | (TFminiPlus_buf[7] << 8);
            TFminiPlus_flag = 1;
        } else {
            TFminiPlus_flag = 3;
        }

        TFminiPlus_num = 0;
    } else {
        TFminiPlus_flag = 2;
        TFminiPlus_num = 0;
    }
}

/*
 * @name:       void TFminiPlus_GetOnce(void)
 * @function:   TFminiPlus单次触发指令
 * @notion:     将输出帧率设置为0后, 才可使用单次触发指令
 */
void TFminiPlus_GetOnce(void)
{
    uint8_t TFminiPlus_cmd[4] = {0};	// 暂存命令帧
//	memset(TFminiPlus_cmd, 0, sizeof(TFminiPlus_cmd));

    TFminiPlus_cmd[0] = 0x5A;    		//指令帧帧头
    TFminiPlus_cmd[1] = 0x04;    		//指令帧总长度
    TFminiPlus_cmd[2] = 0x04;    		//ID
    TFminiPlus_cmd[3] = 0x62;    		//Data

    uart_putbuff(UART_3, TFminiPlus_cmd, sizeof(TFminiPlus_cmd)); //串口发送指令
}