#include "ms5607.h"
#include "i2c.h"
#include  "filter.h"
#include "anemometer_dev.h"
#include "uart_dev.h"

static void MS56XX_Reset(void)
{
    uint8_t _cmd[] = {0x1e};
    HAL_I2C_Master_Transmit(&hi2c3, MS5607_ADDRESS, _cmd, 1, 0xff);
    osDelay(5);
}

static void MS56XX_Read_PromData(uint16_t *VAL_C)
{
    uint8_t _cmd[] = {0xa0};
    uint8_t temp_buff[2] = {0};
    for(uint8_t i = 0; i < 8; i++)
    {
        HAL_I2C_Master_Transmit(&hi2c3, MS5607_ADDRESS, _cmd, 1, 0xff);
        HAL_I2C_Master_Receive(&hi2c3, MS5607_ADDRESS, temp_buff, 2, 0xff);
        *(VAL_C + i) = temp_buff[0];
        *(VAL_C + i) <<= 8;
        *(VAL_C + i) += temp_buff[1];
        _cmd[0] += 0x02;
    }
}

static uint16_t MS56XX_C_Value[8] = {0};
void MS56XX_Init(void)
{
    MS56XX_Reset();
    MS56XX_Read_PromData(MS56XX_C_Value);
}

static HAL_StatusTypeDef MS56XX_ReadD1_Press(uint32_t *D1_Value)
{
    uint8_t D1_Value_Buff[3] = {0xFF, 0xFF, 0xFF};
    uint8_t _cmd[] = {0x48};
    uint8_t _addr[] = {0x00};
    if(HAL_I2C_Master_Transmit(&hi2c3, MS5607_ADDRESS, _cmd, 1, 0xff) != HAL_OK)
    {
        return HAL_ERROR;
    }
    osDelay(20);
    if(HAL_I2C_Master_Transmit(&hi2c3, MS5607_ADDRESS, _addr, 1, 0xff) != HAL_OK)
    {
        return HAL_ERROR;
    }
    if(HAL_I2C_Master_Receive(&hi2c3, MS5607_ADDRESS, D1_Value_Buff, 3, 0xff) != HAL_OK)
    {
        return HAL_ERROR;
    }
    
    uint32_t press;
    press = D1_Value_Buff[0];
    press <<= 8;
    press += D1_Value_Buff[1];
    press <<= 8;
    press += D1_Value_Buff[2];
    *D1_Value = press;
    return HAL_OK;
}

static HAL_StatusTypeDef MS56XX_ReadD2_Temp(uint32_t *D2_Value_)
{
    uint8_t D2_Value_Buff[3] = {0x00, 0x00, 0x00};
    uint8_t _cmd[] = {0x58};
    uint8_t _addr[] = {0x00};
    if(HAL_I2C_Master_Transmit(&hi2c3, MS5607_ADDRESS, _cmd, 1, 0xff) != HAL_OK)
    {
        return HAL_ERROR;
    }
    osDelay(20);
    if(HAL_I2C_Master_Transmit(&hi2c3, MS5607_ADDRESS, _addr, 1, 0xff) != HAL_OK)
    {
        return HAL_ERROR;
    }
    if(HAL_I2C_Master_Receive(&hi2c3, MS5607_ADDRESS, D2_Value_Buff, 3, 0xff) != HAL_OK)
    {
        return HAL_ERROR;
    }
    
    uint32_t Temp;
    Temp = D2_Value_Buff[0];
    Temp <<= 8;
    Temp += D2_Value_Buff[1];
    Temp <<= 8;
    Temp += D2_Value_Buff[2];
    *D2_Value_ = Temp;
    return HAL_OK;
}

static HAL_StatusTypeDef MS56XX_GetTemperature (int32_t *dT, int32_t *MS56XX_Temp)     //计算温度
{
    uint32_t D2_Value;
    if(MS56XX_ReadD2_Temp(&D2_Value) != HAL_OK)      //循环读取 D2
    {
        return HAL_ERROR;
    }
//    term_printf("D2:%d\r\n", D2_Value);
    
    if(D2_Value > (MS56XX_C_Value[5] * 256))
    {
        *dT = D2_Value - MS56XX_C_Value[5] * 256;  //公式 dT = D2 - TREF = D2 - C5 * 2^8
    }else
    {
        *dT = MS56XX_C_Value[5] * 256 - D2_Value;  //公式 dT = D2 - TREF = D2 - C5 * 2^8
        *dT *= -1;
    }
    
//    term_printf("dT:%d\r\n", *dT);
    *MS56XX_Temp = 2000 + *dT * ((int32_t)MS56XX_C_Value[6]/8388608.0); //算出温度值的100倍，2001表示20.01°  公式TEMP =20°C + dT * TEMPSENS =2000 + dT * C6 / 2^23
    return HAL_OK;
}

static HAL_StatusTypeDef MS56XX_GetPressureTemp(float *Temp, float *Press)  //计算温度补偿压力
{
    int32_t dT;
    int32_t MS56XX_Temperature;
    uint32_t D1_Value;
    if(MS56XX_ReadD1_Press(&D1_Value) != HAL_OK)      //循环读取 D1
    {
        return HAL_ERROR;
    }
    
    if(MS56XX_GetTemperature(&dT, &MS56XX_Temperature) != HAL_OK)//读取dT，Temp
    {
        return HAL_ERROR;
    }
//    term_printf("TEMP:%d\r\n", MS56XX_Temperature);
    
//    term_printf("dT:%d\r\n", dT);
//    term_printf("TEMP:%d\r\n", MS56XX_Temperature);
    
    int64_t OFF =  ((int64_t)MS56XX_C_Value[2] * 131072) + ((int64_t)MS56XX_C_Value[4] * dT )/ 64.0;    //公式 OFF = OFFT1 + TCO *dT = C2 *2^17 +(C4 *dT )/ 2^6
    int64_t SENS = ((int64_t)MS56XX_C_Value[1] * 65536) + ((int64_t)MS56XX_C_Value[3] * dT )/ 128.0; //公式SENS = SENST1 + TCS* dT= C1 * 2^16 + (C3 * dT )/ 2^7

//    term_printf("OFF:%d\r\n", OFF);
//    term_printf("SENS:%d\r\n", SENS);
    
    //温度补偿部分    逻辑看芯片手册
    int64_t T2 = 0;
    int64_t OFF2 = 0;
    int64_t SENS2 = 0;
    if (MS56XX_Temperature < 2000 ) // second order temperature compensation when under 20 degrees C
    {
        T2 = (dT * dT) / 2147483648.0;
        OFF2 = 61 *  ((MS56XX_Temperature - 2000) * (MS56XX_Temperature - 2000)) / 16;
        SENS2 = 2 * ((MS56XX_Temperature - 2000) * (MS56XX_Temperature - 2000)) ;
        if (MS56XX_Temperature < -1500)
        {
            OFF2 = OFF2 + 15 * ((MS56XX_Temperature + 1500) * (MS56XX_Temperature + 1500));
            SENS2 = SENS2 + 8 * ((MS56XX_Temperature + 1500) * (MS56XX_Temperature + 1500));
        }
    }
    
//    term_printf("T2:%d\r\n", T2);
    MS56XX_Temperature = MS56XX_Temperature - T2;
    OFF = OFF - OFF2;
    SENS = SENS - SENS2;
    
    
    int32_t Tmp_Pressure = ((int32_t)D1_Value * SENS/2097152 - OFF) / 32768; //公式 P = D1 * SENS - OFF = (D1 * SENS / 2^21 - OFF) / 2^15

//    term_printf("\r\nC1-C6:%d %d %d %d %d %d\r\n", MS56XX_C_Value[1], MS56XX_C_Value[2], MS56XX_C_Value[3], MS56XX_C_Value[4], MS56XX_C_Value[5], MS56XX_C_Value[6]);
//    term_printf("D1:%d\r\n", D1_Value);
//    
//    term_printf("dT:%d\r\n", dT);
//    
//    term_printf("OFF:%d\r\n", OFF);
//    term_printf("SENS:%d\r\n", SENS);
//    term_printf("P:%d\r\n", Tmp_Pressure);
//    term_printf("TEMP:%d\r\n", MS56XX_Temperature);
//    term_printf("PRESS:%d\r\n", Tmp_Pressure);
    if(MS56XX_Temperature<-6000) 
    {
        MS56XX_Temperature=-6000;
    }
    if(MS56XX_Temperature>8500)
    {
        MS56XX_Temperature=8500;
    }
    if(Tmp_Pressure<1000)
    {
        Tmp_Pressure=1000;
    }
    if(Tmp_Pressure>120000)
    {
        Tmp_Pressure=120000;
    }
    *Temp = ((float)MS56XX_Temperature)/100;
    *Press = ((float)Tmp_Pressure)/100;
    return HAL_OK;
}

static float calculateAverage(float arr[], int avgLength) {
    float sum = 0;
    
    // 遍历数组（最多10个元素），收集非零值直到达到指定数量
    for (int i = 0; i < 10; ++i) {
            sum += arr[i];
    }
    
    // 计算平均值并限制最大值
    float average = sum / avgLength;
    return average;
}

#define COLLECT_DATA_NUM  10
HAL_StatusTypeDef MS56XX_GetPressure(float *Press)
{
    float temp_buff;
    float pressure_buff[COLLECT_DATA_NUM] = {0};
    uint8_t ret_falt = 0;
    for(uint8_t i = 0;i<COLLECT_DATA_NUM;i++)
    {
        if(MS56XX_GetPressureTemp(&temp_buff, &pressure_buff[i]) != HAL_OK)
        {
            ret_falt++;
            pressure_buff[i] = 0;
        }
    }
    if(ret_falt >= COLLECT_DATA_NUM)
    {
        return HAL_ERROR;
    }
    *Press = calculateAverage( pressure_buff,COLLECT_DATA_NUM - ret_falt);
    return HAL_OK;
}