#include "spi.h"
#include "APPDEF.H"
#include "math.h"
// AD7190寄存器地址定义
#define AD7190_REG_COMM 0x00 << 3
#define AD7190_REG_STAT 0x00 << 3
#define AD7190_REG_MODE 0x01 << 3
#define AD7190_REG_CONF 0x02 << 3
#define AD7190_REG_DATA 0x03 << 3
#define AD7190_REG_GPOC 0x05 << 3

// AD7190命令定义
#define AD7190_CMD_NOP 0xFF
#define AD7190_CMD_WR  0x00
#define AD7190_CMD_RD  0x40

// AD7190配置寄存器位掩码
#define AD7190_CONF_CH_MASK   0x000F
#define AD7190_CONF_BURNOUT   0x0800
#define AD7190_CONF_REFSEL    0x0400
#define AD7190_CONF_GAIN_MASK 0x0038
#define AD7190_CONF_MODE_MASK 0x0C00

// AD7190配置寄存器增益定义
#define AD7190_CONF_GAIN_1   0x00
#define AD7190_CONF_GAIN_8   0x08
#define AD7190_CONF_GAIN_16  0x10
#define AD7190_CONF_GAIN_32  0x18
#define AD7190_CONF_GAIN_64  0x20
#define AD7190_CONF_GAIN_128 0x28
#define AD7190_CONF_GAIN_256 0x30

// AD7190配置寄存器工作模式定义
#define AD7190_CONF_MODE_CONT    0x000000
#define AD7190_CONF_MODE_ZEROSEL 0x800000
#define AD7190_CONF_MODE_FullSEL 0xA00000
#define AD7190_CONF_MODE_FS9_0   0x0003FF
// AD7190 电桥开关
#define AD7190_GPOCON_BDPSW 0x40

void AD7190_WriteRegister(uint8_t regAddr, uint32_t regValue)
{
    SPI1_ReadWrite(AD7190_CMD_WR | regAddr);
    SPI1_ReadWrite((regValue >> 16) & 0xFF);
    SPI1_ReadWrite((regValue >> 8) & 0xFF);
    SPI1_ReadWrite(regValue & 0xFF);
}
uint32_t AD7190_ReadRegister(uint8_t regAddr)
{
    uint32_t regValue = 0;

    SPI1_ReadWrite(AD7190_CMD_RD | regAddr);
    regValue = SPI1_ReadWrite(0xFF);
    regValue = (regValue << 8) + SPI1_ReadWrite(0xFF);
    regValue = (regValue << 8) + SPI1_ReadWrite(0xFF);

    return regValue;
}
void AD7190_WriteRegisterOnce(uint8_t regAddr, uint8_t regValue)
{
    SPI1_ReadWrite(AD7190_CMD_WR | regAddr);
    SPI1_ReadWrite(regValue);
}
uint8_t AD7190_ReadRegisterOnce(uint8_t regAddr)
{
    uint32_t regValue = 0;
    SPI1_ReadWrite(AD7190_CMD_RD | regAddr);
    regValue = SPI1_ReadWrite(0xFF);
    return regValue;
}
bool AD7190_WaitForReady(uint32_t timeout)
{
    uint32_t count = 0;
    // SPI1_ReadWrite(AD7190_CMD_RD | AD7190_REG_STAT);
    // while ((SPI1_ReadWrite(0xFF) & 0x80) && (count < timeout)) {
    //     delay_us(1);
    //     count++;
    // }
    while (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_6) && (count < timeout))
    {
        delay_us(1);
        count++;
    }

    if (count >= timeout)
    {
        return false;
    }
    else
    {
        return true;
    }
}
//extern uint16_t Read_Internal_Temperature();
//// AD7190函数：读取AD转换结果
//float V25 = 1.43; // 25 度时的传感器电压(mV)
//  float Avg_Slope = 4.3; // 传感器电压与温度之间的平均斜率(mV/°C)
//  // 获取 ADC 参考电压值（一般为 3.3V）
//  float Vref = 3.3; // 参考电压值(V)
//float TemperatureIn;
uint8_t ErrCount;
uint32_t AD7190_ReadData()
{
    uint32_t data = 0;
//uint16_t TempI;

    if(AD7190_WaitForReady(50000))
    {
        data = AD7190_ReadRegister(AD7190_REG_DATA);
//		TempI = Read_Internal_Temperature();
//		  // 将 ADC 值转换为电压值
//  float V_ADC = (TempI * Vref) / 4095;

//  // 计算温度值（摄氏度）
//  TemperatureIn = ((V25 - V_ADC)*1000 / Avg_Slope) + 25.0;
        if(data > 15000000)
        {
            ErrCount++;
        }
        else
        {
            ErrCount = 0;
        }
    }
    else
    {
        ErrCount++;
    }
    if(ErrCount > 10)
    {
        SPI1_Configuration();
        SPI1_ReadWrite(0xFF);
        SPI1_ReadWrite(0xFF);
        SPI1_ReadWrite(0xFF);
        SPI1_ReadWrite(0xFF);
        SPI1_ReadWrite(0xFF);
        osDelay(50);
        uint32_t modeReg;
        // 配置寄存器：通道选择、参考电压源、增益和工作模式
        //	打开PSW
        uint8_t GPOC = AD7190_ReadRegisterOnce(AD7190_REG_GPOC);
        GPOC |= AD7190_GPOCON_BDPSW;
        AD7190_WriteRegisterOnce(AD7190_REG_GPOC, GPOC);
        osDelay(5);
        uint32_t config = 0x0000011F;
        AD7190_WriteRegister(AD7190_REG_CONF, config);
        osDelay(5);
        modeReg |= AD7190_CONF_MODE_FS9_0; // 滤波器最低速率输出
        AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
        osDelay(5);
        // 执行上电校准
        modeReg = AD7190_ReadRegister(AD7190_REG_MODE);
        modeReg &= ~0x00E00000;
        modeReg |= AD7190_CONF_MODE_ZEROSEL;
        AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
        osDelay(5);
        AD7190_WaitForReady(1000000);
        modeReg &= ~0x00E00000;
        modeReg |= AD7190_CONF_MODE_FullSEL;
        AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
        osDelay(5);
        AD7190_WaitForReady(1000000);
        //	校准完成 切换回连续转换模式
        modeReg = 0x000803FF;
        AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
        ErrCount = 0;
        osDelay(500);
        if(AD7190_WaitForReady(50000))
        {
            data = AD7190_ReadRegister(AD7190_REG_DATA);
        }
    }
    return data;
}
// AD7190函数：读取AD转换结果并转换为实际电压值
// static void bubbleSort2(float *num)
//{
//    float temp;
//    int i, j;
//    for (i = 0; i < 5; i++) {
//        for (j = 0; j < 5 - i; j++) {
//            if (num[j] > num[j + 1]) {
//                // 交换相邻元素的值
//                temp       = num[j];
//                num[j]     = num[j + 1];
//                num[j + 1] = temp;
//            }
//        }
//    }
//} // 定义卡尔曼滤波器的参数结构体
typedef struct
{
    float x; // 状态估计值
    float P; // 状态协方差
    float Q; // 过程噪声协方差
    float R; // 观测噪声协方差
    float K; // 卡尔曼增益
} KalmanFilter;
KalmanFilter kf2;

// 初始化卡尔曼滤波器
void kalman_filter_init2(KalmanFilter *kf, float initial_x, float initial_P, float process_noise, float measurement_noise)
{
    kf->x = initial_x;
    kf->P = initial_P;
    kf->Q = process_noise;
    kf->R = measurement_noise;
}

// 更新卡尔曼滤波器状态
void kalman_filter_update2(KalmanFilter *kf, float measurement)
{
    // 预测步骤
    float x_pred = kf->x;         // 预测的状态值
    float P_pred = kf->P + kf->Q; // 预测的状态协方差

    // 更新步骤
    kf->K = P_pred / (P_pred + kf->R);               // 计算卡尔曼增益
    kf->x = x_pred + kf->K * (measurement - x_pred); // 更新状态估计值
    kf->P = (1 - kf->K) * P_pred;                    // 更新状态协方差
}

float WeightData2    = 0.0f;
float ADvalue2filter = 0.0f;
// static float bufferdata2[5];
// static float dataout2[5];
static float WeightData2Temp = 0.0f;
int32_t ADvalue2filterOld    = 0;
int32_t ADvalue2             = 0;
uint8_t ic2                  = 0;
uint8_t i;
int32_t data2 = 0;
struct uCalibrateWeight CalibrateWeight2;
uint8_t FollowCount   = 0;
uint8_t TimeCount     = 0;
int32_t WeightZeroOld = 0;
uint32_t modeRega;
uint32_t configa;
uint32_t configao;
bool weightChanging = false;
#include "APPDEF.H"
void AD7190_Run(const void *p_arg)
{
    osDelay(600);
    ADvalue2 = AD7190_ReadData();
    osDelay(200);
    ADvalue2          = AD7190_ReadData();
    ADvalue2filterOld = ADvalue2filter = ADvalue2;
    kalman_filter_init2(&kf2, ADvalue2, 1.0, 0.001, 0.1);
    WeightZeroOld = CalibrateWeight2.WeightZero;

    uint8_t FilterQOld, SensorQOld, ZeroTrackOld, RuBianLiangOld, ruBianTimeOld;
    int8_t RubianLiang, RubianTime;
    float ZeroTrackTime, ZeroTrackRange;
    for (;;)
    {
        if (FilterQOld != Set.FilterQ)
        {
            FilterQOld = Set.FilterQ;
            switch (Set.FilterQ)    // 滤波器信任度 信任度越高 反应越慢数据显示越稳定
            {
            case 0:
                kf2.Q = 0.1;
                break;
            case 1:
                kf2.Q = 0.08;
                break;
            case 2:
                kf2.Q = 0.06;
                break;
            case 3:
                kf2.Q = 0.04;
                break;
            case 4:
                kf2.Q = 0.02;
                break;
            case 5:
                kf2.Q = 0.009;
                break;
            case 6:
                kf2.Q = 0.007;
                break;
            case 7:
                kf2.Q = 0.005;
                break;
            case 8:
                kf2.Q = 0.003;
                break;
            case 9:
                kf2.Q = 0.001;
                break;
            default:
                break;
            }
        }
        if (SensorQOld != Set.SensorQ)
        {
            SensorQOld = Set.SensorQ;
            switch (Set.SensorQ)   // 传感器信任度 信任度越高 反应越迅速，数据波动越大 显示越不稳定
            {
            case 0:
                kf2.R = 0.5;
                break;
            case 1:
                kf2.R = 0.3;
                break;
            case 2:
                kf2.R = 0.1;
                break;
            case 3:
                kf2.R = 0.08;
                break;
            case 4:
                kf2.R = 0.06;
                break;
            case 5:
                kf2.R = 0.04;
                break;
            case 6:
                kf2.R = 0.02;
                break;
            case 7:
                kf2.R = 0.009;
                break;
            case 8:
                kf2.R = 0.005;
                break;
            case 9:
                kf2.R = 0.001;
                break;
            default:
                break;
            }
        }
        if (ZeroTrackOld != Set.ZeroTrack)   // 零点跟踪 跟踪级别越高 原始数据发生缓慢变化时，最终数据不会发生变化的可能性越大。例如 当跟踪级别设置为9时，那么如果原始数据在4秒内变化小于2.5mg，那么最终数据不会发生变化。原理是cpu会将这4秒内变化的数据叠加到零点上，相当于动态调零了。
        {
            ZeroTrackOld = Set.ZeroTrack;
            switch (ZeroTrackOld)
            {
            case 0:
                ZeroTrackTime  = 20;
                ZeroTrackRange = 0;
                break;
            case 1:
                ZeroTrackTime  = 15;
                ZeroTrackRange = 0.0005;
                break;
            case 2:
                ZeroTrackTime  = 10;
                ZeroTrackRange = 0.0005;
                break;
            case 3:
                ZeroTrackTime  = 7;
                ZeroTrackRange = 0.0005;
                break;
            case 4:
                ZeroTrackTime  = 4;
                ZeroTrackRange = 0.0005;
                break;
            case 5:
                ZeroTrackTime  = 4;
                ZeroTrackRange = 0.0008;
                break;
            case 6:
                ZeroTrackTime  = 4;
                ZeroTrackRange = 0.001;
                break;
            case 7:
                ZeroTrackTime  = 4;
                ZeroTrackRange = 0.0015;
                break;
            case 8:
                ZeroTrackTime  = 4;
                ZeroTrackRange = 0.002;
                break;
            case 9:
                ZeroTrackTime  = 4;
                ZeroTrackRange = 0.0025;
                break;
            default:
                break;
            }
        }
        if (ruBianTimeOld != Set.RuBianTime)   // 蠕变时间 级别越高 蠕变时间越短，蠕变越快 零为不蠕变
        {
            ruBianTimeOld = Set.RuBianTime;
            switch (Set.RuBianTime)
            {
            case 0:
                RubianTime = 100;
                break;
            case 1:
                RubianTime = 60;
                break;
            case 2:
                RubianTime = 30;
                break;
            case 3:
                RubianTime = 20;
                break;
            case 4:
                RubianTime = 15;
                break;
            case 5:
                RubianTime = 10;
                break;
            case 6:
                RubianTime = 8;
                break;
            case 7:
                RubianTime = 6;
                break;
            case 8:
                RubianTime = 4;
                break;
            case 9:
                RubianTime = 2;
                break;
            default:
                break;
            }
        }
        if (RuBianLiangOld != Set.RuBianLiang)   //蠕变量  可分正向蠕变和反向蠕变  零为不蠕变  当零点跟踪为0时 调零后观察一段时间的数据变化 如果数据持续变化为负数 则为负蠕变。反之为正蠕变。 负蠕变调整蠕变量为负数级别（谨慎调整 建议不调整）
        {
            RuBianLiangOld = Set.RuBianLiang;
            switch (Set.RuBianLiang)
            {
            case 0:
                RubianLiang = -5;
                break;
            case 1:
                RubianLiang = -4;
                break;
            case 2:
                RubianLiang = -3;
                break;
            case 3:
                RubianLiang = -2;
                break;
            case 4:
                RubianLiang = -1;
                break;
            case 5:
                RubianLiang = 0;
                break;
            case 6:
                RubianLiang = 1;
                break;
            case 7:
                RubianLiang = 2;
                break;
            case 8:
                RubianLiang = 3;
                break;
            case 9:
                RubianLiang = 4;
                break;
            case 10:
                RubianLiang = 5;
                break;
            default:
                break;
            }
        }

        osDelay(190);
        ADvalue2 = AD7190_ReadData();
        kalman_filter_update2(&kf2, ADvalue2); // 更新步骤
        ADvalue2filter = kf2.x;

        WeightData2Temp = CalibrateWeight2.WeightSlope * ((int32_t)ADvalue2filter - (int32_t)CalibrateWeight2.WeightZero);
        if( RubianLiang != 0 )
        {
            if (TimeCount++ > 4 * RubianTime) // 动态称重时蠕变跟踪
            {
                TimeCount = 0;
                if (CalibrateWeight2.WeightZero == WeightZeroOld)
                {
                    CalibrateWeight2.WeightZero += RubianLiang;
                }
                WeightZeroOld = CalibrateWeight2.WeightZero;
            }
        }

        if (fabs(WeightData2 - WeightData2Temp) < ZeroTrackRange)
        {
            if (FollowCount++ > 4 * ZeroTrackTime) // 零点动态跟踪
            {
                FollowCount = 0;
                TimeCount   = 0;
                CalibrateWeight2.WeightZero += ADvalue2filter - ADvalue2filterOld;
                ADvalue2filterOld = ADvalue2filter;
            }
        }
        else
        {
            FollowCount       = 0;
            ADvalue2filterOld = ADvalue2filter;
        }
        if (fabs(WeightData2 - WeightData2Temp) > 0.01f)
        {
            weightChanging = 1;
        }
        else
        {
            weightChanging = 0;
        }
        if (fabs(WeightData2 - WeightData2Temp) > 0.001f) // 数据滤波
        {

            WeightData2Temp = (int32_t)(WeightData2Temp * 10000) / 10000.0f;
            WeightData2     = WeightData2Temp;
        }
    }
}

osThreadDef(AD7190_Run, osPriorityNormal, 1, 0);
// AD7190函数：初始化AD7190
void AD7190_Init()
{
    SPI1_Configuration();
    SPI1_ReadWrite(0xFF);
    SPI1_ReadWrite(0xFF);
    SPI1_ReadWrite(0xFF);
    SPI1_ReadWrite(0xFF);
    SPI1_ReadWrite(0xFF);
    osDelay(50);
    uint32_t modeReg;
    // 配置寄存器：通道选择、参考电压源、增益和工作模式
    //	打开PSW
    uint8_t GPOC = AD7190_ReadRegisterOnce(AD7190_REG_GPOC);
    GPOC |= AD7190_GPOCON_BDPSW;
    AD7190_WriteRegisterOnce(AD7190_REG_GPOC, GPOC);
    osDelay(5);
    uint32_t config = 0x0000011F;
    AD7190_WriteRegister(AD7190_REG_CONF, config);
    osDelay(5);
    modeReg |= AD7190_CONF_MODE_FS9_0; // 滤波器最低速率输出
    AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
    osDelay(5);
    // 执行上电校准
    modeReg = AD7190_ReadRegister(AD7190_REG_MODE);
    modeReg &= ~0x00E00000;
    modeReg |= AD7190_CONF_MODE_ZEROSEL;
    AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
    osDelay(5);
    AD7190_WaitForReady(1000000);
    modeReg &= ~0x00E00000;
    modeReg |= AD7190_CONF_MODE_FullSEL;
    AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
    osDelay(5);
    AD7190_WaitForReady(1000000);
    //	校准完成 切换回连续转换模式
    modeReg = 0x000803FF;
    AD7190_WriteRegister(AD7190_REG_MODE, modeReg);

    CalibrateWeight2.WeightSlope = 0.0000818f;
    CalibrateWeight2.WeightZero  = 745430;

    osThreadCreate(osThread(AD7190_Run), NULL);
}