#pragma once
#include "bsp/bsp.h"
#include "os/co_task.h"
#include "libs/byte_queue.h"
#include "libs/circle_buffer.h"

#define CH_START						0xF5
#define CH_END							0xF6
#define CH_ESC							0xF7
#define CH_ESC_START					0x05
#define CH_ESC_END						0x06
#define CH_ESC_ESC						0x07

#define SHARK_UART_TX_MEM_SIZE			512
#define SHARK_UART_RX_MEM_SIZE			512
#define RX_FRAME_MAX_LEN 260
#define RX_OLD_FRAME_MAX_LEN 256

typedef enum {
	SHARK_UART0 = 0,
	SHARK_UART1,
	SHARK_UART2,
	SHARK_UART3,
	SHARK_UART4,
	SHARK_UART_COUNT
} uart_enum_t;

typedef struct {
	byte_queue_t tx_queue;
	c_buffer_t rx_queue;
	dma_channel_enum rx_dma_ch;
	dma_channel_enum tx_dma_ch;
	uint16_t tx_length;
	uint16_t tx_crc16;
	uint32_t uart_com;//uart device
	uint8_t rx_frame[RX_FRAME_MAX_LEN];
	uint16_t rx_length;
	bool escape;
	bool start;
	bool uart_no_data;
}shark_uart_t;

void shark_uart_init(uart_enum_t uart_no);
void shark_uart_deinit(uart_enum_t uart_no);
void shark_uart_write_frame(uart_enum_t uart_no, uint8_t *bytes, int len);
void shark_uart_frame_start(uart_enum_t uart_no, uint8_t *bytes, int len);
void shark_uart_frame_continue(uart_enum_t uart_no, uint8_t *bytes, int len);
void shark_uart_frame_end(uart_enum_t uart_no);
void shark_uart_write_bytes(uart_enum_t uart_no, u8 *buff, u16 size);
void shark_uart_flush(void);
bool shark_uart_timeout(void);
void shark_uart_log(void);