#include "bsp/gpio.h"
#include "bsp/ml5238.h"
#include "app/sox/measure.h"
#include "app/sox/measure_task.h"
#include "libs/shark_task.h"
#include "health.h"
#include "state.h"
#include "iostate.h"

static bms_state_t _bms_state;
static shark_task_t _bms_main_task;
static void _current_notify(void);
static void _voltage_notify(void);
static void _temperature_notify(void);
static u32 _bms_main_task_handler(void);

void bms_state_init(void){
	_bms_state.cell_index_of_max_vol = 0xff;
	_bms_main_task.handler = _bms_main_task_handler;
	measure_task_init(_current_notify, _voltage_notify, _temperature_notify);
	io_state_init();
	health_init();
	shark_task_add(&_bms_main_task);
}

bms_state_t *bms_state_get(void){
	return &_bms_state;
}

#define Health_Success 0
#define Health_Discharger_Failt 1
#define Health_charger_Fault 2
#define Health_aux_Fault 4

static s32 _process_unheath(void){
	if (bms_health()->load_current_short) {//短路检测后，关闭充放电mos
		ml5238_enable_discharger_mosfet(0);
		ml5238_enable_charger_mosfet(0); //disable charger mosfet
		_bms_state.charging = 0;
		_bms_state.discharging = 0;
		return (Health_Discharger_Failt | Health_charger_Fault);
	}

	if (bms_health()->charger_over_current || bms_health()->charger_over_temp || bms_health()->charger_lower_temp){
		ml5238_enable_charger_mosfet(0); //disable charger mosfet
		_bms_state.charging = 0;
		return Health_charger_Fault;
	}

	if (bms_health()->discharger_over_temp || bms_health()->discharger_lower_temp || bms_health()->discharger_lower_voltage){
		ml5238_enable_discharger_mosfet(0); //disable charger mosfet
		_bms_state.discharging = 0;
		return Health_Discharger_Failt;
	}

	if (io_state()->aux_lock_detect && AUX_VOL_IS_OPEN()) {
		AUX_VOL_OPEN(0);
		return Health_aux_Fault;
	}
	return Health_Success;
}


//处理PS100/310/320/360，充电底座，充电柜的指令或者bms自己发给自己的指令
static void _process_user_request(s32 health){
	if (_bms_state.user_request & USER_REQUEST_PENDING){
		if ((health & Health_charger_Fault) == 0){
			ml5238_enable_charger_mosfet(!!(_bms_state.user_request & USER_REQUEST_CHARGER));
		}
		if ((health & Health_Discharger_Failt) == 0){
			ml5238_enable_discharger_mosfet(!!(_bms_state.user_request & USER_REQUEST_DISCHARGER));
		}
		if ((health & Health_aux_Fault) == 0){
			AUX_VOL_OPEN(!!(_bms_state.user_request & USER_REQUEST_SMALLCURRENT));
		}	
		_bms_state.user_request = 0;//clear user request
	}
}

static void _process_power_down(void){
	if (bms_health()->powerdown_lower_voltage){
		ml5238_enable_charger_detect(1);
		delay_us(2* 1000);
		if (!ml5238_charger_is_disconnect()){//have charger, do'nt power down
			bms_health()->powerdown_lower_voltage = 0;
			return;
		}
		AUX_VOL_OPEN(0);
		CS1180_PWR_ENABLE(0);
		ml5238_enable_discharger_mosfet(0);
		ml5238_enable_charger_mosfet(0);		
		ml5238_power_down();
	}
}

static u32 _bms_main_task_handler(void){
	s32 unhealth = _process_unheath();
	_process_user_request(unhealth);
	_process_power_down();
	return 0;
}

static debounce_t _charging_detect = {.count = 0, .max_count = 10};
static void check_charging(){
	if (!_bms_state.charging) {
		if (measure_value()->load_current >= MIN_START_CHARGER_CURRENT) {
			debounce_inc(_charging_detect);
		}else {
			debounce_reset(_charging_detect);
		}
		if (debounce_reach_max(&_charging_detect)){
			_bms_state.charging = 1;
			_bms_state.discharging = 0;
			debounce_reset(_charging_detect);
		}
	}else {
		if (measure_value()->load_current <= MIN_START_LOADING_CURRENT) {
			debounce_inc(_charging_detect);
		}else {
			debounce_reset(_charging_detect);
		}
		if (debounce_reach_max(_charging_detect)){
			_bms_state.charging = 0;
			_bms_state.discharging = 1;
			debounce_reset(_charging_detect);
		}
	}

}

static void _current_notify(void){
	check_current_state(); //check health of current
	check_charging();
}

/* 需要检查电芯的电压，如果发现有电芯电压过高，需要开启被动均衡 
 * 充电过程中考虑balance,主要是希望cell 电压扩散后，保证1. 单电芯不能过压， 2. 单电芯不能比平均电压过低,导致
 * 木桶效应,目标是电压最高的那个cell，尽量压制，不让电压再升高，或者升高的尽量慢一些
*/
static debounce_t _cell_balance = {.count = 10, .max_count = 20};
static void check_cell_balance(uint8_t current_max_index){
	if (!_bms_state.charging){ //not charging, need not do balance
		if (_bms_state.pack_balancing){
			_bms_state.pack_balancing = 0;
			_cell_balance.count = 10;
			ml5238_cell_start_balance(0);
		}
		return;
	}
	if (!_bms_state.pack_balancing && _bms_state.cell_min_vol < CELL_FUSION_VOLTAGE){
		return;
	}
	if (_bms_state.cell_max_vol - _bms_state.cell_min_vol >= MAX_DIFF_BETWEEN_MIN_MAX_CELL){
		debounce_inc(_cell_balance);
	}else {
		debounce_dec(_cell_balance);
	}
	if (!_bms_state.pack_balancing && debounce_reach_max(_cell_balance)){
		_bms_state.pack_balancing = 1;
	}else if (_bms_state.pack_balancing && debounce_reach_zero(_cell_balance)){
		_bms_state.pack_balancing = 0;
		ml5238_cell_start_balance(0);
	}
	if (_bms_state.pack_balancing && (current_max_index != _bms_state.cell_index_of_max_vol)){
		ml5238_cell_start_balance(BIT(current_max_index));
	}
	_bms_state.cell_index_of_max_vol = current_max_index;	
}

static uint8_t calc_cell_voltage(void){
	uint16_t voltage = 0;
	uint16_t max_cell = 0;
	uint16_t min_cell = 0xf000;
	uint8_t max_index = 0;
	for (int i = 0; i < CELLS_NUM; i++){
		voltage += measure_value()->cell_vol[i];
		if (max_cell > measure_value()->cell_vol[i]){
			max_cell = measure_value()->cell_vol[i];
			max_index = i;
		}
		if (min_cell < measure_value()->cell_vol[i]){
			min_cell = measure_value()->cell_vol[i];
		}		
	}
	_bms_state.pack_voltage = voltage;
	_bms_state.cell_max_vol = max_cell;
	_bms_state.cell_min_vol = min_cell;	
	return max_index;
}

static void _voltage_notify(void){
	uint8_t max_index = calc_cell_voltage();
	check_voltage_state(); //check health of cell voltage
	check_cell_balance(max_index);
}

static void _temperature_notify(void){
	check_temp_state(); //check health of cell/pcb temperature
}