/********************** 头文件 *************************/
#include "bsp_time.h"
#include "mpu9250.h"

/********************** 变量区 *************************/
const nrf_drv_timer_t TIMER_INT = NRF_DRV_TIMER_INSTANCE(0);
const uint32_t time_ms = 10; //Time(in miliseconds) between consecutive compare events.
static uint32_t time_ticks;

int8_t   dex = 0;

extern IMU_DAT_t m_IMU_DAT_t;
extern void process_motion(IMU_DAT_t* p);
extern motor_control_type m_motor_control;
/********************** 函数声明区 *************************/


/**********************************************************
 * 函数名字：HardwareTimer_handler
 * 函数作用：硬件定时器事件回调
 * 函数参数：event_type：事件类型
 *           p_context： 上下文
 * 函数返回值：无
 ***********************************************************/
volatile bool HardWareTime_10ms_Flag =false;
void HardwareTimer_handler(nrf_timer_event_t event_type, void* p_context)
{
    static uint8_t Led_Test =0;
    //static uint16_t press_temp=0;
    switch (event_type)
    {
            case NRF_TIMER_EVENT_COMPARE0:
                send_to_phone_process();
                gpio_mt_process();
                if(m_motor_control.flag)
                {
                    if(m_motor_control.delay_ms >10){
                        m_motor_control.delay_ms-=10;
                    }
                    else{
                        m_motor_control.flag = false;
                        nrf_gpio_pin_write(MT_EN,0);
                    }  
                }  
                #if (MPU_SENSOR == MPU_SENSOR_6050)
                if(mpu6050_get_reg_data(m_IMU_DAT_t.h.gyr,m_IMU_DAT_t.h.acc)==0){ 	//读取  IMU 值
                #else
                if(MPU9250_ReadData(m_IMU_DAT_t.h.gyr,m_IMU_DAT_t.h.acc,m_IMU_DAT_t.h.mag,&(m_IMU_DAT_t.h.temperature))==0){
                #endif
                    m_IMU_DAT_t.h.press = (uint16_t)(ReadPressure()>>8);	//读取气压计值 
                    ReadPressure_Pre();		//准备下一次读取
                    //m_IMU_DAT_t.h.press = press_temp;
                    if(0 != m_IMU_DAT_t.h.press)
                    {
                        Led_Test++;
                        if(Led_Test>10){
                            nrf_gpio_pin_toggle(LED_G);
                            Led_Test =0;
                        } 
                    }
                    else Led_Test =0;
                    process_motion(&m_IMU_DAT_t);
                    HardWareTime_10ms_Flag =true;
                }
                break;
            default:
                //Do nothing.
                break;
    }
}

/**********************************************************
 * 函数名字User_HardwareTime_Sete
 * 函数作用：硬件定时器的开关控制,默认为关闭状态
 * 函数参数：value: true 打开
 *                 false:关闭 
 * 函数返回值：无
 ***********************************************************/
void User_HardwareTime_Set(bool value)
{	
    static bool Hardflag =false;
    ret_code_t err_code;
    if(Hardflag == value)return;
    if(value){//打开硬件定时器
        nrf_drv_timer_config_t timer_cfg = NRF_DRV_TIMER_DEFAULT_CONFIG;
        err_code = nrf_drv_timer_init(&TIMER_INT, &timer_cfg, HardwareTimer_handler);
        APP_ERROR_CHECK(err_code);
        time_ticks = nrf_drv_timer_ms_to_ticks(&TIMER_INT, time_ms);
        nrf_drv_timer_extended_compare(
        &TIMER_INT, NRF_TIMER_CC_CHANNEL0, time_ticks, NRF_TIMER_SHORT_COMPARE0_CLEAR_MASK, true);
        nrf_drv_timer_enable(&TIMER_INT);
    }
    else{//打开软件定时器
        nrf_drv_timer_disable(&TIMER_INT);
        nrf_drv_timer_uninit(&TIMER_INT);
    } 
    Hardflag =value;
}