/* =============================================================================
 * ist8310.c - C 板板载磁力计 IST8310 —— 硬件 I2C3 版
 * 总线:  I2C3(PA8=SCL, PC9=SDA, CubeMX 已配置 100kHz 标准模式),
 *        替代 legacy 的软件模拟 I2C 与早期移植版的 bsp_i2c_soft
 * 初始化: 必须先把 RSTN(PG6) 拉高再检测——CubeMX 默认输出低电平会把芯片
 *         按在复位态,WHO_AM_I(0x10) 永远读不到(绿灯慢闪的根因);
 *         之后配置 CNTL1(连续 200Hz)/CNTL2(DRDY 下降沿)/AVGCNTL(4 次平均)
 * 数据:   ist8310_poll() 每 5ms 阻塞读一次 6 字节(约 0.7ms@100kHz),
 *         由 IMU_Task 调用;DRDY(EXTI3) 不再使用(数据仅做健康监测与
 *         9 轴扩展预留,无需中断实时性)
 * 报警:   检测失败/连续读失败 -> 绿灯慢闪(见 monitor_task)
 * ========================================================================== */
#include "ist8310.h"
#include "i2c.h"
#include "main.h"
#include "led.h"

#define IST8310_ADDR (0x0E << 1)  // 7 位地址 0x0E,HAL 使用 8 位格式

#define IST8310_WHO_AM_I 0x00
#define IST8310_CNTL1 0x0A
#define IST8310_CNTL2 0x0B
#define IST8310_AVGCNTL 0x41
#define IST8310_PDCNTL 0x42
#define IST8310_DATA_START 0x03

#define IST8310_WHO_AM_I_VALUE 0x10

#define IST8310_POLL_PERIOD_MS 5  // 200Hz 读取节奏

float ist8310_magnetic_field[3];
float ist8310_temperature;
uint8_t ist8310_online = 0;
uint8_t ist8310_last_who = 0;

static uint8_t raw_buf[6];
static uint8_t read_error_count = 0;  // 连续读失败计数(运行中总线异常监测)

/* RSTN(PG6):低电平复位芯片,每次改变需等待生效 */
static void ist8310_rstn(uint8_t level)
{
    HAL_GPIO_WritePin(RSTN_IST8310_GPIO_Port, RSTN_IST8310_Pin,
                      level ? GPIO_PIN_SET : GPIO_PIN_RESET);
    HAL_Delay(1);
}

static uint8_t ist8310_read_who(void)
{
    uint8_t who = 0;
    if (HAL_I2C_Mem_Read(&hi2c3, IST8310_ADDR, IST8310_WHO_AM_I,
                         I2C_MEMADD_SIZE_8BIT, &who, 1, 10) != HAL_OK)
        return 0;
    return who;
}

void ist8310_init(void)
{
    /* 关键:先释放 RSTN(CubeMX 默认输出低电平会把芯片按在复位态,
     * WHO_AM_I 将永远读不到) */
    HAL_GPIO_WritePin(RSTN_IST8310_GPIO_Port, RSTN_IST8310_Pin, GPIO_PIN_SET);
    HAL_Delay(2);

    /* 有界重试:最多 40 次(约 1s),失败则放弃并保持系统可运行 */
    for (uint8_t retry = 0; retry < 40; retry++)
    {
        ist8310_last_who = ist8310_read_who();
        if (ist8310_last_who == IST8310_WHO_AM_I_VALUE)
        {
            ist8310_online = 1;
            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_CNTL1,
                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0x03}, 1, 10);  // 连续模式 200Hz
            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_CNTL2,
                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0x08}, 1, 10);  // DRDY 下降沿
            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_AVGCNTL,
                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0x12}, 1, 10);  // 4 次采样平均
            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_PDCNTL,
                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0xC0}, 1, 10);  // 正常脉冲时长
            ist8310_rstn(0);
            ist8310_rstn(1);
            return;
        }

        /* IST8310 连接异常报警:绿灯 1s 周期闪烁(经 TIM5 PWM,
         * 引脚复用模式下直接写 GPIO 寄存器无效) */
        static uint8_t counter = 0;
        counter++;
        if (counter == 1)
            led_set_green(1);
        else if (counter == 5)
            led_set_green(0);
        else if (counter == 40)
            counter = 0;
        HAL_Delay(25);
    }
}

void ist8310_poll(void)
{
    static uint32_t last_poll_tick = 0;
    uint32_t now = HAL_GetTick();
    if (now - last_poll_tick < IST8310_POLL_PERIOD_MS)
        return;
    last_poll_tick = now;

    if (!ist8310_online)
        return;

    if (HAL_I2C_Mem_Read(&hi2c3, IST8310_ADDR, IST8310_DATA_START,
                         I2C_MEMADD_SIZE_8BIT, raw_buf, 6, 2) != HAL_OK)
    {
        /* 连续 100 次(约 0.5s)失败判定离线,交由监控任务绿灯报警 */
        if (++read_error_count > 100)
            ist8310_online = 0;
        return;
    }
    read_error_count = 0;

    int16_t raw_x = (int16_t)(((uint16_t)raw_buf[1] << 8) | raw_buf[0]);
    int16_t raw_y = (int16_t)(((uint16_t)raw_buf[3] << 8) | raw_buf[2]);
    int16_t raw_z = (int16_t)(((uint16_t)raw_buf[5] << 8) | raw_buf[4]);
    ist8310_magnetic_field[0] = raw_x * 0.3f;
    ist8310_magnetic_field[1] = raw_y * 0.3f;
    ist8310_magnetic_field[2] = raw_z * 0.3f;
}