#include "radar_uart.h"

static struct device *radar_uart_hdl = NULL;//串口操作句柄
static u8 radar_uart_rx_buf[RADAR_UART_RX_BUF_SIZE]//串口驱动环形缓冲区
__attribute__((aligned(32)));

/* UART1初始化 PC6 = TX  PC7 = RX */
UART1_PLATFORM_DATA_BEGIN(radar_uart_data)
    .baudrate = RADAR_UART_BAUDRATE,
    .port = PORT_REMAP,

    .tx_pin = IO_PORTC_06,
    .rx_pin = IO_PORTC_07,

    .output_channel = OUTPUT_CHANNEL3,
    .input_channel = INPUT_CHANNEL3,

    .max_continue_recv_cnt = RADAR_UART_RX_BUF_SIZE,
    .idle_sys_clk_cnt = 500000,
    .clk_src = PLL_48M,
UART1_PLATFORM_DATA_END();

/* 注册串口设备 */
REGISTER_DEVICES(radar_uart_devices) = {
    {
        RADAR_UART_NAME,
        &uart_dev_ops,
        (void *)&radar_uart_data
    },
};
int radar_uart_init(void)
{
    int ret;

    if (radar_uart_hdl) {
        return 0;
    }

    radar_uart_hdl = dev_open(RADAR_UART_NAME, NULL);
    if (!radar_uart_hdl) {
        return -1;
    }//句柄写入失败跳出返回-1

    ret = dev_ioctl(
              radar_uart_hdl,
              UART_SET_CIRCULAR_BUFF_ADDR,//配置驱动缓冲区地址
              (u32)radar_uart_rx_buf
          );
    if (ret) {
        goto error;
    }

    ret = dev_ioctl(
              radar_uart_hdl,
              UART_SET_CIRCULAR_BUFF_LENTH,//配置驱动缓冲区长度
              sizeof(radar_uart_rx_buf)
          );
    if (ret) {
        goto error;
    }

    ret = dev_ioctl(
              radar_uart_hdl,
              UART_SET_RECV_BLOCK,//配置为阻塞接收模式
              1
          );
    if (ret) {
        goto error;
    }

    ret = dev_ioctl(
              radar_uart_hdl,
              UART_SET_RECV_TIMEOUT,//配置接收超时时间
              RADAR_UART_RX_TIMEOUT_MS
          );
    if (ret) {
        goto error;
    }

    ret = dev_ioctl(
              radar_uart_hdl,
              UART_START,//启动串口
              0
          );
    if (ret) {
        goto error;
    }

    return 0;
//goto error时会跳转至此，释放资源返回ret
error:
    dev_close(radar_uart_hdl);
    radar_uart_hdl = NULL;
    return ret;
}


int radar_uart_read(u8 *buf, u32 len)//从驱动缓冲区读取数据并存到buf中，len为读取的最大长度
{
    if (!radar_uart_hdl || !buf || !len) {
        return -1;
    }

    return dev_read(radar_uart_hdl, buf, len);
}


int radar_uart_write(const u8 *data, u32 len)//给雷达写命令，data为写入数据，len为实际写入长度
{
    if (!radar_uart_hdl || !data || !len) {
        return -1;
    }

    return dev_write(
               radar_uart_hdl,
               (void *)data,
               len
           );
}